#robotics Logs
May 30 2013
#robotics Calendar
00:28 rue_house stepMotorStep(&robot, 0, -1);
00:28 rue_house stepMotorSync(&robot);
00:28 rue_house }
00:28 rue_house while(((robot.limitSwitches) & 0x01) == 0) {
00:28 rue_house stepMotorStep(&robot, 0, 1);
00:28 rue_house stepMotorSync(&robot);
00:28 rue_house }
00:28 rue_house move forward till the sensor isn't zero, then move back till it is
00:28 rue_house right?
00:29 GargantuaSauce it's that if you swap the in/equality operators
00:30 rue_house hmmm
00:39 GargantuaSauce personally i like writing stupidly terse code so i'd combine both of those whiles into a single one in a for loop
00:41 rue_house I'm not in the best state for coding right now
00:41 rue_house if the sensor code is abckwards, it sill pick up on the wrong zero edge
00:41 GargantuaSauce is it debounced?
00:41 GargantuaSauce is the direction backwards?
00:42 Curious just got pocketsphinx_continuous working on his ubuntu chromeboo
00:42 rue_house http://eds.dyndns.org/~ircjunk/robots/arm4/p1010990.jpg
00:42 rue_house the sensors use half-flags
00:42 MrCurious basic speech to text
00:42 rue_house you look for the edge you want, which side your on tells you which way to go
00:43 rue_house I like the method cause you automatically know what side of zero you are on
00:44 rue_house and zero isn't one extent, which is usually safer
00:44 MrCurious open loop not closed loop eh
00:44 theBear i'm on the side where the number 1 lives !
00:53 MrCurious new rule. if i dont have booze in me, i do NOT want to witness the sunrise
00:53 theBear get serious man ! if i don't have booze in me i don't wanna witness ANYTHING !
00:55 MrCurious anyone have exp with speech to text?
00:55 theBear not recently, a bit tho.. anyone know if you can cash a cheque with your name on it at the bank it comes from ?
00:56 MrCurious theBear: have you seen this? http://vimeo.com/66753575
00:56 MrCurious yes you can
00:57 MrCurious pay to the order of cash
00:57 MrCurious sign the bottom and back, hand it to them
00:58 theBear hmm, i like it
00:58 MrCurious it is so on the money
00:58 MrCurious i bet within 10 years, this will get puffed out into a sitcom or a movie
01:07 Curious begins to harlem s
01:08 theBear hehe i love that shit
01:10 MrCurious theBear: you will love this one then https://www.youtube.com/watch?v=FxfWTvJD1q8
01:11 GargantuaSauce yeugh i hate the way that's mixed
01:12 MrCurious i have seen computer web cams taped over with tape. but so far, i cannot recall any smart phones with the camera's covered with tape....
01:12 theBear hmm, i like the executioner hood
01:12 theBear i seen a tablet with the camera covered
01:12 MrCurious the thing that consumes the art is notable
01:12 theBear then again, while possible, it's not like any old flash page can use a phone webcam like on yer average pc
01:12 theBear woah ! it totally is
01:12 MrCurious but i think this is their best one https://www.youtube.com/watch?feature=endscreen&v=92TNIIbaBOo&NR=1
01:12 theBear i haven't seen one of those for years
01:13 theBear i mean a giant synthetic one
01:13 theBear tho, maybe a real one too :)
01:13 theBear the music sucked tho
01:14 theBear 2nd one music is a bit better
01:19 Curious gives up on "new music" and takes shelter in some classic echo and the bunn
01:20 theBear i prefer cartoons... spaceghost today
01:21 MrCurious would have figured you for a child of the 80's
01:22 theBear what does that have to do with spaceghost ?
01:23 MrCurious younger people dont know who space ghost is
01:23 theBear plus that's not very nice, regardless of accuracy :)
01:23 MrCurious or speed buggy
01:23 GargantuaSauce https://www.youtube.com/watch?v=evVrWPtvbJo since we're doing the music thing
01:23 MrCurious i would venture that early 80's was the best time you can remember
01:24 MrCurious GargantuaSauce: thats gonna give me halucinogenic nightmares
01:25 GargantuaSauce those are the best kind
01:26 MrCurious i suppose... nothing better than sleeping on a nicotine patch, and dreaming you are at a dead concert...
