A short video showing some of the testing of the 2DoF hinge mechanism within the prototype Omni-Pi-tent module. The hinge raises to 45 degrees by running all four hinge motors together, then the pair of motors on the right worm gear are run in opposition with those on the left worm gear causing a roll rotation. The hinge then returns to the zero pitch position before continuing downward and raising the whole robot up on it's forward and back (numbers 4 and 2) ports. With the robot raised on it's hinge the roll motion is undone and the robot returned to the starting position. The use of motors at different PWM speeds so as to simultaneously move the pitch and roll angles is not shown in this video.
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