results of saturday debugging

[Alexander Farley]

-we will definitely need stops in the legs
-probably won't need stops for the waist motor, because it's self-
adjusting
-1M was much too large, about 1/4 produces a smaller duty cycle and
causes less leg drift
-a power cut-off (disable) switch to all 5 motors will be helpful for
debugging
-it's better to tune by watching the leg movement than by watching the
Nv LEDs

[Audrey]

Did you manage to correct the issue with the uneven duty cycles? And
did the bug achieve a reasonable passable sort of walk?

Even in his demented throws of agony he did look remarkably lifelike.
I think that we may need to name him.

[Alexander Farley]

Yeah we did correct the uneven duty cycles however we discovered that
the uneven duty cycles isn't the whole problem. Some of the motors seem
noticeable stronger than others, so under equal duty cycles they move
different amounts. Anyway there's a variety of issues that aren't solved
by evening out the duty cycles (although once we evened them out, the
"getting stuck in some state" problem seemed to disappear.

What we need to do know is make a "disable" switch to help for tuning
and add some motor stops (or springs) so that the legs don't drift too much.

Personally I don't think the bug achieved any kind of walk, but it does
move slowly with just the waist motor enabled basically in the same way
that a vibrating motor bounces around. Either way, I think we're in a
pretty good position to prove that the project is moving along.