01:26 theBear meh, i look at it more like now is the worst time i can remember
01:26 MrCurious 18 - 26 was a fun time
01:26 MrCurious had looks, a motorcycle
01:27 MrCurious college
01:27 theBear heh, i still got my looks
01:27 theBear and i'm considering getting a bike, way cheaper than a car
01:29 MrCurious bikes are fun, but it gets old being on a first name basis with all the ER folk
01:30 theBear pfft, i'm looking forward to a lifetime of that if i never do anything, bike doesn't make a difference... if anything it will be less often 'cos i don't have to walk so much
01:34 MrCurious *nod*
01:50 rue_house ok ! I have a firmware problem
01:50 theBear that's what she said !
01:51 rue_house http://paste.debian.net/7494/
01:51 rue_house as you can see the main loop runs transmittchanges() every loop
01:52 theBear i got one of them :)
01:52 rue_house if an input is flapping, it saturates the comm line
01:52 rue_house I think I'll be ok if I have it only check every 4000 loops
01:53 rue_house input B especially likes to flap
02:09 rue_house flapping must have been a big issue, after only checking the sensors every 4000 loops the timing is way faster
02:10 rue_house I have to put proper timers on that thing
02:40 rue_house http://eds.dyndns.org/~ircjunk/robots/arm4/code/serial_avr/
02:42 rue_house http://eds.dyndns.org/~ircjunk/robots/arm4/code/avr_firmware/
02:42 rue_house they match
02:42 rue_house its only about 10% hack
02:51 rue_house I cant beleive that in all the years I'v been building a standardized return value library, I'v never made a return value for function not implemented
02:51 rue_house Status_t arm4GoTarget(arm4_t * this){
02:51 rue_house return NoImp;
02:51 rue_house }
02:51 rue_house how to make coding easy
02:53 rue_house zippo:/files/programming/c/arm4# IncludeMap main.c
02:53 rue_house main.c
02:53 rue_house servoArray.h
02:53 rue_house genServo.h
02:53 rue_house returnValues.h
02:53 rue_house serialstepper2.h
02:53 rue_house ssls2.h
02:53 rue_house returnValues.h
02:53 rue_house servoArray.h
02:53 rue_house genServo.h
02:53 rue_house returnValues.h
02:53 rue_house danStuff.h
02:53 rue_house arm4.h
02:53 rue_house returnValues.h
02:53 rue_house serialstepper2.h
02:53 rue_house ssls2.h
02:53 rue_house returnValues.h
02:53 rue_house servoArray.h
02:53 rue_house genServo.h
02:54 rue_house returnValues.h
02:54 rue_house danStuff.h
02:54 rue_house some of my software gets pretty deep!
02:58 rue_house I dont even have the interpolator in there yet
03:00 rue_house SWEEEEEEEEEET
03:00 rue_house it still works with the layer "arm4"
03:00 rue_house #include "arm4.h"
03:00 rue_house int main(void) {
03:00 rue_house arm4_t robot;
03:00 rue_house
03:00 rue_house arm4Init(&robot, "/dev/ttyS0");
03:00 rue_house arm4Zero(&robot);
03:00 rue_house
03:00 rue_house return 0;
03:00 rue_house }
03:01 rue_house that completely intializes and zeros the robot :)
03:01 rue_house as you can see, I could have muliple robots on differnet ports at the same time :)
03:02 rue_house AND the interpolator could operate them all at once as one machine
03:02 rue_house which is a good point, I dont know if the interpolator should be in a class under or over what I have now
03:03 rue_house I have to go to bed tho
03:05 RifRaf w00t, first stepper moved on reprap :)
03:05 RifRaf told X motor to move and it did
03:05 rue_bed yay!
03:06 rue_bed mine didnt
03:06 rue_bed it sat there saying nothing
03:06 RifRaf Z and Y bit mixed up though
03:06 RifRaf this is good though, i can fix it now
03:07 RifRaf hey one Z motor turns if i move the bed, obvoisly a Z plugging into the Y
03:08 RifRaf was in a hurry this morning, had to rewire all steppers
03:08 RifRaf rue_bed, did you try with pronterface?
03:14 rue_bed yes
03:14 rue_bed I think its cause my zero sensors aren't hooked up yet
03:16 RifRaf have not tested them yet, and they are NO so should not stop it
03:16 RifRaf Z and X move nicely, Y is grindy
03:20 rue_bed do you have a tension spring on it?
