#garfield Logs

Jan 12 2022

12:07 AM rue_mohr: ... drat it all compiled
12:16 AM rue_mohr: damn, its working
12:16 AM rue_mohr: well the state machine is good with it all anyhow
12:16 AM rue_mohr: gnight
12:49 AM rue_mohr: wow, I'v made a lot of circuit boards over the years
12:49 AM rue_mohr: http://ruemohr.org/~ircjunk/tempimage/p1220618.jpg
12:49 AM rue_mohr: http://ruemohr.org/~ircjunk/tempimage/p1220619.jpg
12:49 AM rue_mohr: just grabbed those for a photo of the ones I painted
12:50 AM rue_mohr: then was looking in a bin of misc that has extra motor drivers and stuff I made up
12:50 AM rue_mohr: so I could grab-and-build
01:35 AM rue_bed: I have to do a new power adatper for this laptop
05:02 AM Tom_itx is now known as Tom_L
08:26 AM rue_mohr: ugh
08:58 PM rue_mohr: found some wheels
09:07 PM Tom_L: for?
09:08 PM rue_mohr: this bigtrak code to turn
09:09 PM rue_mohr: I'm just timing the motors for now
09:12 PM rue_mohr: my exitement is to have a peice of generic control softare to drop on multiple different bots
09:12 PM rue_mohr: this is pretty close
09:15 PM rue_mohr: hmm
09:15 PM rue_mohr: I suppose I code up a 90 degree turn and then adjust the numbers
09:15 PM rue_mohr: the big trak measured turns in minutes
09:16 PM rue_mohr: so 3 degree units
09:19 PM rue_mohr: heh
09:20 PM rue_mohr: when turning the wheels are giving me completely random results ;)
09:20 PM rue_mohr: seems to be avaraging 90
09:20 PM Tom_L: how so?
09:20 PM rue_mohr: their lumpy wheels and I'm just timing the motors
09:20 PM rue_mohr: no feedback
09:20 PM Tom_L: oh
09:21 PM Tom_L: i don't remember why i coded those angular turns on mine
09:21 PM rue_mohr: it seems pretty fixed
09:22 PM Tom_L: maybe had to do with the position of the sensors and which one tripped
09:22 PM Tom_L: i don't remember now
09:23 PM rue_mohr: ugh I messed up the math
09:23 PM rue_mohr: at 1000000, it turned 90 degrees
09:23 PM rue_mohr: I want it to turn 3 degrees
09:24 PM Tom_L: 33333.33
09:24 PM rue_mohr: so 2000000 would be 180...
09:24 PM rue_mohr: ok, I was right then
09:24 PM rue_mohr: thanks
09:26 PM rue_mohr: 15 minutes should be 90 degrees
09:26 PM rue_mohr: no we were both wrong, there are 360 degrees in a circle
09:26 PM rue_mohr: hah
09:26 PM rue_mohr: 66666
09:26 PM rue_mohr: 66667
09:27 PM Tom_L: i was going off your 90deg number
09:27 PM rue_mohr: yea
09:27 PM rue_mohr: if 100000 is 90
09:27 PM rue_mohr: 360 is 4000000
09:27 PM rue_mohr: er I dropped a zero there
09:27 PM Tom_L: 1000000
09:27 PM rue_mohr: yea
09:27 PM rue_mohr: 90 is 1000000
09:28 PM rue_mohr: so 360 is 4000000
09:28 PM rue_mohr: and 4000000/60 is
09:28 PM rue_mohr: 66667
09:28 PM rue_mohr: :)
09:28 PM rue_mohr: but I made the same mistake cause I got 33333 too
09:28 PM rue_mohr: it turned a definite 45 ;)
09:29 PM rue_mohr: ok, lets try to redeem ourselfs
09:29 PM Tom_L: one fwd 33333 one rev 33333
09:29 PM rue_mohr: I have a wheel, the dia is 61mm
09:30 PM Tom_L: 191.6 circumference
09:30 PM rue_mohr: circle -d 61
09:30 PM rue_mohr: Radius is : 30.500000
09:30 PM rue_mohr: Diameter is: 61.000000
09:30 PM rue_mohr: Circumfrence is : 191.637146
09:30 PM rue_mohr: Area is : 2922.466553
09:30 PM rue_mohr: Sphere area: 11689.866211
09:30 PM rue_mohr: Sphere volume: 118846.976562
09:30 PM rue_mohr: yes
09:30 PM rue_mohr: ok
09:31 PM rue_mohr: the robot needs to travel 95mm
09:31 PM rue_mohr: one wheel rev is "2600000" units
09:31 PM Tom_L: not quite half a turn
09:31 PM rue_mohr: I get...
