Create Project Hadd

Electrical/Project Hadd

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+•Title:
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+Added Initial Draft for Servo Transition Logic (Hybrid Arm Phase Control)
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+ •Description:
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+This update introduces an initial draft of the servo transition logic that will be part of the arm’s hybrid phase control system.
+The aim of this addition is to enable smoother and more adaptive servo positioning during the transition phase between active and passive modes.
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+• Key Additions:
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+Added basic servo control logic (Arduino-compatible pseudocode) for smooth transition between angle states.
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+Included pin definitions, timing configuration, and incremental motion logic for better torque balance.
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+Designed modular functions to simplify future integration with inverse kinematics or AI-assisted motion planning.
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+Documented control sequence for testing and simulation.
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+•Sample Pseudocode Snippet:
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+#include <Servo.h>
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+Servo transitionServo;
+int servoPin = 9;
+int currentAngle = 0;
+int targetAngle = 90;
+int stepDelay = 15;
+
+void setup() {
+  transitionServo.attach(servoPin);
+}
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+void loop() {
+  if (currentAngle < targetAngle) {
+    currentAngle++;
+    transitionServo.write(currentAngle);
+    delay(stepDelay);
+  }
+}
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+
+•Next steps:
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+Integrate with IMU feedback loop for adaptive angle correction.
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+Add PWM smoothing to reduce servo jitter.
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+Prepare simulation results (MATLAB / Simulink) for testing control stability.
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+• Notes:
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+This is an early draft meant for review and iteration.
+Further refinements — including dynamic angle calibration and power optimization — will be added in the next update.