Shoulder Gear motor replacement for HS-805BB
Both HS-805BB servos on shoulder replaced with 12volt 100rpm gear motors.
Single H bridge motor driver drives 2 gear motors on individual channels.
Pro Mini used to provide 2 PID loops (one for each motor) with square 10K ohm potentiometer for feedback.
advantage is greater control of acceleration/de acceleration of movements and overall joint speed from gear motor max rpm.