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[00:00:19] <z64555> lemme guess, a point cloud renderer from a LIDAR? :D
[00:15:30] <z64555> ok... PID per axis... then
[00:16:25] <z64555> what units would the output actually be?
[00:16:39] * z64555 ponders
[00:20:37] <anonnumberanon> a uniteless coefficient? that will act on your motor inputs anyway
[00:22:15] <z64555> % power, or % speed, perhaps
[01:14:12] <z64555> hm.
[01:14:30] <z64555> how to clamp the throttle
[01:15:28] <z64555> Idea is to prevent the throttle on any one engine from going too low. Can achieve the same output by increasing throttle on the other engines a bit
[01:27:36] <Jak_o_Shadows> What type of engine/details?
[01:30:11] <z64555> engines on a quadrotor
[01:30:27] <z64555> something of an edge case
[01:38:32] <z64555> simple solution would be to clamp it to a min throttle and forget it
[01:39:51] <z64555> (as well as a max throttle, for that matter)
[01:45:20] <z64555> a more professional solution would be to somehow redirect the excess to the other motors
[01:48:30] <Jak_o_Shadows> But don't you have to worry about balance?
[08:24:58] <z64555> so basically what I'd be doing is making a software version of a differential gearbox
[08:25:51] <z64555> ...that's a bit more complex though
[08:27:32] <deshipu> https://media.giphy.com/media/7ZlDU4wYAo7kc/giphy.gif
[08:28:09] <z64555> yup. lol
[08:33:46] <z64555> i could perhaps have the cyclic limited to by a factor relative to the collective
[08:34:11] <z64555> s/limited to/limited
[08:36:00] <deshipu> I didn't know multirotors had collective
[08:36:27] <z64555> I'm using helicopter terminology to make it easier for me to talk about stuff
[08:36:56] <deshipu> ah, ok
[08:37:02] <z64555> collective in this sense is the throttle value common to all motors, and cyclic is a delta of the collective
[08:37:15] <deshipu> makes sense, I guess
[08:37:27] <z64555> so engine_throttle = collective_throttle + cyclic_throttle
[08:37:38] <deshipu> until you try to think about the rudder...
[08:38:17] <z64555> heh, I'm grouping the rudder with the cyclic for now
[08:38:22] <z64555> as axis z
[08:38:52] <SpeedEvil> Also - #multirotor #multiwii
[08:38:57] <deshipu> the rudder would be the relation of one diagonal pair of rotors to the other, I guess
[08:39:12] <z64555> yup
[08:39:28] <deshipu> not sure if it makes sense to translate it like that -- seems forced
[08:40:41] <z64555> it does. If you had the counter-spinning rotors on the same axis, you'd have rotations on the other axes
[09:42:27] <z64555> here we go
[09:42:56] <z64555> https://pixhawk.org/dev/mixing
[09:43:13] <z64555> the short section on Ratio clamping helped
[09:43:24] <myself> oh hey z64555, saw you last night talking about uCs with FPUs. I should make sure this is on your radar:
http://navspark.mybigcommerce.com/navspark-mini-uart-to-usb-adapter/
[09:44:01] <myself> they're $6/ea in normal packs, 32-bit SPARC core with FPU, and oh by the way there's a GPS receiver in there if you need that too.
[09:44:38] <myself> (or the fullsize navspark is $22 if you want more GPIO)
[09:44:46] <z64555> oh neat
[09:45:08] <myself> Yeah. The uart adapter pinout is totally crack-addled but everything else about it is totally sweet.
[09:46:14] <myself> I have one of the glonass units, and a pack of the minis here. Haven't done anything but blink an LED and run some demo stuff, but they're adorable.
[09:47:03] <z64555> very much resisting the urge to horde electronics, lol
[09:52:04] <z64555> going to mull over that in my subconcious. I haven't picked out a GPS module yet, but the presence of a GPS on a uC chip makes it very attractive for a simple AHRS hardware
[09:52:04] <z64555> Pair it up with an IMU and a compass. :)
[09:52:05] <z64555> thanks
[09:52:06] <myself> Well, all GPS units have some RF/baseband and some ASIC stuff, paired with a pretty massive FPU and general purpose CPU. What's unique about this one is they said "Hey, this has some spare cycles and some spare GPIO, why don't we let people run their own code alongside the GPS code?"
[09:52:07] <z64555> gotcha
[09:52:55] <myself> And then it turns out that when you're building firmware for it, you can omit the GPS blob and use the whole chip for user code, which makes it a truly ludicrous amount of processing grunt for certain numerical tasks. Just ignore the GPS RF hardware you're not using. :P
[09:59:16] <SpeedEvil> That's really not bad - $46 for 6 shipped
[09:59:40] <myself> assuming you have your own source of antennas
[10:01:10] <myself> They don't even carry GPS-only antennas, you can get those at all the usual suspects. :) But they carry the wider-filter model that'll accept the Glonass signals off at 1610, cuz trying to get those signals though a GPS-only antenna is awful.
