Current Sensing for Stewy
Right now I'm working on adding a lot of functionality to Stewy for just a few cents in components. The idea is to add current sensing to the existing servo motors. One extra resistor per servo so that Stewy can "feel" the forces going through each motor.
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The first thing I'm using this for is auto-homing the arms. Instead of manually dialing in offsets every time the robot is assembled, Stewy will just tap its feet on the ground to figure out where they are. When the motor hits the floor, the current will spike, and we can set the offset based on that angle.
I'm hoping this works out well, because I think it could eventually be used to improve Stewys walking ability. Just an idea at this point, but I think Stewy being able to feel the forces in each arm could help it adapt its walking pattern to different terrains.
