#robotics Logs

Dec 27 2013

00:00 rue_house I should make a howto on driving those servos without jitter
00:01 rue_house requires rewiring them ofcourse
00:01 rue_house tiny13 should do
00:03 rue_house I feel cool, I can make servos out of anything
00:04 rue_house I should get good with i2c tho
00:04 rue_house maybe thats a good project for tonight
03:22 rue_shop3 in 93 minutes my video will be uploaded!
03:22 Lola8088 why are you awake?
03:24 rue_shop3 umm
03:24 Faek So that he can upload his video
03:24 Faek Duh
03:24 rue_shop3 I'm concious, usually that goes with being awake
03:24 rue_shop3 usualy...
03:25 wildmage still awake here
03:25 Lola8088 nah... I don't buy it
03:25 Faek Rue has a history of sleep talking?
03:31 wildmage and what's you alls excuse?
03:34 Lola8088 you should hear him snore.
03:37 wildmage rue_shop3, any further thoughts on reaction wheels?
03:38 MrCurious woo hoo. vm's installing on new laptop
03:39 wildmage which vm software are you using?
03:44 rue_shop3 reaction wheel,s no I got distracted
03:46 MrCurious llinux kvm
03:46 MrCurious virtual machine manager
03:48 wildmage i've been doing a lot of work with LXC and OpenStack lately
03:49 wildmage also KVM
03:56 MrCurious i am wanting to join a team that works with a cloud meta layer
03:56 MrCurious 1 ring to rule them all
03:57 rue_shop3 ding-dong
03:57 MrCurious ?
03:58 e_shop3 was just choosing a good opportunity to ring the door
03:58 MrCurious totally get it
03:59 rue_shop3 ok, this lcd uses an lc7582E, lets see if the datasheet can inspire me to code for it
03:59 MrCurious i do the same thing, but with the toilet
04:00 rue_shop3 plane or earthquake?
04:00 rue_shop3 .07 on the rictor scale?
04:14 rue_shop3 shifted data, 7 byte packet, 1:1 segment interface
09:24 GargantuaSauce rue you are a weirdo
09:28 robotustra servo throuth i2c?
09:28 robotustra but why?
09:29 robotustra it's better to use SPI than
15:13 rue_house well ok, SPI then
15:14 rue_house tho spi leaves me a bit pin-short on a tiny13
15:15 MrCurious i2c?
15:15 rue_house 2 wires
15:15 rue_house spi, with 3+chip select
15:16 rue_house on a micro I only have 5 io with in the first place
15:16 MrCurious do you have high bandwidth requirements
15:16 rue_house na
15:16 rue_house not for a servo controller
15:16 MrCurious then 2 wire, asn have the addresssing built in, and easily chainable
15:16 rue_house hmm
15:16 rue_house the equiv data rate of a hobby servo...
15:17 MrCurious i would assume you only need to send a command when its possition should change
15:17 MrCurious rather than constant repeats
15:18 MrCurious <servo id><servo-command><command data> servo1 move 56degrees
15:18 MrCurious servo5 power off
15:18 rue_house I get 600 baud for a hobby servos equiv baud rate
15:19 rue_house or maybe
15:19 MrCurious supppose with a attiny13 per servo, some macro intel could be offloaded to each controler
15:19 rue_house [0][c3][c2][c1][c0][v2][v1][v0]
15:19 rue_house [1][v9][v8][v7][v6][v5][v4][v3]
15:19 rue_house
15:19 rue_house c0-c3 are command
15:19 rue_house v0-v9 are value
15:19 rue_house
15:19 rue_house Commands:
15:20 rue_house 0 listen (servo number) 256 = all {always obey command} // sticks through listen once
15:20 rue_house 1 ignore (servo number) 256 = all {always obey command} // overrides listen once
15:20 rue_house 2 One Time listen (servo number) {always obey command}
15:20 rue_house 3 set flags (flags) (+toggle debug) { bitwise obey }
15:20 rue_house 0 enguage cached position {always obey command}
15:20 rue_house 1 turn servo on {obey if listening}
15:20 rue_house 2 turn servo off {obey if listening}
15:20 rue_house 3 set cmdpos to curpos {obey if listening}
15:20 rue_house 4 set servo position (position) {obey if listening}
15:20 rue_house 5 set cached position (position) {obey if listening}
15:20 rue_house 6 get servo current (servo number) {servo number}
15:20 rue_house 7 get servo position (servo number) {servo number}
15:20 rue_house 8 send device model (servo number) {servo number}
15:20 MrCurious looks good
15:20 MrCurious no learn macro
15:20 MrCurious and execute macro?
15:21 rue_house engauge cached posiion
15:21 rue_house learn?