[10:03:41] <z64555> just grab a coax that'll plug into that connector and strip off the outer layer
[10:03:53] <z64555> make sure it's the right length :P
[10:04:08] <z64555> Although... if that coax is super tiny, it'll be a devil to strip
[10:04:17] <SpeedEvil> myself: a biit of wire will 'work'
[10:04:41] <SpeedEvil> It won't have as good performance in poor signal conditions
[10:05:27] <z64555> it's a simple dipole, lol
[10:06:00] <z64555> If you want to get fancy, you can try a bent paper clip
[10:06:30] <myself> I've done that. Had a ublox unit get a fix on a trimmed-by-eye paperclip, sitting on a bench under a fluorescent light, under a double roof and behind a brick wall.
[10:06:55] <myself> I'm not complaining, mind you, I just want to know what pact ublox made with the devil to make that work so well.
[10:07:37] <SpeedEvil> GPS signal has lots of redundancy, and if you throw oodles of computing power at it, you can resolve signals really quite far down in the noise
[10:07:44] <z64555> There was a pop sci article some years back where somebody had made an evolutionary algorithm
[10:08:01] <myself> z64555: for super tiny coax, soak the braid with solder first, then "strip" it by treating it as a metal tube you can just cut off.
[10:08:41] <z64555> The operator would toss in some criteria, and the algo would apply a genetic-sort of evolution algo to it until a contender reaches the criteria
[10:09:22] <z64555> NASA presumably did a run to find a good antenna for its UHF radios, and the result was a bent paper clip
[10:10:23] <z64555> myself: huh, good thinking. might have to try that
[10:43:30] <z64555> there, that wasn't so bad, was it? I got the engineering module finished
[10:44:51] <z64555> abstracted it enough so that if I want to change the number and/or orientation of the engines, all I have to do is update the coeficient matrix and change the NUM_ENGINES #define
[10:45:21] <z64555> SpeedEvil: there's nobody in #multirotor on freenode :(
[10:46:31] <SpeedEvil> err
[10:46:34] <SpeedEvil> #multirotors
[10:47:42] <z64555> yay, people
[10:48:29] <z64555> thx.
[11:24:23] <z64555> this crowd seems to be nicer than #multirotors, lol
[11:28:19] <myself> they just a bunch of hot air?
[11:31:25] <z64555> eh, I'm getting an elitist vibe from some of them
[11:49:26] <jhylands> z64555, I got the same thing when I went there
[12:07:22] <z64555> its like the college commons room in there, lol
[12:12:19] <z64555> ah well. guess I'll lurk there a bit to see if I can learn anything from their ramblings
[12:12:23] * z64555 goes back to pondering about telemetry
[15:09:15] <veverak> hmm
[15:09:27] <veverak> any tips about how to create complex shapes for pcb in kicad?
[15:10:11] <veverak> dxf! :)
[15:10:25] <veverak> now I need comonly used dxf editor
[15:11:23] <deshipu> veverak: I use fritzing and simply draw the complex shapes in Inkscape :)
[15:11:44] <veverak> deshipu: well, I am thinking about using openscad for this actually
[15:11:49] <veverak> it can export into dxf
[15:11:53] <veverak> it has parametrization
[15:11:57] <veverak> and it's by this moment well known
[15:12:00] <deshipu> I think Inkscape can too
[15:12:15] <veverak> yeah, but can you parametrize things in Inkscape?
[15:12:18] <veverak> :)
[15:13:09] <deshipu> sure, svg is just xml
[15:13:26] <jhylands> veverak, how complex are you thinking?
[15:13:50] <veverak> hmm
[15:14:48] <jhylands> you can do polygons and arcs for board edges in Kicad
[15:14:55] <veverak> hmm
[15:15:07] <veverak> well, point is that the pcbs will act also as construction elements
[15:15:19] <deshipu> sacrilege
[15:15:23] <veverak> so I need something that can be exported as dxf at least
[15:15:31] <veverak> or something, so I can 3d print it for test usages
[15:15:58] <jhylands> this is one of my more complex board outlines:
http://puu.sh/nliR6/802d06b555.png
[15:16:03] <veverak> (practically, making the shape will be harder than "paths" on the pcb itself propably)
[15:18:05] <veverak> deshipu: perfect fancy word! :)
[15:18:15] <deshipu> fritzing also lets you use bezier curves for the traces
[15:18:17] <jhylands> you can export the kicad board edge file to SVG using Gerbv
[15:18:28] <veverak> nice nice
[15:18:33] <veverak> so many solutions, goood :)
[18:08:01] <anonnumberanon> https://www.youtube.com/watch?v=Ml1RO4IcOG0
[18:08:23] <anonnumberanon> 5 minutes till launch they will try a landing attempt after the launch, onto a barge at sea (again)
[18:11:08] <anonnumberanon> aborted..
[18:11:10] <anonnumberanon> oh well..
