#robotics Logs
Jul 02 2017
#robotics Calendar
12:00 AM hypodyne: and http://www.robotshop.com/en/hexapod-development-platforms.html
12:02 AM mrdata: impressive
12:16 AM rue_shop3: how come the hexapods are almost alll $1000?
04:21 AM deshipu: rue_shop3: servos are expensive
04:29 AM hypodyne: any robotics kit are over priced
04:34 AM deshipu: well, any "product" is going to cost much more than what you can do yourself
04:41 AM hypodyne: not sure about that one.
04:42 AM deshipu: trust me, I tried it
04:42 AM deshipu: the retail price has to be at least 4x the price of making the prototype
04:43 AM hypodyne: yeah.. but the parts you buy are going to be retail prices.. companies can buy in bulk and make it cheaper.. its just profit taking that keeps prices high
04:43 AM deshipu: unless you go into millions of pieces, that doesn't make much difference
04:47 AM hypodyne: so what do you work on?
04:49 AM robopal: he is building rovers for the inner planets of our solarsystem
04:49 AM robopal: :P
04:50 AM robopal: no jk
04:50 AM hypodyne: He is good if he builds a robot for Mercury
04:50 AM deshipu: hypodyne: at the moment a handheld console thingy
04:50 AM hypodyne: for gaming?
04:51 AM deshipu: for writing your own games
04:51 AM deshipu: but also this little guy: https://hackaday.io/project/19921-spiderwing
04:52 AM hypodyne: nice.. I like how you combined the servos
04:53 AM deshipu: that's the part I don't particularly like, since they are glued together and thus hard to replace
04:54 AM deshipu: but I don't want to use any 3d-printed or laser-cut parts
04:54 AM hypodyne: yeah.. it would be nice it the arms were on both ends of the servos. bit more stable
04:55 AM deshipu: not a problem with this weight
04:56 AM deshipu: if I tried to make a bigger one, I would definitely need a joint at the back of the servos, though
04:56 AM deshipu: you know, things get much easier when you go small and light
04:56 AM hypodyne: I noticed a lot of the robots these days are using the servos as part of the frame
04:57 AM deshipu: saves you on material and weight
04:57 AM hypodyne: yep.. just a bit ugly.
04:58 AM deshipu: https://cdn.hackaday.io/images/3394331478778433037.jpg
04:58 AM deshipu: you can pimp it up a bit
04:58 AM hypodyne: ha.. yeah
05:00 AM hypodyne: so 12 servos on your robot.. thats a lot for a board to handle.
05:00 AM deshipu: you need that many for proper walking
05:00 AM deshipu: 3 degrees of freedom for each leg
05:00 AM deshipu: so you can control its position in 3d
05:01 AM deshipu: otherwise you get some crawling, but not a proper gait
05:01 AM hypodyne: yep.. oh.. so turn.. forward, etc
09:38 AM rue_bed2: distribute the 12
09:39 AM rue_bed2: use 1 controller for each leg
09:39 AM rue_bed2: 4 small controllers
09:40 AM rue_bed2: ||||| serial, servo1, servo2, servo3 there is room to spare
09:40 AM rue_bed2: tiny85
09:41 AM rue_bed2: then you can throw it an arm or whatever to do the realtime math
10:33 AM deshipu: 12 is actually easily handled by the stock servo library on arduino
12:02 PM justan0theruser is now known as justanotheruser
12:16 PM rue_house: nothing like a 2 second power bump from the electricity company to interupt a 16.5 hour cnc job at the 14th hour
12:24 PM ace4016: industrial UPS :P
12:30 PM rue_house: I have one, ON THE OTHER MACHINE
12:30 PM rue_house: :/
12:31 PM rue_house: they are running around playing with all the power lines, I should have put a backup on it
12:55 PM robopal: :-(
01:03 PM rue_house: I'll drag another ups off the pile and get it working
01:30 PM rue_shop3: put all the horses and all the men, back togethor again
01:31 PM rue_shop3: (Humpty's plight)
01:59 PM rue_house: anniepoo, didyou see the tray or weight sorted screws?
02:01 PM rue_house: http://ruemohr.org/~ircjunk/projects/screwsorter/p1090061.jpg
02:01 PM rue_house: http://ruemohr.org/~ircjunk/projects/screwsorter/p1090062.jpg
02:01 PM rue_house: http://ruemohr.org/~ircjunk/projects/screwsorter/p1090064.jpg
02:01 PM rue_house: http://ruemohr.org/~ircjunk/projects/screwsorter/p1090065.jpg
02:01 PM rue_house: http://ruemohr.org/~ircjunk/projects/screwsorter/p1090066.jpg
02:02 PM rue_house: need to work out a dumping tray for it
02:02 PM rue_house: and work out how I want to move the carrige
02:10 PM Anniepoo_: no
02:12 PM Anniepoo_: the angle is a good idea
02:13 PM Anniepoo_: looking good!