03:20 rue_bed or is it hard adusted
03:20 RifRaf mechanical tensioner, i was thinking maybe try tighter, but is close to the X tension
03:21 rue_bed http://eds.dyndns.org/~ircjunk/projects/reprap/
03:21 rue_bed http://eds.dyndns.org/~ircjunk/projects/reprap/p1040270.jpg
03:21 RifRaf rue_bed, see the tension arm http://imagebin.org/259144
03:21 rue_bed give it some room to move a bit
03:23 rue_bed na, give it some dynamic tension, so that it makes up for anything slightly off centre
03:23 RifRaf nothing is off center
03:23 RifRaf i put this together with squares and calipers
03:24 rue_bed http://eds.dyndns.org/~ircjunk/projects/reprap/p1040279.jpg
03:24 RifRaf the bed should already be level
03:24 rue_bed the sprockets aren't round
03:24 rue_bed they are a polygon, the tension varries are they turn
03:25 RifRaf these are round
03:25 rue_bed putting in a spring is like putting in a resistor in a led instead of setting the voltage to exatly what the led drops
03:25 RifRaf do you have printed pulleys for the belts?
03:25 rue_bed no, mine are from printers
03:25 rue_bed they are the proper pullies for hte belts
03:26 RifRaf well these are proper nice ones
03:26 rue_bed NO drive pulley is round
03:26 rue_bed the teeth make it varry
03:26 RifRaf ok well round with bumps where they should be
03:26 RifRaf i can move the carrige by hand easy with no belt slipping
03:26 rue_bed ok I sugested you use a tensioning spring.
03:26 rue_bed me too
03:27 RifRaf springs are bad m'kay
03:27 rue_bed sure
03:27 RifRaf for bed leveling anyway so they say at reprap school
03:28 rue_bed ah yea, that I'm gonna change
03:28 RifRaf i'll lossing the tensioner and see what differing tension does
03:28 rue_bed but I'm gonna make the table give
03:28 rue_bed cause if the head crashes I dont want anything damaged
03:28 rue_bed nobody seems to understand balance and compliance
03:29 RifRaf aha, am just gonna swap x and y motors and see if the problem transfers as well
03:30 rue_bed ah, maybe one of the microsteppering drivers isn't right?
03:31 rue_bed what model reprap is that?
03:32 rue_bed or are you going custom :)
03:32 RifRaf an i3 prusa, with a ramps 1.4 driver board
03:32 rue_bed I told myself to build a stock one, THEN modify all the stuff they did screwey
03:32 rue_bed mm
03:32 RifRaf my frame and many other parts are becoming customish
03:32 rue_bed 2560?
03:32 rue_bed marlin?
03:32 RifRaf makde bits while waiting, yep 2560
03:33 rue_bed k
03:33 RifRaf marlin yep
03:33 rue_bed yours is much like mine then
03:33 RifRaf yep, you should try debug it
03:33 rue_bed how many params did you have to modify in marlin?
03:34 rue_bed how much were your stepper drivers, I'm going my own to try to save another $100
03:34 RifRaf so far only modded the ones that made sence, waiting for triffid to ask him wat esle to change
03:34 RifRaf i bould a kit for 650
03:34 RifRaf bought
03:34 rue_bed ouch
03:34 rue_bed I'm only $300 into my machine so far, thats with 2kg of plastic
03:35 RifRaf well yes, but i didn't want to mess about, and made better parts like the frame
03:35 rue_bed yea, your like that
03:35 rue_bed I got a joint kit
03:35 rue_bed that was $100
03:35 rue_bed 2kg plastic $100
03:35 RifRaf am getting a good deal cause we may trade for a few frames, so mill get something back on the time to design this frame right
03:36 rue_bed arduino, threaded rod, nuts, $100
03:36 RifRaf yep a roll of plastic and hotend should arrive tomorrow, but am happy to spend the time debugging these motors and stuff first
03:37 rue_bed yea, I wasn't going to buy the plastic right away and I'm sorta sorry I did
03:37 RifRaf am well on the way to a second unit , bit larger
03:37 rue_bed but I did need a piece for the hot end test
03:37 rue_bed :)
03:38 rue_bed did you see my quartz hot end?
03:38 RifRaf nope
03:38 theBear lol, hot end
03:38 rue_bed oh
03:38 theBear and how you make one out of quartz ?
