#robotics Logs

Dec 09 2015

00:21 rue_shop3 hu? hu?
00:21 rue_shop3 yea? no?
00:25 anonnumberanon https://lainchan.org/player.php?v=/cyb/src/1448377000132.webm&t=Cat%20say%20allahu%20akbar.webm&loop=1
00:25 anonnumberanon O}
11:27 veverak deshipu: question
11:28 veverak when you screwed servo horns together
11:28 veverak did it twisted?
11:28 verak is thinking about making that arms from something
11:29 veverak http://www.thingiverse.com/thing:51425 "something like this"
11:56 deshipu veverak: you have to be gentle, and not screw them too hard
11:56 deshipu veverak: well, sure
11:59 veverak well, too late for that :)
12:00 deshipu you can always loosen them, and then they should straighten
12:02 veverak yeah
12:02 verak also have find a way how to make trimmering
12:03 veverak figured out that for some servos, there is ideal position exactly in the middle of teeth
12:12 akem rubber animatronics anyone?
12:12 deshipu veverak: I plan to write a separate program from trimming
12:12 deshipu akem: no, thanks
12:13 akem :) hey deshipu
12:20 veverak deshipu: seems legit
12:21 veverak deshipu: I suppose there allready can be something for this...
12:23 deshipu veverak: it's one of those long-term things that I have no motivation to do
12:26 veverak deshipu: pololu maestro center could be used
12:40 veverak (maybe)
12:40 veverak deshipu: well, what you want?
12:40 veverak a. trimming im ms
12:40 veverak (or maybe not...)
12:40 deshipu min, max, center in ms
12:41 deshipu in us
12:41 veverak yeah in us!
12:41 veverak :)
12:41 deshipu assuming all those servos are linear
12:42 veverak and easy way to set it
12:42 veverak *calibrate it
12:42 veverak I suppose only thing criticall is centering
12:43 veverak so way to tell actual center for each servo over serial
12:43 veverak "move with servo so I know which is which"
12:43 veverak "set center to X and move to it"
12:43 veverak "print actual values"
12:53 veverak http://playground.arduino.cc/Code/Messenger awesome! :)
12:54 robotustra http://gazebosim.org/
12:56 SpeedEvil http://imgur.com/gallery/oDjyIOy dynamic gait
14:36 femtogram hey guys. with optical encoders, how important is the index channel? i have a superdroid dual encoder breakout board with two LS7366R on it which runs at 40MHz. I figure there isn't a need to have the index channel in this case?
14:37 femtogram it's only for making sure that there weren't any readings that were missed yes?
14:45 SpeedEvil If you don't have the index, you don't know the absolute posuition at all
14:45 SpeedEvil only relative movement
17:37 Hyratel Index is the "Zero" location, right?
17:37 Snert__ yup
17:37 Hyratel and with an Index, you have Zero +/- N increments
17:38 Snert__ the home position, if you will.
17:38 Hyratel without index, you just have Start +/- N
17:40 Snert__ that word start is throwing me.
17:40 Snert__ without an index....you just have graduations with no starting point reference.
17:41 Hyratel Snert, you start where you start
17:41 Hyratel without having previously zeroed
17:41 Hyratel each movement is a new Start
17:41 Hyratel so you have only deltas with no absolute
17:41 Hyratel femtogram, you following this?
17:42 Snert__ sure. I don't visualize it that way though is all.
18:03 Snert__ I saw some U.S. Digital encoders that have a battery in them for holding position info during an outage.
18:03 Snert__ as opposed to absolute.
19:11 veverak hmm
19:11 veverak deshipu: fritzing looks nice
19:11 verak finished his first board after a w
19:13 Hyratel veverak, now if only it were more optmised
19:13 Hyratel and had things like part groups
19:13 veverak well, it's BFU friendly
19:13 Hyratel or arrays
19:13 veverak which suits me :)
19:13 Hyratel BFU?
19:14 veverak and I don't get the feeling that it should be "proper" tool
19:14 veverak more like tool for newbies
19:14 veverak fuu
19:14 veverak bfu exist only in my language?