15:21 MrCurious no macro is go pos 1, sleep x, go pos 2, sleep x, goto pos 3, end
15:21 rue_house oh
15:21 rue_house I think that should be on the controller above
15:21 MrCurious so you can say servo 1,2,3, execute macro 4 <leg up and advance for a step
15:22 MrCurious why, if you have a tiny13 per servo
15:22 MrCurious layer your thinking and minimize bandwidth
15:22 rue_house because they would have their hands full with the PID loop
15:22 MrCurious executing a macro would take minimal overhead
15:23 MrCurious could be incorporated into the 2wire listen loop
15:23 MrCurious you do have more than 1 timer on it right
15:24 MrCurious i like to think of how i move my arm... i dont consciously address muscles individually, though i can, i use macro's for known repeated movements
15:24 MrCurious hands, home on keyboard
15:24 MrCurious hands ttype this string
15:24 rue_house the comms would be interrupt based tho
15:25 MrCurious the further down the hardware stack you can push things, the more cpu you preserve for higher level function
15:25 MrCurious so have a clock message going to all devices
15:25 MrCurious every 1/10 sec, send a clock interupt
15:26 MrCurious the clock pulse can service any operating macro
15:26 rue_house my modular thinking says to use another layer
15:27 rue_house but I understand what your talking about
15:28 MrCurious it is your project, you are th pilot. just doing the first officer, present alternate thinking
15:28 MrCurious :)
15:29 rue_house I can see where that would be usefull
15:31 MrCurious i always figure the arm/intel layer is sacred, and should never have to tightly babysit any device other than video/audio
15:32 MrCurious my omni takes commands to translate or rotate in degrees and centimeters
15:34 upgrdman using a rate gyro (stm l3gd20) to determine angles by integrating. if i rotate my device ~90 degrees by hand, the integrated angle is fairly accurate, within about a degree or two. if i rotate my device with geared motors (so a very small amount of vibration) i get errors as much as 5 degrees after rotating my device a few times by 90 degrees. is this normal?
16:13 MrCurious sensor fusion
16:13 rue_house http://www.youtube.com/watch?v=s6NyTprQCBI
16:13 MrCurious fuse the gyro and the accelerometers, then add in the magnetometer...
16:13 rue_house I like that they dont use any of the official tools, so you can see how to diy it
16:13 MrCurious http://www.youtube.com/watch?v=C7JQ7Rpwn2k
16:14 MrCurious upgrdman: you catch my answwer?
16:16 rue_house damnit 2:00!
16:16 rue_house I have to work on my truck yet
16:18 MrCurious rue_house: ATTENTION, it is 2pm, and you have not yet completed your truck maintenence
16:23 MrCurious thinking ubuntu 12.04.3 LTS desktop will be the better choice for the root install for my virtualization needs. 13.10 still feels rough
16:26 MrCurious let there be Lamb Vindaloo
16:57 upgrdman MrCurious: thanks. i will look into that. i also have the lsm303dlhc on my board so that's a good option
16:58 MrCurious let me know how it goes. i too have interest in this
17:03 upgrdman ok, will do.
17:05 upgrdman i tried calcing the angle with my accelerometer, and trimming my gyro angle with that, and it seemed to add a lot of noise. but i probably did it wrong, so i'll watch the video and hopefully understand it
17:23 rue_house Tom_itx, on the S10, there should be two bolts holding the ass end of the transmision to a rubber mount, can you tell me what size they shoudl be? :D
18:06 rue_shop3 my guess is M10x1.5
18:07 sherlock that was a delayed guess
18:08 sherlock rue_shop3: Snowed in yet?
18:32 rue_shop3 one of them is different
18:33 rue_shop3 no snow at all
20:26 rue_shop3 yay, I can drive with the window rolled up and not get gassed to death!
20:29 Tom_itx did you get your tranny bolts fixed?
20:30 Tom_itx i dunno what they are but probably 8mm or 5/16
20:47 rue_house I was right, its M10x1.5
21:36 rue_shop3 it was cross threading and didn't look like the right pitch tho
21:42 Tom_itx get a new exhaust installed?
22:08 wildmage wow
22:08 wildmage this is new
22:08 wildmage #robotics is larger than #ai
22:08 wildmage i did not know that
22:17 MrCurious perhaps a self-replication mechanism has been deployed, and you are witnessing the armies rising....
22:18 robotustra may be because ai does not exist?
22:55 MrCurious which came first? the robotic overlords, or the AI that masters them....
23:02 GuShH_Lap MrCurious: the mexicans who built them
23:03 MrCurious i had often thought that the creature that llaid the chicken egg was not a chicken, but rather a near chicken with defective dna
23:03 MrCurious precipitating the chicken comming after the egg
23:47 MrCurious yes! new laptop un-fudged