#robotics Logs

Apr 16 2014

09:05 rue_more so, I got the floating point, minimium step interpolator working
09:06 rue_more "my life wont end in the difference of a few dollars, my f***ups are gonna be big ones."
09:13 rue_more ooooh k
09:13 rue_more I have a working servo controller, I have a working interpolator
09:13 rue_more hey, somewhere I have a kinematic library
09:13 rue_more but that aside for now
09:15 rue_more I think working on it till midnight was not helpfull
09:22 robotustra fixed 5 bugs, created 10 new bugs
09:23 e_more
09:24 Faek I do my best programming after midnight
09:24 Faek (to be honest that's not true. But my coding certainly isn't any worse after midnight!)
09:25 rue_more heh
09:25 rue_more volume vs quality?
09:25 Faek No just terrible all the time
09:26 rue_more I did good last night, this is all comming togethor nicely considering I'm kinda having to rewrite all my libraries to account for a robot that takes abolute position control
09:27 rue_more gee, I must make all my libraries are done right, main.c is always really small
09:36 rue_more sweeeet
09:36 rue_more that didn't take long to put togethor
09:39 rue_more http://paste.debian.net/94065/
09:39 rue_more a bit hacked, but working great
09:41 rue_more I have to modify the servo controller to be able to cache positions and exec them at once on queue
09:44 rue_more I need to work out if I have any config file parser that will collect array data
09:47 SlaveToTheSauce i would probably just halfass a binary format that's just a repeated struct
09:47 SlaveToTheSauce if you're not going to use gcode or something
09:48 GuShH_ Faek: terrible code? faek it.
09:48 Faek Haha
09:48 GuShH_ rue_more: it wouldn't be rue without a hack.
09:52 GuShH_ danStuff.h
09:52 GuShH_ so very descriptive.
09:52 GuShH_ "I don't know why the code keeps choking on dan's stuff"
09:57 SlaveToTheSauce also the plural of axis is axes
09:57 SlaveToTheSauce not axii and also not axies
10:07 GuShH_ SlaveToTheSauce: fire him
10:08 SlaveToTheSauce he stopped getting a paycheck years ago
10:08 SlaveToTheSauce but still shows up every day!
14:55 GuShH_ wtf a starrett center gage 40 dollars...
14:57 armyofevilrobots SlaveToTheSauce: https://www.youtube.com/watch?v=F4eCd6xUSik
14:59 SlaveToTheSauce ya that came to mind but it is the opposite of what i said so i didn't quote it directly
18:35 GuShH_ GargantuaSauce: you say hardwood and lathes don't mix... what about this? https://plus.google.com/photos/108164504656404380542/albums/5889085582650378897/5978884791542655522?pid=5978884791542655522&oid=108164504656404380542
18:36 GargantuaSauce hardwood *floor*
18:36 GargantuaSauce you don't walk on a cabinet!
18:36 Hyratel oh god that's a gorgeous cabinet
18:36 Hyratel are those ... the operating buttons?
18:37 GargantuaSauce and there's no damage deposit on the cabinet
18:37 GargantuaSauce there is on my apartment :/
18:37 Hyratel GuShH_, yours?
18:38 GargantuaSauce i suspect gushh wouldn't be caught dead using g+
18:44 MrCurious that is a work of art
18:44 MrCurious its too good to mill on
18:45 MrCurious it is odd that they put it next to the living room tv...
18:45 MrCurious would think the wife would be outraged with the constant mess
18:48 Hyratel with that in mind, it seems more like an art/novelty peice
18:49 MrCurious so he probably has a mill-master-9000 in teh garage for doing real work on
18:55 GuShH_ the cabinet was made by the owner of the lathe...
18:56 GargantuaSauce i've decided i want a mill before a lathe in any case
18:56 ShH_ sh
18:56 GargantuaSauce still drooling over the taig cnc ones
18:56 GuShH_ you want both and you know it.
18:56 GargantuaSauce well yes
18:56 GargantuaSauce i sure do
18:56 ShH_ doesn't drool on tabletop s
18:57 GuShH_ Must. Make. Space.
19:02 MrCurious cant you just subscribe to a maker space
19:02 MrCurious cheaper really
19:03 GargantuaSauce if there were one here i'd already be a member
19:03 GargantuaSauce i've been considering starting one
19:03 MrCurious i collected the tools before thinking to check... i fail
19:03 GargantuaSauce lots of commercial space open....not really keen on sinking a bunch of capital into a doomed to fail organization though
19:09 Hyratel GargantuaSauce, get a bunch of promises of suport in writing
19:10 GargantuaSauce the community is too small for it to be feasible i think
19:41 MrCurious BREAKING: CNN to change its name to THAS channel (The Hide and Seek channel)
20:45 rue_more hahaha all my file parsers use the same format in the file as the command line interface that was used to build the file
20:46 GargantuaSauce how flexible
20:49 rue_more yea, the file you write is more or elss a script of commands
20:49 rue_more so you can hand craft soemthing int he program, change it up in a text editor, and load it back in
20:50 rue_more I want something simpler right now tho
20:50 rue_more I think
20:50 rue_more wait
20:50 Jak_o_Shadows I generally use .ini for config files.
