Re-inventing the robot wheel

Anyone wanting to play with articulated robotic systems like arms, legs, pan tilt cameras etc will invariably end up using the ubiquitous hobby servo, a handy little gear motor that comes with its own angle sensor and closed loop position control. You just plug them in, send a position pulse and away you go. You can even hack them to produce continuous rotation for wheeled platforms, albeit without any closed loop control.

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