#robotics Logs

Feb 27 2013

01:13 rue_house heh
01:13 Rif wats so funny eh?
01:14 Rif just a simple question, about i2c address
01:14 rue_house your going all different directions having fun
01:14 Rif yessir
01:14 Rif hey rue, i cut a spare set off gripper parts today, you want?
01:15 rue_house hmm
01:15 rue_house yes, but
01:15 Rif for 3g servos
01:15 rue_house I still have your other things in a box on a shelf
01:15 Gargantuasauce_ http://www.youtube.com/watch?v=pii4G8FkCA4
01:15 Rif they were likely nothing special then
01:20 Rif GargantuaSauce alot of work but a worthy cause i guess
01:30 Rif am wondering why project designer only has options for i2c devices with even address's
01:31 Rif like 0x38 then 0x3A , but this device is set to address 0x39
01:31 Rif i have found out where i can change it in the generated code but wanna know if just changing it should be enough
01:32 Rif it is compiling and sensor hooked up, so will just try anyway, but way the even address selections only i wonder?
01:32 Gargantuasauce_ the last bit of the address byte is a read/write flag
01:33 Gargantuasauce_ 1 for read, 0 for write
01:36 Rif hrm ok, this is datasheet link https://www.google.com.au/url?sa=t&rct=j&q=&esrc=s&source=web&cd=4&ved=0CFIQFjAD&url=http%3A%2F%2Fwww.ams.com%2Feng%2Fcontent%2Fdownload%2F250257%2F975989%2Ffile%2FTCS3404_TCS3414-A.pdf&ei=e6UtUcn5MKjPmgWKiYHIBA&usg=AFQjCNFBA_cCzlcbPpJmAhjSqe1apNKkng&sig2=BT2yeNjvspjCssAncPd6Cw&bvm=bv.42965579,d.dGY
01:37 Rif only seems to mention address = 0x39 , will keep studying
01:38 rue_bed Rif, to read from the chip you access the odd address, to write to it, you use the even one
01:38 rue_bed or is it the msb
01:38 rue_bed they only have 8 bit addressing
01:38 rue_bed under linux there is a pogram called lmsensors
01:39 rue_bed you can make a parallel port adapter and have it use that for i2c devices
01:39 rue_bed it can scan the bus for chips
01:39 Rif so i should choose 0x38 then in project designer and leave it at that?
01:39 rue_bed tell you whats on the bus by address
01:39 rue_bed sure
01:39 Rif first time i have been on this bus, is all new
01:40 Rif well aprt from the accel
01:40 rue_bed the lmsensors tools could prolly help a lot
01:40 Rif but that was included in the libs, this time using a generic i2c device and have to do some work
01:41 Rif ok plugged in and no smoke yet
01:41 Rif will send it some code and see wat happens
01:42 rue_bed too bad you cant make a i2c bus scanner with your library there
01:42 Rif i probably can, it has alot of stuff in it rue
01:42 rue_bed yup
01:42 Rif wish you would take a peek
01:42 rue_bed I downloaded it over a year ago
01:42 rue_bed turns out
01:42 rue_bed dont know why
01:42 Rif oh, and have you done anything with it?
01:42 rue_bed no
01:43 Rif well take a peek then
01:43 rue_bed I must have been looking at something particular in it
01:43 Rif i guess you really want java so you can use the gui to get the most out of it
01:43 rue_bed java is kinda messed up on my main machine
01:43 rue_bed but I hate all java programs
01:43 rue_bed they are always slow and unstable
01:43 Rif i like this one
01:44 Rif yeah sure it uses up some cpu and stuff, but is still so much faster than doing it on me own
01:44 Rif i'd still be trying to get my first servo to do something
01:44 Rif if i didn't find them
01:45 rue_bed mmm I want to write some really good servo code...
01:45 Rif well take a look at his, seems to work so much better than wat we had before
01:45 rue_bed I bought some 16 channel pwm chips today
01:46 rue_bed yea, the old library we were doing, when I looked at the code I really understood why it jitters
01:46 Rif did you look at this sensor datasheet link? its an amazing thing
01:46 rue_bed but I have a new idea of how I want to do servos
01:46 Rif was checking it out at work under the microscope, looks cool
01:46 rue_bed :)
01:47 Rif like 16 photodiodes, and you cannot even see the bunch of 16 with naked eye, but they are all there, i checked
01:47 Rif though my naked eye sucks now
01:48 Rif it has dedicated ones for white light, apart from the rg and b
01:49 Rif gonna make a led tester for work, and still trying to think of something better than a smartie sorter for me robot arm
01:49 rue_bed gonna make an M&M sorter?
01:49 Rif heh
01:49 rue_bed haha
01:51 wizrobe Has anyone here ever worked with heavy industrial strength mobile manipulation robots?
01:51 e_bed puts his han
01:51 wizrobe rue_bed What was the name of your robot?
01:51 rue_bed actually it was a painter robot and it wasn't really impressive with strength
01:52 Rif heh which one, he has a family
01:52 rue_bed I think that was a ... devilibis? or... no, uh...