[18:47:49] <ball> Hello copycat
[20:02:52] <anonnumberanon> rate my 3D?
https://vid.me/nTFS
[20:04:19] <z64555> ooh, my latent talent, criticism!
[20:05:10] <z64555> well, it works!
[20:05:59] <z64555> not sure what else I'm looking for here
[20:06:55] <anonnumberanon> Just congratulate me a bit is all.
[20:08:08] <anonnumberanon> That is also the limit of the speed of my 3D animation. I'll check if it's the CPU bottlenecking or SDL texture streaming.
[20:09:22] <anonnumberanon> Nah okay it turns out the bottleneck is on the 3D calculations side.
[20:09:41] <anonnumberanon> Not using openGL just drawing the 3D from scratch.
[20:15:03] <z64555> well, it works, so congratulations on that. :P
[20:29:42] <jhylands> I wrote my first 3D system almost 20 years ago
[20:30:13] <jhylands> http://huv.com/smalltalk/desedit.html
[21:32:54] <z64555> wha.
[21:32:57] <z64555> Descent?
[21:32:59] <z64555> oh man
[21:33:57] <z64555> you guys are everywhere I go. lol
[21:52:56] <anonnumberanon> https://www.facebook.com/5prostudio/videos/463895113809135/
[21:58:24] <z64555> Gundam robot leg does squats like nobody's business
[21:59:54] <orlock> hey zhanx
[22:00:07] <zhanx> Orlock how goes it
[22:00:19] <orlock> busy
[22:00:25] <orlock> $megacorp splitting in two
[22:00:33] <zhanx> Same here
[22:00:34] <orlock> i will likely be given the choice to stay or go
[22:00:55] <zhanx> Started a new job 3 weeks ago
[22:01:07] <orlock> stay with the life sciences/medical robots bit, or go with the engineering-making-parts-to-make-robots-bit
[22:01:33] <orlock> ahh, cool - doing what?
[22:01:51] <zhanx> Fleet maintenance supervisor
[22:02:10] <orlock> bossing around grease monkeys?
[22:02:22] <zhanx> And being one
[22:02:49] <zhanx> Mid size 20-50 million a year company
[22:03:04] <orlock> zhanx: Found some nice steppers in the bin at work, jhavent tried them yet
[22:03:12] <orlock> "MADE IN USA" Nema23's
[22:03:28] <zhanx> How old are they?
[22:03:39] <orlock> the cases have welds!
[22:04:02] <zhanx> Lol
[22:04:06] <orlock> Unsure, not ancient - they are Pacific Scientific part numbers
[22:04:11] <orlock> but Danaher branded
[22:04:59] <orlock> Danaher bought Pacific Scientific 15 years ago
[22:06:40] <orlock> zhanx: passenger or freight?
[22:06:45] <orlock> like, cars or trucks?
[22:07:22] <zhanx> Trucks light duty
[22:07:49] <orlock> hmm
[22:07:57] <orlock> head of Tek will be here monday
[22:08:16] <zhanx> Think just under cdl
[22:08:33] <orlock> so hire?
[22:09:49] <zhanx> ?
[22:10:33] <orlock> hire trucks?
[22:10:48] <zhanx> No, cheaper to buy
[22:11:14] <orlock> i mean they are hired out to people? or is it a trucking company?
[22:11:37] <zhanx> No company internal
[22:12:23] <orlock> Bought a 3d printer yet?
[22:12:47] <zhanx> Nope got 2 kids
[22:13:05] <zhanx> But I did get plans for a canoe to hand make
[22:13:46] <orlock> what ages?
[22:14:06] <zhanx> 2 now and 7
[22:16:17] <orlock> 6 months and 4 years here
[22:20:08] <zhanx> Fun ain't it
[22:20:19] <orlock> yup
[22:20:45] <orlock> not that i ever was before.. but never bored
[22:20:45] <zhanx> And yes I remember your first one
[22:21:04] <zhanx> Nope always busy now
[22:21:28] <orlock> gotten a few "please explains" from kindy
[22:21:33] <orlock> she likes MLP
[22:21:39] <orlock> and minecraft and zombies
[22:21:47] <orlock> so she draws creeper ponies
[22:21:52] <orlock> and zombie ponies
[22:21:59] <orlock> with chunks of flesh missing, etc
[22:22:16] <zhanx> My oldest does creeper dogs
[22:22:29] <orlock> when we tell her not to do that at kindy she said "But it was OK! There wasnt any blood!"
[22:23:56] <orlock> watched Chappie last week
[22:24:56] <orlock> Seen it?
[22:29:52] <z64555> orlock: hook her up with some dia de los muertos
[22:29:58] * z64555 is a bad influence
[22:31:13] <orlock> z64555: She got glow in the dark PJ's in that style
[22:31:24] <z64555> sugar skulls? nice
[22:58:38] <mrdata--> http://www.roboticstrends.com/article/next_gen_atlas_robot_from_boston_dynamics_is_incredible