02:13 PM Anniepoo_: I'm having a lazy morning
02:14 PM Anniepoo_: I need to get the heck outta the house, go into town, buy some supplies, and finish the dancing robot
02:15 PM * veverak got 9 pm
02:15 PM veverak: were writing tests for my code
02:16 PM veverak: found out the code can't work
02:16 PM veverak: also found out the "TODO" note in random place saying that it needs fix...
02:16 PM veverak: not sure how to fix it yet
02:17 PM veverak: but I think I won't avoid observer pattern
02:21 PM Anniepoo_: hate that -
02:22 PM Anniepoo_: emodelworks has a system, we put TODO in a declarative, they print a message when you start, so this doesn't happen
02:25 PM JT-Shopp is now known as JT-Shop
02:25 PM veverak: yeah
02:25 PM veverak: well, anyway, still avoidin continuing in it
02:26 PM veverak: I really do not like observer pattern
02:27 PM veverak: so, I have this bigass graph with 'n' nodes
02:27 PM veverak: than I have this "search" strucutre, that need to store data for "each node"
02:28 PM veverak: thing is
02:28 PM veverak: search structure has to be notified that size of graph changed everytime it happens
02:28 PM veverak: so it can scale it's inner storage for node data
02:35 PM * Anniepoo_ hasnt implemented observer as its usually formulated in many years
02:39 PM Anniepoo_: ok, finally getting self out of blah blah mode, headed to town to buy googly eyes and other bits to finish dancing robot
02:39 PM Anniepoo_: ttyl
02:41 PM veverak: Anniepoo_: how have you implemented?
02:42 PM veverak: I really need just "on change, call this list of callbacks"
02:42 PM veverak: it's just that making it as observer pattern makes it more maintable for others
02:42 PM veverak: you know "using well known mechanism" and all
03:02 PM rue_shop3: I put !!!???!!! in my source where there are things that really need to be worked on , I can grep the tree for it
03:02 PM veverak: :)
03:03 PM veverak: grep reported 32 of todos
03:44 PM rue_house: yay, 33 things on thingverse
03:44 PM rue_house: I have surpassed 5 bits
03:47 PM rue_house: I need to eat, sleep, and breathe turning myself into a machine, which is ironic, cause as a machine I need do none of them....
04:27 PM veverak: :)
05:20 PM rue_shop3: well there we go the avr isn't doing anything
06:00 PM mrdata: dead?
06:37 PM rue_shop3: no, its flashes an led
06:37 PM rue_shop3: working on it
06:41 PM zhanx: Evening
07:06 PM Anniepoo_: howdy
07:06 PM Anniepoo_: 8cD So, back on this very hot day
07:06 PM Anniepoo_: AC unit is too heavy to lift into window on my own
08:00 PM rue_shop3: and OUT IT GOES!
08:01 PM rue_shop3: sorry to hear the drop rating was less than the 3 stories it fell...
08:04 PM veverak: so
08:04 PM veverak: one panel: source code
08:04 PM veverak: second panel: testing code
08:05 PM veverak: I go method by method, and write test case for each method
08:05 PM veverak: testin panel is on line 400
08:05 PM veverak: source panel is on 280
08:05 PM veverak: I suppose that is to be expected
08:12 PM anniepoo: no, didn't try to put it in
08:12 PM anniepoo: I had to get help putting the unit in my car at Wal-Mart
08:12 PM anniepoo: (chances of somebody selling a working AC unit used right now are zero in this area)
08:16 PM rue_house: veverak, yea, EVERY time you write code, write components and build them up after individually testing them in the most isolated way you can
08:16 PM rue_house: THATS JUST HOW GOOD CODING IS DONE
08:16 PM rue_house: you NEVER write a big pile of code, compile it and hope it works
08:16 PM veverak: rue_house: there is something as "unpractical granularity"
08:17 PM anniepoo: in test driven design, you write some tests that call the code before you write the code.
08:17 PM veverak: I wrote one component -> "search algorithm"
08:17 PM veverak: now I am testing it
08:17 PM veverak: via testing the parts I made it of and than testing the whole
08:17 PM veverak: given that I did not really understood it perfectly at the beginning
08:17 PM veverak: I wanted to write entire thing before testing
08:17 PM veverak: to "see it"
08:19 PM veverak: where parts is nothing more than functions that are called
08:20 PM rue_house: well I got the max7219 64 led array working
08:20 PM veverak: hmm
08:20 PM rue_house: cant think what to do with it just yet
08:20 PM veverak: 2:39 AM, time to sleep
08:21 PM veverak: rue_house: cool reallife "loading" sign!
