#robotics Logs

May 04 2013

00:59 Triffid_Hunter RifRaf: heh I only just sat down and saw your messages.. was doing stuff other than sitting in front of computer past couple of days. bummer about losing the number, had phone with me
00:59 Triffid_Hunter I'm home this arvo, can pop in if you want
00:59 RifRaf ok cool, am about to leave, can you please pm me details
01:00 RifRaf on in tweed
01:00 RifRaf am
02:29 Jak_o_Shadows With the hip 4082 chip, I understand that for simple stuff, I output a PWM signal and it's inverse to two of it' s pins. Right, so anything under 50% duty scycle is one direction, and over is the toher? Also, is 490Hz ok?
06:04 Triffid_Hunter Jak_o_Shadows: you have to drive both sides for locked antiphase, which is the mode where 50% = stationary
06:05 Triffid_Hunter Jak_o_Shadows: 490hz is a bit slow for locked antiphase, you want a high enough frequency that the motor's winding inductance smooths the current. I run mine at ~7.8khz
06:06 Jak_o_Shadows I'm only planning on connecting to ALI/BLI with the uC. At the moment i'm using an inverter chip to invert that which is going to ALI and putting that to BLI
06:09 Jak_o_Shadows also, i'm looking at getting the frequency of the pwm up a bit
06:10 Triffid_Hunter yep that's the way to do it
06:10 Triffid_Hunter what chip? surely it has a hardware pwm output somewhere?
06:11 Jak_o_Shadows MSP430G2553
06:12 Triffid_Hunter yeah that'll have a pwm output or three, have a look at the timers in the datasheet
06:14 Jak_o_Shadows http://mechromancer.wordoflowtax.com/?mech=HBK-4P&name=unnamed&build=v01-CA6,0,12,0,0,0,0,0,0,20,3EE,BB9,0,0,0,0,0,0,0,0,0,0,21,F,BB9,BB9,BB9,BB9,0,0,0,0,0,0,0,0,32,E,0,0,0,0,0,0,20,10,BB9,BB9,BB9,0,0,0,0,0,0,0,0,0,20,3EE,BB9,0,0,0,0,0,0,0,0,0,0,30,0,0,30,0,0,1,0,1,0,0,0,0,0
06:14 Jak_o_Shadows ooops lol
06:19 Jak_o_Shadows Yeah, it's the one with the timers. The library I can use I can just set the frequency beforehand
06:23 Jak_o_Shadows So what frequency would you recommend? If it matters(which it might, slightly), the chip is running at 16Mhz
06:24 Triffid_Hunter Jak_o_Shadows: 10 bits will get you 15.625khz, should be nice.. right at the top of the audible range, many folk won't hear it at all
06:24 Triffid_Hunter pretty sure the hip4082 will keep up
06:25 Triffid_Hunter I know it works brilliantly at 7.8khz which would be 11 bits at 16MHz
07:46 orlok woo almost there
07:47 orlok i have 5 gpio/pushbutton inputs and dual stepper control working on one chip, and the other handles the telescope serial parser and toggles the appropriate pins on the other
07:48 orlok tested the lx200 serial telescope protocol and got the correct serial feedback, just need to box it all back up with the stepper drivers
07:49 orlok all put together, it should give me a feedback loop between a webcam with a long focal length, and the motors
11:00 rue_house Triffid_Hunter, how many Mhz would that be at 8 bits?
11:19 rue_house orlok, its been like 2 years, you have a set 6 mo apart of the same field for me yet?
15:33 rue_house nice day out
15:34 yahweh Hi Rue
15:39 rue_house hey
15:39 rue_house need to work on a mazmatron II
15:40 rue_house mezmatron II
15:45 yahweh So what are you up to today Rue?
16:00 rue_house <rue_house> fix cnc
16:00 rue_house <rue_house> make clocks
16:00 rue_house <rue_house> pay bills
16:00 rue_house <rue_house> shopping
16:00 rue_house <rue_house> kitty litter
16:00 rue_house <rue_house> laundry
16:00 rue_house <rue_house> wifi robot code
16:00 rue_house <rue_house> fix mowerbot
16:01 rue_house mowerbots blade motor finally bit the biscuit
16:02 Tom_itx biscuit or a rock?