01:52 rue_bed they make pumps, whats that name
01:52 rue_bed wasn't ABB
01:53 rue_bed huh, I forget
01:53 wizrobe Like this? http://www.youtube.com/watch?v=xtLK-655v7k
01:54 rue_bed NO
01:54 rue_bed industrial painter robot
01:55 rue_bed maybe it was devilibis
01:55 wizrobe http://www.youtube.com/watch?v=Ygv7feS00wI
01:55 wizrobe I'm looking for material on the software that is used to control robots like this and their arms
01:56 wizrobe because i think it might be "Control theory" or feedback control and they use PID controllers
01:56 rue_bed ah, its like BASIC, but more primitive
01:57 rue_bed the commands set the force, position, speed, etc, of an axis(s) and or do bit input/output
01:57 rue_bed or wait, really simple program flow control
01:58 wizrobe well it seems to me they should be using control theory with very small timeslices
01:58 rue_bed http://www.flexpaint.org/download/Gallery_1002/Photos/Paint_Robot_Setup.JPG
01:59 rue_bed a robot like that was what I worked on
01:59 rue_bed there are different levels of control
02:00 rue_bed the robots I worked iwth used dc motors or hydraulics, so there were closed loops around the position and force control
02:00 rue_bed but the commands were issued from the software I was talking about
02:01 rue_bed alot of those robots just play back a series of positional stances
02:03 rue_bed wizrobe,
02:03 rue_bed I have a control fuction I use for my stuf
02:04 rue_bed well one of sofar anyhow
02:04 rue_bed want to see the primary function?
02:04 rue_bed it does the axis synchronization
02:07 wizrobe yeah okay
02:07 rue_bed http://eds.dyndns.org/~ircjunk/programming/c/stepmotion/interlin.c
02:07 wizrobe I'm more interested in adaptive control
02:07 rue_bed ah, your a few levels up then
02:07 rue_bed layers anyhow
02:08 Rif first attempts to read this sensor failed, will change address to 0x39 and see wat happens
02:10 rue_bed I need to get that code hooked up to the ssc16 software I made
02:10 Rif is so easy to make a new file and write data to it on sdcard rue, thats how i have to debug now with no lcd or rs232
02:11 Rif its just an error log for now it seems though, tells me it read nothing
02:11 Rif which is what i told it to tell me if it read nothing
02:19 rue_bed there are 127 valid addresses
02:19 rue_bed when you address a chip, it sends an ACK
02:19 rue_bed sweep all 127 addresses and see which ones give you an ACK
02:24 Rif am not getting as many erros on this proper address, its wat the datasheet says rue so much be right
02:25 Rif http://www.ams.com/eng/ColorSensor
02:30 wizrobe Look what i found
02:30 wizrobe http://www.youtube.com/user/mouhknowsbest/videos?view=0&flow=grid
02:33 Rif nice find thanks
03:51 Rif rue_bed cannot work out how to do the ack thing, no responses, i fail for today
03:53 Rif these are the code examples from the datasheet if it makes good sense to anyone feel free to advise me a bit http://pastebin.com/9euW8hJf
03:53 Rif i get the feeling that i am not even sending the commands to turn it on
03:55 wizrobe http://www.youtube.com/watch?v=aSwCMK96NOw
03:56 Rif i have watched that episode already
03:57 wizrobe >_>
03:57 Rif wonder if there is a toreernt link, don't have bandwidth to watch hours and hours of youtube here
03:58 Rif sliced open me index finger on a bit of plexiglass today, so blaming that for typos
04:02 Rif wizrobe so have you made a big arm you wanna control or just have access to one?
04:03 Hukka Rif: Why would torrent help?
04:03 wizrobe I'm no where near one.
04:04 wizrobe Want to learn though
04:04 Rif make a small one to start experimenting with
04:04 Rif Hukka cause then i can download it at work
04:05 Hukka But why not just download directly from youtube?
04:06 Rif cause that would take time i don;t have at work, to go through each movie, and this is technical, i need to watch and rewatch
04:10 Hukka Nah, just use a bulk downloader
04:10 Hukka I've found butybed to be good, though there are certainly others
04:10 Hukka *bytubed
04:10 Rif ok thanks for the tip
04:10 Rif will try now
04:10 Hukka http://msram.github.com/bytubed/
04:10 Rif cheers
04:11 Hukka With that you can right click on a page, and it shows you a list of all linked youtube videos. Then just select all and voila
04:11 Rif very nice, will do it it morning but learn how to now
04:11 Hukka I use it all the time, since video inside the browser kills my battery, and makes the fans go crazy
04:12 Hukka You can also combine it with the general downloadthemall bulk downloader
04:12 Hukka I rarely do, though
04:24 Rif yep works, thanks for a better solution
04:39 Hukka N
04:40 Hukka p
11:48 wizrobe loool http://www.youtube.com/watch?v=pii4G8FkCA4
18:23 GargantuaSauce bleh whenever i buy geared motors, half of them come seized up
19:42 rue_house http://hackaday.com/2013/02/27/interpreting-brainfk-on-an-avr/
19:42 rue_house sweeeeet
19:42 Tom_itx your new local hangout?
19:43 DagoRed congrats rue_house!
21:26 MrCurious i saw that today rue. good job!
21:29 rue_house well, I hope someone does something intereting with it
21:32 home hi
21:34 rue_house low low hi
21:34 home hi
21:34 home lol
21:34 rue_house low hi
21:35 home I am forming habits :/
21:35 home damn
21:35 home bye
21:35 rue_house habbits?
21:35 rue_house HAB bits?
21:35 rue_house hmm
22:22 theBear yeah, they're better than HSS bits :)
23:14 rue_house ooo