I am working on a robotics project. I use a geared down motor (1:3), which works fine with the appropriate CPR configuration when the motor is disengaged from the limbs of the robot. However, when the limbs are attached the way my robot works prevents using either index search or regular calibration, as it would push past the limits of the robot extremities very quickly.
Is it possible to just use deltas in the encoder? I would like to simply hold the robot in the “zero” position, and then use deltas from then on. How would I go about doing this?