16:02 rue_house biscuit
16:02 rue_house I think bearing failure lead to brush failure, which lead to winding failure
16:02 Tom_itx i wish you knew linuxcnc coding
16:03 rue_house I should use it on the new cnc
16:03 Tom_itx http://tom-itx.dyndns.org:81/~webpage/cnc/configs/sherline/Spindle.png
16:03 Tom_itx i need to figure out what's wrong with that
16:03 Tom_itx besides being backwards
16:04 Tom_itx i think you would like it really
16:04 rue_house I can name a bunch of things
16:04 rue_house a) Xor gates have two inputs, they dont toggle
16:05 Tom_itx it was the only logic i could find to suit the function
16:05 rue_house b) flipflips have set and reset, not in and is on
16:05 rue_house ah
16:05 Tom_itx it's a push on push off function
16:05 Tom_itx same with the other one
16:06 rue_house in0 is both is-paused and start
16:06 Tom_itx go to different functions though
16:06 Tom_itx in0 for that gate
16:07 rue_house ah
16:07 Tom_itx http://tom-itx.dyndns.org:81/~webpage/cnc/configs/sherline/my_jog.hal
16:07 Tom_itx there's the code
16:07 rue_house so the inputs are
16:07 rue_house is-paused
16:07 rue_house is-auto
16:07 rue_house start button
16:07 rue_house spindle button
16:07 rue_house spindle-is-on
16:08 rue_house is-manual
16:08 Tom_itx yes
16:08 rue_house outputs are
16:08 rue_house spindle.start
16:08 rue_house spindle.stop
16:08 Tom_itx yes
16:08 Tom_itx but
16:08 rue_house program.run
16:08 rue_house and mode.auto
16:09 Tom_itx i think so yes
16:09 Tom_itx there needs to be more inputs though i think
16:09 Tom_itx there are conditions this fail in
16:09 rue_house there are already conflicting inputs
16:09 Tom_itx i don't think there are if you know what they are
16:09 rue_house how many physical buttons does this resolve to?
16:10 Tom_itx 2
16:10 rue_house a spindle button and a start button?
16:10 Tom_itx yes
16:10 Tom_itx for this part anyway
16:10 rue_house the system has two modes, manual and auto?
16:10 Tom_itx http://www.linuxcnc.org/docs/html/gui/halui.html
16:10 Tom_itx that's what the rest of the inputs do
16:11 Tom_itx manual and auto yes
16:11 Tom_itx in manual it can start and stop the spindle freely
16:11 Tom_itx but not in auto
16:11 Tom_itx other conditions should be met for auto
16:11 Tom_itx and also for restarting it in auto
16:12 rue_house and in pause you can control the on off manually?
16:12 Tom_itx that's where the logic comes in
16:12 rue_house yes or no?
16:13 Tom_itx in pause you shouldn't be able to resume unless the spindle is on
16:13 Tom_itx and you shouldn't be able to stop the spindle unless it is paused
16:13 Tom_itx in pause you can control it manually is the idea
16:13 Tom_itx yes
16:14 Tom_itx they also have a function i could use that is a truth table builder
16:14 Tom_itx you define what happens
16:14 Tom_itx the way it is, it works but it has flaws
16:14 yahweh Well that sounds like a busy day for you then RUe
16:15 rue_house yea...
16:16 rue_house tom the program is paused input is definitly a problem
16:17 Tom_itx is-paused and is-auto both have to be true for that gate to trip
16:17 yahweh Okay Rue, then just tell me. Which USB development board should I get?
16:17 Tom_itx then that goes to the 'or'
16:17 Tom_itx for manual / auto
16:17 rue_house yahweh, for making an hid?
16:18 yahweh Yes
16:18 rue_house Tom_itx, how often is this logic executed
16:18 Tom_itx get mine yahweh
16:18 rue_house yahweh, without knowing how to code C?
16:18 yahweh What's yours tom?
16:18 Tom_itx rue has one of each of them
16:18 yahweh I'd prefer to not have to code but if you teach me I'll learn.
16:18 rue_house toms is good if you use LUFA with it
16:19 Tom_itx the atmega32u2 and the u4
16:19 rue_house :/ I just need to teach him C...
16:19 Tom_itx lufa has quite a few examples too
16:19 rue_house he could do what he wants with a modded lufa example
16:19 Tom_itx rue can show you them
16:19 rue_house I still havn't made the sound card
16:20 Tom_itx http://tom-itx.dyndns.org:81/~webpage/boards/USB_Breakout/USB_Breakout_index.php
16:20 Tom_itx that's the 32u2 board
16:20 rue_house yahweh, without knowing how to code C?
