Automating and simplifying procedures are the basis for speeding the processes up. For example, fixing the starting position after reset. It is necessary, because the readings from the encoders that we use are only relative, so every time we turn the robot on we need to point out the absolute position that robot has. Specifying this position manually would took a lot of time, because it is very difficult to measure angles of each joints. The better way is to put robot, with a small steps, to the specific position we can identify, like (0,0,0,0,0). Then we say ‘Now, dear hRobot, you are in start position of (0,0,0,0,0)’.
And now, how to speed up this process more? Read again first sentence - of course we need to automate and simplify as much as we can! We use end switches to detect the extreme position of each joint or to find characteristic point (in case of continuous rotation). This position of all hRobot’s elements is stored once and then used as a reference.
Video that shows how it works in reality is coming soon.