03:38 rue_bed its just a quartz body
03:38 rue_bed the tip is brass
03:39 rue_bed the heater block is alum
03:39 rue_bed super easy to make
03:39 rue_bed I have a lathe now, so I may redo it again
03:39 RifRaf yep gonna try stuff in the lathe once i get one working
03:40 rue_bed gnight!
03:40 RifRaf ok the fault transfered to the X axis
03:40 RifRaf nite
03:40 RifRaf the Y carriage was smooth connected to the X driver
03:41 rue_bed did you miss a microstepp setting?
03:41 theBear maybe a miswired stepper ?
03:41 RifRaf nope, swapped steepers
03:41 RifRaf the connectors ate the pcb
03:41 RifRaf heh
03:43 RifRaf theBear, i swapped the X and Y cables, so now the X motor is playing up, rather than the Y, so must be at the board or driver
03:43 RifRaf time to annoy the reprappers :)
03:44 theBear yeah, but wiring can be at the board or driver
03:44 theBear i mean, the motor end is just plugs, but i suppose they could still be miswired
03:45 theBear in summation, anywhere a wire is not right between the board, driver and motor, could cause this :)
03:51 RifRaf theBear, i need to check the current the driver is putting out, gonna follow this http://reprap.org/wiki/Sanguinololu#Pololu_drivers_current_limit_configuration
03:55 RifRaf hrm i was trying to do that test this morning but could not see the test point
03:55 RifRaf will use super lenses and try again
03:58 theBear erm, the current shouldn't be an issue, i suppose plugging in an unloaded/unmounted motor would confirm that tho
03:58 theBear most likely it's a bodgy step pattern or something like a coil half-wired or wired backwards
04:23 RifRaf is alot better since checking those things theBear, that issue gone, now gotta get the endstops working, just went out of control, am ready to pull out power cord though
04:23 theBear huh ? did you change something or err, what made it fixed
04:24 RifRaf well the voltage was 0 at the test point of the V driver, and fixed all the rest to 470mV
04:24 RifRaf i also swapped driver boards, extruder and Y
04:24 RifRaf but i reckon i could swap them back now that all are set correctly
04:25 RifRaf or at least set to something
04:25 RifRaf things move but its not graceful at all yet
04:25 theBear oh, so you adjusted some current limits eh ?
04:25 RifRaf yes checked em all
04:25 RifRaf all were not set
04:26 RifRaf some were at a setting that worked and some too high, and Y was 0
04:26 theBear yeah, that'd do it
04:27 RifRaf ok tryed to mome X and it smashed into the wrong side where the is no endstop :(
04:28 RifRaf home
04:28 RifRaf nothing seems to be broken, i think i need to change that in firmware
04:31 theBear mmm, probly somewhere between setting x 'width' and steps:distance setting
04:37 RifRaf am about to try again with motor connector reversed
04:38 theBear ahh hehe, that could do it too :)
21:27 zhanx echo
21:27 zhanx echoooo echooooooo
21:31 ace4016 achoo
21:31 zhanx tissue?
21:32 zhanx so got 300' of 1/8 wire coming tomorrow. page full of cut lengths
21:32 zhanx need a torch and solder and jigs still and my 5' biped will be here
21:32 ace4016 making a 5' biped?
21:33 zhanx yes
21:34 ace4016 cool
21:35 ace4016 have any preliminary pictures or anything?
21:35 zhanx kind of
21:35 zhanx https://plus.google.com/photos/106669734325478043044/albums/5873909688825981441?banner=pwa&authkey=CIjwiOHWp6a5Vw
21:35 zhanx that work?
21:36 ace4016 yea
21:37 zhanx tomorrow i start the frame
21:37 ace4016 cool
21:37 zhanx 42 drill motors for movement
21:37 zhanx fun
21:37 zhanx but its my hire me i am good at this stuff robot
21:41 rue_house .
21:42 zhanx rue_house, i am actually doing ai for it, among other things
21:43 zhanx and rue_house we talked about this remember, need a new line of work
21:48 zhanx crickets
21:48 zhanx ok cutting up an oval
21:49 zhanx center is 13.5" in diameter, ends are 5" in diameter, 4.2 inches in from the sides. what is the length of the long side?
22:45 MrCurious you've got a nail in your....
22:45 GargantuaSauce it's not about the nail
22:53 MrCurious its ALWAYS about the nail...
22:53 GargantuaSauce you never listen
22:54 MrCurious you have a NAIL! poking out of your..
23:10 theBear heh, you guys