16:20 Tom_itx i'm not really selling the 32u4 board
16:20 rue_house Tom_itx, how often is this logic executed?
16:20 Tom_itx whenever i push the spindle button on my pendant
16:20 yahweh Max I/O pins 26?
16:20 Tom_itx this is all code for my remote control pendant
16:20 yahweh I don't think that's enough.
16:21 rue_house so it wont run the program if its in manual when you push start
16:21 Tom_itx the u4 has more io
16:21 rue_house (the first time)
16:21 rue_house it will the second time you push it?
16:21 Tom_itx you push program run
16:21 rue_house yahweh, you can do 64 keys in 16 io
16:21 Tom_itx then you push pause
16:21 Tom_itx that will start the program executing
16:21 yahweh I was looking at the Teensy++ 2.0 but it only has 46 I/O, I'm not sure that was enough.
16:22 Tom_itx when you push program run, it starts executing in a paused state
16:22 rue_house yahweh, wait, what the hell are you trying to do?
16:22 Tom_itx all that part works fine
16:22 yahweh I understand key matrix but for gaming I want dedicated pins
16:22 Tom_itx it's just the spindle code that doesn't work right
16:22 rue_house yahweh, it'll only make 1/10000 sec difference
16:23 rue_house you can make a matrix do chord keys
16:23 rue_house to any level
16:23 yahweh But there's a limit to how many buttons I can push at once isn't there?
16:23 rue_house they just dont cause they dont want to spend the extra 50c on diodes
16:23 rue_house not with a proper matrix no
16:23 rue_house on a proper matrix you give each button a diode
16:24 yahweh Oh okay
16:24 rue_house it keeps them from cross-interfearance
16:24 rue_house like I say, its an extra 50c of diodes they dont want to put in
16:24 rue_house all the old keybaords used to have them
16:24 yahweh Okay, awesome then.
16:25 rue_house Tom_itx, how does the spindle toggle work? it uses is-on to work out if it should go off or on?
16:25 yahweh I'll come have a look later tonight.
16:25 rue_house ok
16:27 Tom_itx i'm gonna try to work on it this evening if you have any ideas to try
16:28 rue_house tom, the diagram dosn't quite work, but I see logic problems beyond that
16:28 Tom_itx such as
16:28 Tom_itx i need one more 'and' gate that i can tell
16:28 Tom_itx or to rethink the whole thing
16:28 rue_house well I dont thnk its part of this set, but there is no interlock for spindle in-on to unpause
16:29 rue_house it looks like you can turn the spindle off in pause mode, and then unpause the program
16:29 rue_house *click*
16:29 Tom_itx that's the catch i need to fix i think
16:29 Tom_itx http://www.linuxcnc.org/docs/html/gui/halui.html
16:29 rue_house I dont think run is the unpause tho?
16:29 Tom_itx those are the feedback i can use to check stuff
16:30 Tom_itx at the bottom under 'spindle'
16:30 Tom_itx and others there
16:31 rue_house I'm gonna go hit the sun
16:31 Tom_itx just don't put it out
16:38 yahweh Actually Rue, I'm going to pop by now.
16:38 yahweh See you in a minute
16:40 Tom_itx you can check out those boards
16:40 Tom_itx he has one of each i think
17:25 rue_house he says its small :)
17:26 rue_house tom, whats the customer price on your u4?
17:28 MrCurious HOT GLUE IS HOT!
17:28 MrCurious it burns, and it sticks to you
17:28 MrCurious its the napalm of the adhesive world
19:03 Tom_itx rue_house you tell me :)
19:04 Tom_itx i think i may have a couple put together here
20:10 rue_shop2 what do you do whena test-fit reveales that the item cant be removed?
20:20 FreezingCold rue_shop2: more details?
20:29 Jak_o_Shadows rue_shop2: Does the item change size with heat/cold?
20:54 RifRaf this balancing stuff is starting to happen properly :)
20:58 Jak_o_Shadows robot code is sort of working.
20:58 Jak_o_Shadows getting there at least, i'm trying to read serial for manual computer control atm
22:17 FreezingCold Jak_o_Shadows: anything will change size with heat..
22:19 Jak_o_Shadows Yeah, but for rue's case, can he heat it/cool it? and how much
23:21 rue_shop2 FreezingCold, Jak_o_Android it was a new blade motor for the mowerbot
23:21 FreezingCold rue_shop2: mowerbot? Like for a full sized lawn?
23:25 rue_shop2 well yesno