08:21 PM veverak: :)
08:21 PM rue_house: hmm
08:22 PM veverak: hmm
08:22 PM veverak: I am not sure about the tests though
08:22 PM veverak: (I always feel like I really suck at testing)
08:22 PM veverak: not sure if it's ... not too strict
08:24 PM anniepoo: writing tests isn't rewarding
08:25 PM veverak: it is
08:25 PM rue_house: mine usually take the form of a main() at the end of the library that gets commented out when library is in use
08:25 PM anniepoo: indeed, it's a typical division between the hobbyist or independent practitioner of engineering and the organized practice of engineering -
08:25 PM rue_house: http://ruemohr.org/~ircjunk/projects/screwsorter/p1090066.jpg
08:25 PM veverak: somehow I am getting the feeling
08:25 PM rue_house: did you see where I got?
08:25 PM veverak: that those green lines in output
08:25 PM anniepoo: the latter typically involves more attention to smaller, and less interesting pieces
08:25 PM veverak: means that algorithm works as expected
08:25 PM rue_house: need to figure out hwo to drive it
08:25 PM veverak: and I can relly on it
08:25 PM anniepoo: some poor soul spent months worrying over the latest mac's battery
08:26 PM anniepoo: For the snail, I bought one cause it's what mbrumlow used
08:27 PM rue_house: I'm leaning towards a 3d printed rack, with a stepper motor on the carrige
08:27 PM anniepoo: that'd work
08:27 PM anniepoo: another poss -
08:27 PM rue_house: I could bang off lots of them
08:27 PM anniepoo: put a wheel on the stepper motor. You don't care where you are most of the time ..
08:27 PM rue_house: I'd like to make it so that extnding it to 8' is easy(ish)
08:28 PM rue_house: use a dc motor and encoders?
08:28 PM anniepoo: then 3D print 'fingers' and have a detector
08:28 PM rue_house: or interrupters
08:28 PM anniepoo: yah, interrupter even better
08:28 PM rue_house: yup
08:28 PM veverak: anyway
08:28 PM rue_house: yea, +-3mm is just about ok
08:29 PM veverak: how crazy is to connect DDR[3/4] to FPGA
08:29 PM rue_house: :( I dont get to do fpga yet
08:29 PM veverak: or, hmm
08:29 PM veverak: it may be wiser to hack something
08:29 PM veverak: nah
08:29 PM * veverak wants rpi3 with 16GB RAM
08:29 PM veverak: P.S: I really like to expand memory consumption of mine code
08:31 PM rue_house: then all the native memory can be filled up with pointers
08:32 PM Tom_itx: what angle is a 4-12 pitch roof?
08:33 PM rue_house: cos....
08:34 PM rue_house: 18.434949?
08:34 PM rue_house: says cad program
08:34 PM Tom_itx: 14.036 deg
08:35 PM rue_house: cad still says 18.43
08:35 PM rue_house: 4 up 12 over
08:35 PM Tom_itx: cad is wrong
08:35 PM Tom_itx: my catia says 14.036 deg
08:35 PM rue_house: 4" per 12"?
08:35 PM Tom_itx: yep
08:35 PM rue_house: hyp is 12.649?
08:36 PM Tom_itx: wait
08:36 PM rue_house: :) yea
08:37 PM Tom_itx: 18.435
08:37 PM rue_house: 18.434949?
08:37 PM rue_house: :P
08:37 PM Tom_itx: i rounded
08:38 PM Tom_itx: i could go out a page or so
08:38 PM rue_house: I did some corner cutting today too, I made a triangle tray from a square tray in cad
08:38 PM Tom_itx: i gotta cut a screen to fit between a 4/12 and 5/12 pitch roof
08:38 PM rue_house: hah, today my cad-fu wins
08:39 PM Tom_itx: to keep the birds out
08:39 PM rue_house: I'm in that state where I'm too tired to do anyting
08:39 PM Tom_itx: now to remember how to add formulas to this to drive it
08:39 PM rue_house: I could sleep
08:39 PM rue_house: I wonder what happens if I just force myself to do something
08:40 PM Tom_itx: i'm in that state right in the middle of the US
08:40 PM rue_house: strip some more circuit baords...
08:40 PM Tom_itx: do something harmless if you fuck up
08:40 PM rue_house: pcb stripping
08:40 PM rue_house: see if by 3am I can get another 8kg of components
08:40 PM rue_house: I'd like to fill a rubbermaid tub
08:40 PM rue_house: :)
08:41 PM rue_house: dosn't help I started sorting the first lot
08:46 PM Tom_itx: u off tomorrow?
08:46 PM Tom_itx: guess i get 2 off
11:39 PM rue_shop3: 9 boards so far, my ass needs a rest
11:40 PM rue_shop3: anyone still up?
11:42 PM ace4016: yes
11:45 PM codepython7771: hi rue_shop3
11:57 PM rue_house: no work tommorow
11:58 PM rue_house: http://ruemohr.org/~ircjunk/projects/screwsorter/p1090066.jpg
11:58 PM rue_house: rck drive?
11:58 PM rue_house: rack drive?
11:58 PM rue_house: wow, the model M keyboard works SO much better
11:58 PM rue_house: ok rue, this one is 11"
11:59 PM rue_shop3: nope the model M is also 11"