09:31 PM Tom_L: .495
09:31 PM Tom_L: .4958
09:32 PM rue_mohr: ok so 95m should be about 1290000
09:33 PM rue_mohr: k
09:33 PM Tom_L: m ormm?
09:33 PM Tom_L: m or mm?
09:33 PM rue_mohr: mm
09:33 PM rue_mohr: all mm
09:34 PM rue_mohr: I have the numbers in, I'll try it
09:35 PM rue_mohr: the blade generates a horrid noise, but yes, that was about 1 bot length!
09:35 PM rue_mohr: (95mm(
09:35 PM rue_mohr: oh I just cant type eh?
09:35 PM Tom_L: you doubted?
09:36 PM rue_mohr: ok I have the driving library!
09:36 PM Tom_L: 13578.94 = 1mm
09:37 PM rue_mohr: :)
09:37 PM rue_mohr: on bigtrak they measure distance in bot-lengths
09:37 PM rue_mohr: I thought that was cute
09:37 PM rue_mohr: its an available unit ;)
09:37 PM rue_mohr: not quite standard tho
09:37 PM rue_mohr: and kinda large
09:38 PM rue_mohr: max param is 100
09:38 PM rue_mohr: so, this can go 9.5M max in one command
09:38 PM rue_mohr: ~10m is pretty far I suppose
09:39 PM rue_mohr: ~31 feet?
09:39 PM Tom_L: 32.8
09:39 PM rue_mohr: seems pretty far to me
09:40 PM rue_mohr: whats interesting, is that the orig toy was a lot longer
09:40 PM rue_mohr: it was like 12" long
09:40 PM rue_mohr: so, 100 feet in a command?
09:40 PM rue_mohr: long haul bot
09:40 PM rue_mohr: I wonder how well they could hold a straight line :)
09:40 PM Tom_L: pid
09:41 PM Tom_L: cds cell
09:41 PM rue_mohr: not on a 1k 4 bit processor!
09:41 PM Tom_L: err no i used that on my light seeker
09:41 PM rue_mohr: so I need to glue in my code...
09:41 PM Tom_L: 6811
09:41 PM rue_mohr: yea that seemed like a lot of code for an hc11
09:42 PM Tom_L: i doubt i still have that code
09:42 PM rue_mohr: oh I would have be really wise to have got some breakfast foodz
09:43 PM Tom_L: damn i think i do
09:45 PM Tom_L: basic
09:46 PM rue_mohr: where did you pick up on PID?
09:46 PM Tom_L: when?
09:46 PM Tom_L: maxbot
09:46 PM rue_mohr: first
09:46 PM rue_mohr: from who/where?
09:46 PM Tom_L: possily dpa
09:46 PM Tom_L: david anderson
09:46 PM Tom_L: i have his notes on his bot
09:47 PM Tom_L: hard to say really
09:47 PM rue_mohr: hmm
09:47 PM rue_mohr: 8-| ok, the code is all togethor, I SHOULD have a programmable bot!
09:48 PM Tom_L: also larry barello
09:48 PM Tom_L: only he didn't use any floats
09:48 PM Tom_L: wanna look?
09:48 PM rue_mohr: was PID presented as "black box, use this" or a description of it all
09:49 PM rue_mohr: I'm just about to make some great progress here
09:49 PM rue_mohr: I need a lot of duct tape and might spend the rest of the night driving a robot arond th house
09:50 PM Tom_L: http://tom-itx.no-ip.biz:81/~webpage/rue/Anderson/
09:50 PM Tom_L: not sure what all is there
09:52 PM rue_mohr: OK! almost time for a floor test!
09:53 PM Tom_L: added larry's to a subdir under that
09:54 PM rue_mohr: this root is kinda a lithium ion powered short circuit
09:54 PM rue_mohr: robot
09:54 PM rue_mohr: haha I'll wrap it in paper, that will fix it
09:55 PM Tom_L: thumb thru that sometime
09:57 PM Tom_L: added his SR04 code as well
10:02 PM Tom_L: still have the sbasic compiler too
10:04 PM rue_mohr: hahahahah its doing a great job cleaning the floor!
10:14 PM Tom_L: cool
10:51 PM rue_mohr: the interface is interessting, you can KIND build up and test at the same time
10:51 PM rue_mohr: I'm glad I have a wireless remote tho