20:50 rue_more I have made a lot of libraries that make that approach really easy
20:50 e_more th
20:50 GargantuaSauce i am going to start using lua for that sort of thing
20:51 rue_more I need to store 6 dimentional points with reference names, and then have a list of them that are played thru
20:51 GargantuaSauce or possibly javascript, that's a bit harder to embed though i think
20:51 rue_more I have a command line parser that will also do things like files
20:51 rue_more so a command line option, a command in the program, or a parsed file all go thru the same code
20:52 rue_more use the same functions to do the same things
20:52 rue_more I ahve a variable library
20:52 rue_more which maybe could store the points
20:53 rue_more oh cool I made a library for daemonizing a program
20:54 rue_more hmm I see a string variable list
20:54 rue_more maybe thats why all the intermediate formats of my command line equation evaluator are text
20:58 rue_more I suppose between the command library and the string variable library I can make named variables that have a string of positions in them, and then have a master variable with the list of name points in it, and I can use commands to append/delete/insert to it
21:00 rue_more I'm having the milestone 'fix or rewrite' dilemna
21:01 rue_more if I make an interface to this, I can use it to realtime set/test the position sequences
21:01 rue_more commands so far
21:02 rue_more createPoint pointname, (position list)
21:02 rue_more deletePoint pointname
21:02 rue_more pathAppend pointname
21:02 rue_more pathShow
21:03 rue_more testPoint pointName
21:03 rue_more pathPlay
21:03 rue_more save (filename)
21:03 rue_more load (filename)
21:03 rue_more new
21:04 rue_more oh and
21:04 rue_more quit
21:07 rue_more I dont know how on a command line interface one would specify a position for an insert to a list, it kinda needs to have a cursor function
21:09 rue_more hmm I have something called a int pile, which is a list of integer lists
21:27 rue_more oh look, readconf is a library for completely parsing conf files for me
21:35 rue_more haha, a close enough hack
21:52 rue_more ok I think its ready to break a robot
21:58 rue_more erp breakage on expansion
21:59 rue_more oh init
22:00 rue_more yaya!
22:01 rue_more to the robot!
22:01 e_more stops to t
22:02 rue_more yea, this will take some shop work
22:06 rue_shop2 "AAAAAH THE EMERGENCY STOP DIDN'T WORK!!!" "It worked, it just dosn't shut down the blades..."
22:40 rue_shop2 "yes, I am robot, you are human. Put this on" "what is it?" "its a mind control device, it allows you to control me with your mind"
22:41 Hyratel "riiiight"
23:03 rue_shop2 hmm it seems to be a common theme on my robots that the manipulators are within mechnical interfearance range of the servo controller
23:06 GargantuaSauce if you will give it no other freedom, allow it to end its misery
23:07 rue_shop2 indeed
23:07 rue_shop2 ok .4A * 8
23:08 rue_shop2 3.2A
23:08 rue_shop2 not that they all overlap
23:08 rue_shop2 hmm ~2A could be ok
23:08 GargantuaSauce they won't all be moving sure, but they'll all be exerting torque!
23:09 GargantuaSauce except perhaps the shoulder's z axis i guess
23:09 GargantuaSauce i would allow for like...4
23:09 GargantuaSauce if not more
23:10 GargantuaSauce you sure don't want the supply to sag
23:10 rue_shop2 great big thump and the blooming cat is trying to climb up the ladder to the shop roof again
23:10 GargantuaSauce man it's 1 already? fuck me
23:10 rue_shop2 its all balanced
23:10 GargantuaSauce was just thinking of getting down to business
23:10 GargantuaSauce yeah what if you want to pick something up?
23:11 GargantuaSauce overhead is always a good thing
23:11 rue_shop2 it has to work to get donw
23:11 rue_shop2 down
23:12 GargantuaSauce it'll differ over the range of motion right
23:12 GargantuaSauce you don't want it to suddenly fail if you have it in some weird position
23:12 rue_shop2 5V, 2A, I should look for a power adapter with "DLINK" on it
23:12 GargantuaSauce and also, trusting wallwart current ratings? shit man
23:13 rue_shop2 dlink, 5V, 2.5A
23:14 rue_shop2 the analog servos dont pulse the motors for the whole 20ms
23:14 rue_shop2 er 18ms
23:14 GargantuaSauce ...which will increase the peak current
23:15 rue_shop2 to .4A
23:15 rue_shop2 I did this oon my scope before
23:15 rue_shop2 wanna see?
23:16 GargantuaSauce i'll take your word for it, but after the fire i get to say atodaso
23:18 rue_shop2 a result of americans believing chinese ratings I'm sure
23:31 MrCurious chinese dont lie
23:32 rue_more no, but a chinese amp is about 0.6 american amps
23:32 MrCurious i have heard of watts and RMS
23:32 MrCurious do AMPS have a RMS form?
23:41 rue_more ok default zeros vs real zeros
23:42 rue_more these are the deviations in ~degrees
23:42 rue_more 35, 35, 55, 15, 35, -65
23:42 rue_more :)
23:42 rue_more kinda missed on some numbers somewhere eh?
23:42 GargantuaSauce was the spline rotated during assembly or something
23:43 GargantuaSauce i had to be very careful about that doing the hexapod
23:43 rue_more no, I think my avr codes time is out
23:43 GargantuaSauce i have all the code in place for offsets to be added but doing 24 is not my cup of tea
23:46 GargantuaSauce and since the splines have an odd number of teeth and the horns have 4 holes, there's 3 configurations that look aaaalmost right but are off by a few degrees
23:46 GargantuaSauce took me a couple legs to figure that one out
23:48 rue_more yea, I have number adjusting to do
23:57 rue_more hmm but I'mout of time to make it dance
23:59 rue_more yea the avrs pulse timing, although spec, is not matching the middle and limits of the servos