19:14 veverak Hyratel: average computer user
19:14 veverak *average user that is dumb as hell
19:14 Hyratel https://dl.dropboxusercontent.com/u/33593534/images/Fritzing/RelayBoard%20for%20StigChristian%20R2A_bb.png
19:14 veverak :)
19:15 Hyratel https://dl.dropboxusercontent.com/u/33593534/images/Fritzing/RelayBoard%20for%20StigChristian%20R2A_pcb-3.png
19:15 veverak that's messy :D
19:15 veverak but I ignored the breadboard part completely
19:15 Hyratel lok again - it really isn't
19:15 veverak DAMN IT
19:15 veverak it lagged
19:15 veverak during export
19:15 veverak and I didn't saved my board afaik
19:15 veverak omfg NOOOOOOO
19:16 Hyratel https://dl.dropboxusercontent.com/u/33593534/images/Fritzing/RelayBoard%20for%20StigChristian%20R2A_pcb.png
19:17 veverak yeah
19:17 veverak it can recover
19:17 veverak Hyratel: sweet
19:17 Hyratel this is the other thing Ftz is good for - https://dl.dropboxusercontent.com/u/33593534/images/Fritzing/Atk3-top_bb.png
19:18 Hyratel helping to decode existing PCBs
19:23 veverak http://imgur.com/a/qoAyz
19:23 veverak schematic looks horrible
19:23 veverak but it actually gets better on the board itself
19:24 veverak esp8266 12, circuit to be able to flash with normal arduino-style usb flash thingie
19:24 veverak and voltage regulator
19:24 veverak but I am not sure if I didn't made everything too close to the esp itself
19:24 veverak but at least I trained it a bit :)
20:52 anonnumberanon sucks kicad doesnt open Eagle .sch files. at least on my mchine.
21:03 robotust1a surprise
21:12 anonnumberanon why is it a surprise are you being sarcasric?
21:13 anonnumberanon too many schematics you can download are .sch
21:15 robotust1a you can use Eagle for non commecial projects
21:27 anonnumberanon and also commercial projects
21:28 robotust1a I mean it's for free with some restrictions
21:29 anonnumberanon I was talking more about the OS it uses. I dont like booting into Windoes that much.
21:30 robotust1a install in in virtual machine like I do :)
21:32 anonnumberanon is it still fast and responsive that way? my VMs are always very limited as far as video resolution goes.
21:33 robotust1a I even use CAD in my virtual machine
21:33 robotust1a because there is no linux version of my CAD
21:35 anonnumberanon good, good. so what abouy yhose camera tests. how s that going?
21:35 robotust1a I'm working on wheeled base now, soldering elecronics
21:36 robotust1a have to make a board with arduino and 2 drivers
21:36 robotust1a connect a couple of currens sensors there
21:37 anonnumberanon keep on the breadboard as long as you can imo
21:37 robotust1a I do
21:37 robotust1a did not get yet all stuff from ebay
21:37 anonnumberanon i wish d done that last week i already burned 2 brains
21:38 robotust1a 2 brains?
21:38 anonnumberanon micros
21:38 robotust1a you mean arduino boards?
21:39 robotust1a do not use arduino gpio without drivers
21:39 robotust1a if you want to drive something serious
21:39 anonnumberanon not too bad cause the software was not even correct and added hardware so the board is totally different. and it is back on the breadboard now until the system is gully ready
21:40 anonnumberanon my board was yhe driver
21:40 anonnumberanon running max of 15 amps
21:40 robotust1a heh
21:40 anonnumberanon this is the curreny that also went through both micros hehe
21:40 robotust1a I'm goint to fir into 240 Watts for full sized robot
21:41 robotust1a ir you use such big currents - put some fuses
21:41 robotust1a btw I have to order some also
21:41 anonnumberanon both times inadvertantly shorted + and - while doing someyhing else. second time it was with the probe of my multimeter
21:42 robotust1a what batteries do you use?
21:42 anonnumberanon so i burned 2 out of the 5 cheap pro mini that i had
21:43 robotust1a how come?
21:43 robotust1a do you use DC-DC ?
