January Release - SR6 Firmware Update (Patreon)

This is the v0.2 firmware, which is actually a pretty big update for the SR6 Alpha.

Last month my priority was to get out a functional early access version of the SR6. Nearly all of my energy went into the hardware design, and therefore the code I released with it was functional but primitive.

For this release I went into the mathematics in a lot more depth, and it really shows in the way the receiver moves. The computational load on the Romeo is quite significantly increased, but it can still comfortably update the servos at 100 Hz. At some point I may look at alternate microcontrollers for the SR6, especially as we are already using a power bus, but this seems to work just fine for now.

I have also added two extra features to the SR6, which we already take for granted on OSR2: support for the T-wist and the T-valve. The T-wist functions exactly as it does on the OSR2, and the servo needs two pins, so uses the two remaining digital pins (2 & 3). This was a problem, because we also need a pin to plug in the T-Valve servo. After a bit of work I realised that I could add control of the Analog pins to my custom servo library, so I am pleased to be able to say that the T-Valve on the SR6 now plugs in to the A3 pin.

I have put a lot of time and effort into this code, but I think it has definitely been worth it. Obviously the OSR2 T-Valve will work just fine with SR6. I intend to get an SR6 version of the T-wist receiver released ASAP now that it is supported in software.

Hope you guys enjoy! If you've built an SR6 do let me know how it's going. It's early days and SR6 has a long way to run, so feedback is always appreciated!

(The files are protected with the january password because of an ongoing Patreon security flaw. Check your email. As a $8 patron you should have received the password separately, but feel free to contact me if you have any trouble. The files are also available on my discord server.)