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[00:21:10] <bindigoat> how to colonize the solar system & beyond
[00:21:12] <bindigoat> https://www.scribd.com/user/234794410/Saint-George
[05:35:53] <veverak> hmm
[05:35:54] <veverak> hmm
[05:35:57] <veverak> hmm
[05:36:32] <veverak> if leg robot is walking, and it's moving fast enough. I decide to stop. What can happen wrong?
[05:36:48] <veverak> I mean, because of momentum it can flip over at worst case?
[05:37:03] <Triffid_Hunter> sure it'll fall down if you don't cancel the forward velocity
[05:37:25] <Triffid_Hunter> gotta keep impact point of ballistic trajectory within the stable zone created by the feet
[05:38:07] * veverak was more thinking of feedback loop from IMU
[05:41:26] <Triffid_Hunter> veverak: well the IMU just tells you about what's happening to the IMU.. need to add some proprioception and FK/IK to understand what that means in overall robot dynamics
[05:51:14] <veverak> ok, I am walking and then decide to stop, in my case it means that legs will move to stable state and hold it, cases are: A. it will slip (than my code should just start moving back) B. "legs" will take all the load C. robot will start to flip over. hmmm, both B and C should be detectable on the IMU
[05:51:56] <Triffid_Hunter> veverak: might be useful to put pressure sensors in toe and heel, that'll tell you a lot about the quality of your gait in various circumstances
[05:52:38] <veverak> for B. I should probably implement something like "if there is force on the body in some direction that is too big, move in that direction a bit" (I suppose that moving that way will relieve legs a bit)
[05:53:30] <veverak> C. same as B, just if robot body is lifting upwards while force is in some direction, definetly move in that direction
[05:53:32] <veverak> hmm
[05:53:37] <veverak> Triffid_Hunter: that would be definetly usefull
[05:56:22] <veverak> so, "hold on state you are supposed to, if there are too big forces, try to relieve them"
[05:57:06] <veverak> and "try to relieve" can be skipped in case it detects it better not relieve (corner of table)
[05:59:44] <veverak> now, make actuall case is that I have limited number of feedback (entire thing is like - if there is no feedback, try to guess it), so guessing for this should also be doable, I know weight of the body nad how it moved during last few seconds, should be able to guess momentum forces on the body
[05:59:50] <veverak> *my actuall
[06:09:37] <veverak> damn it
[06:09:39] <veverak> do want dynamixels
[06:09:45] <veverak> those servos cna tell you it's load
[06:09:47] <veverak> :/
[06:18:34] <Triffid_Hunter> veverak: heh put a current sensor on normal servos for load sensing
[06:21:35] <veverak> Triffid_Hunter: thinking about that
[07:16:15] <Kozuch> looking for explanation of general principles of monocular visual odometry. if someone is interested, please reply here:
http://robotics.stackexchange.com/questions/10728/how-do-monocular-visual-odometry-algorithms-work
[09:02:02] <JT-Shop> what's the best OS to run repeiter or pronterface in?
[09:14:02] <rue_house> well linux of course
[09:14:54] <rue_house> where have I heard that nick before?
[09:19:26] <JT-Shop> I'm always on linuxcnc and sometimes reprap
[09:19:41] <JT-Shop> I was wondering what flavor of linux?
[09:20:54] <JT-Shop> I currently have it on linux mint 17.3 but get some comm errors
[09:21:10] <JT-Shop> and tom mentioned me
[09:23:49] <rue_house> to fix comm errors, as root: chmod 777 /dev/ttyACM*
[09:23:58] <rue_house> (in terminal)
[09:25:11] <JT-Shop> ok thanks
[09:28:20] <rue_house> there is a permanent fix, but see if that works first, I'm assuming it comes up with that name
[09:29:53] <JT-Shop> yea iirc dev/ttyACM0 1 etc.
[09:30:01] <JT-Shop> that pc is down in the beer cave
[09:35:36] <veverak> rue_house: that's bullshit fix
[09:35:58] <veverak> (either distro have bullshit managing of this or it's bullshit solution)
[09:36:11] <veverak> usually there is group you have to be member of for this to work
[09:38:34] <rue_house> yes and if it works we confirmed 2 things
[09:38:54] <rue_house> changing distributions because you dont have permissions on a port is a sh** fix
[09:55:21] <JT-Shop> I set myself as a member of a group to get a scanner working right...
[10:04:42] <rue_house> a udev rule can be made to set the permissions properly on creation of the device
[10:50:06] <Snert> I get root and never have a problem.
[10:55:02] <discardedes> it looks like you're dealing with something standard on Linux, that if you are not root, you wont get permissions to use like, the first 400 port numbers?
[10:55:22] <Snert> 1000, but yea.
[10:55:23] <discardedes> the first 430 or something?
[10:55:24] <discardedes> ok
[10:55:34] <discardedes> a simple fix is to just use higher ports
[10:55:35] <Snert> all below 1024
[10:55:46] <discardedes> depending on the app, this is perfectly appropriate i think
[10:56:08] <discardedes> i even ran an html server with on a port in the 4000s
[10:56:23] <discardedes> you just had to put the port in the browser address
[10:56:29] <discardedes> this was done with colon
[10:56:36] <discardedes> address:port_number
[11:31:17] <jthornton> this is JT in the beer cave I did a chmod 777 /dev/ttyACM*
[11:31:33] <jthornton> and started up Repetier-Host V1.6.2
[11:32:02] <jthornton> and jogged the Y axis 50mm and keep getting Communiction timeout - reset send buffer block
[11:32:26] <jthornton> although the DRO on the Manual Control tab shows 50.00 for the Y axis
[11:32:49] <jthornton> nothing hooked to the Ramps 1.4 board just plugged in via the USB cable
[11:34:15] <jthornton> the timeout errors are at about 1 minute intervals
[14:02:01] <anonnumberanon> https://www.youtube.com/watch?v=A1YxNYiyALg
[14:02:17] <anonnumberanon> Spacex livestream, making humans a multiplanetary species
[14:02:21] <anonnumberanon> mars colonial transport
[14:22:29] * veverak sees nothing
[14:25:49] <anonnumberanon> about to start
[14:27:05] <anonnumberanon> starting now
[14:57:46] <veverak> interesting indeeded :)
[15:41:41] <veverak> damn it
[15:41:48] <veverak> why is not SpaceX in Europe ? :/
[15:42:34] <deshipu> ask Elon
[16:20:47] <veverak> well
[16:20:59] <veverak> it looks like soon I will need to work with kalmans
[16:21:02] <veverak> nah :/
[19:09:54] <rue_house> JT-Shop, oooh
[19:10:25] <rue_house> jthornton, are the reprap and the computer plugged into the same power plug?
[19:11:15] <rue_house> my machine was failing every time a large power load started in the building
[19:11:31] <rue_house> till I moved it to the same plug as the computer and changed the usb cord
[19:12:00] <Tom_L> odd
[19:43:28] <rue_house> today it hit me that with the money I'v earned so far, I'm supposed to have set up stuff to earn money for me
[22:33:51] <rue_house> I'm gonna try hustling things online!
[23:53:16] <rue_house> weee I'm writing graphical code to see how well my beacon selector code works