21:43 robotust1a I didn't burn any yet
21:43 robotust1a check you voltage BEFORE
21:44 anonnumberanon i use a 15a power supply for now, set to 5V because all vomponents of the robots are convenienyly 5V
21:44 robotust1a make sure it's in the range
21:44 anonnumberanon i shorted plus and minus while probing points
21:45 robotust1a BTW, you can put a lamp bulb as protection agains big current
21:45 robotust1a :)
21:45 robotust1a be careful
21:45 anonnumberanon yeah i use a ac to dc power supply connected in series with a 15A dc-dc buck converter
21:46 robotust1a why do you need 15A
21:46 anonnumberanon so like a 1a fuse? or a lightbulb in series?
21:46 robotust1a in a series
21:47 robotust1a if you'll short something it will just lit
21:47 anonnumberanon 15A because I am using 17 high power sevos, they need to eat :)
21:47 robotust1a terrible :)
21:48 robotust1a I'm going to use like 100 of motors, but all current will be about 10 A
21:49 robotust1a of cause not of them will be running together
21:49 anonnumberanon It is a design constraint, being a combat robot. It needs to run fast for the qualifying round and then actually move around a lot during the fight.
21:49 anonnumberanon For 3 minute rounds.
21:50 robotust1a ok
21:50 robotust1a what is the battery?
21:50 anonnumberanon Each of your arms most likely requires 75-100 watts.
21:51 robotust1a no, it will draw about 40-50 watt max
21:51 robotust1a it full motion
21:51 anonnumberanon My battey choice will most likely be a 2S LiPo at 1000 mAh.
21:51 robotust1a why 2S only
21:51 robotust1a 7.4V?
21:52 ace4016 oh, i thought you mean his actual arms...which i was going to correct you on :P
21:52 robotust1a I'm going to use about 20 motors of 2W power
21:52 anonnumberanon Because the battery voltage needs tobe as close as possible to the load to reduce the work of the buck converter.
21:52 ace4016 though i guess we do surpass our average energy consumption in certain activities
21:53 anonnumberanon 20 motors on each arm?
21:54 robotust1a yeah for palm
21:54 robotust1a 5 fingers
21:54 anonnumberanon will you be lifting any weight withe arms?
21:55 robotust1a yeah, not big, like 2-3 kg max
21:55 robotust1a I'll see
21:55 anonnumberanon thats knd of a lot imo
21:55 robotust1a it's limit
21:56 robotust1a I think th average weight will be about 200-300 g
21:56 anonnumberanon most heavy food would be a gallon of mil at 2 kg? :)
21:57 robotust1a I plan him to do something like pick up thinks, put in the carriage
21:57 anonnumberanon with one of my 8$ servos i can lift 500 grams 25 centimeters away drom the servo. i guess two servos together would double that distance
21:57 robotust1a go to the place put on th place
21:59 robotust1a I am surprised than MIT cheetah has only 200 Watt or so of power
21:59 anonnumberanon is it made of aluminum or titanium?
21:59 robotust1a so I'm going to do something similar by ergonomics
21:59 anonnumberanon the cheetah?
22:00 robotust1a no, they use special drives
22:00 robotust1a this one https://www.youtube.com/watch?v=_luhn7TLfWU
22:01 anonnumberanon I have seen it already during my extensive study of the current stat of the art of robotic motion on Youtube :)
22:02 robotust1a so it has very low power consumption
22:02 robotust1a because it act with the force very short amount of time
22:03 anonnumberanon software is a magical thing for that...
22:03 robotust1a it's not only software, the drive should be done correctly
22:04 robotust1a if you are using strong pushes for a small perioud of time - you do not spend so much energy
22:04 anonnumberanon the drive should be built to limit power loss and friction, as well as mechanical play.
22:05 robotust1a did you watch the lection about this robot?
22:05 anonnumberanon mechanical play is something very scary
22:05 anonnumberanon the lecture?
22:05 robotust1a the guy explains very good how they did everything
22:05 anonnumberanon i didnt know there is one
22:07 anonnumberanon give me link if u have t i cant find it
22:07 robotust1a https://www.youtube.com/watch?v=_9OuxecV48g
22:07 robotust1a this is one but there is another one also
22:10 robotust1a this one https://www.youtube.com/watch?v=R0dgELUeBTU
22:18 anonnumberanon awesome thanks ill keep those in reserve for rainy days