#robotics Logs
Aug 17 2017
#robotics Calendar
12:12 AM * Anniepoo has frightening visions of rue on a street corner with the mecha
12:18 AM G1eb is now known as Guest39953
12:36 AM rue_house: yay, the hexapod is assembled!
12:39 AM SolG is now known as Solgriffin
12:46 AM BitEvil is now known as SpeedEvil
12:46 AM Rez is now known as LoRez
01:07 AM rue_house: it weighs 450g so far
01:07 AM rue_house: I wonder if 6 SG90 can lift that much
01:28 AM rue_house: http://ruemohr.org/~ircjunk/robots/frankenhex/p1090282.jpg
01:29 AM rue_house: I dont think it could be much lighter and still be strong enough to life
01:29 AM rue_house: live
01:31 AM rue_house: if it works, I'll work on the battery plan
01:35 AM mrdata: if you clicked on that spammer's link and regret it, this should help you take your mind off that nasty porn, https://plus.google.com/photos/photo/116202093409587545323/6454879660409509250?icm=false
01:40 AM rue_house: huh
01:40 AM rue_house: doyou think my robot will be too heavy for the servos
01:40 AM rue_house: ?
01:42 AM mrdata: calculate the torque needed? compare that to motor's torque-speed curve?
01:43 AM mrdata: rue_house, is there gearing involved?
01:43 AM rue_house: hah
01:43 AM rue_house: its an SG90
01:43 AM mrdata: a lot of hobby servos have internal gears
01:44 AM rue_house: it does, its an SG90
01:44 AM mrdata: mhm
01:44 AM mrdata: i tore one apart; it was metal gears except one plastic gear
01:44 AM mrdata: which is the one that stripped when it failed
01:44 AM rue_house: then that was not an SG90
01:45 AM rue_house: it would have been an MG90
01:45 AM mrdata: other than that, the motor had plenty of torque
01:46 AM mrdata: yeah maybe MG90
01:46 AM mrdata: or related
01:47 AM rue_house: SG90 are $1 usd ea
01:48 AM rue_house: so yea, technically that robot is overbudget for me
01:48 AM rue_house: gonna make a 24channel servo controller
01:51 AM mrdata: i only counted 18; where are the other six?
01:52 AM rue_house: they are overhead
01:52 AM rue_house: 8 channels per timer
01:52 AM rue_house: so I have 6 spare
01:52 AM mrdata: oh
02:20 AM rue_bed: I should have worked in wireclips to everything
02:49 AM LuminaxWk is now known as Luminax
02:53 AM Wayward is now known as Trashpanda
03:40 AM Jak_o_Shadows: Nice hexapod
03:40 AM Jak_o_Shadows: I bought another 3 st-links the other day
03:41 AM Jak_o_Shadows: I haven't decided on a wiring/connector standard to embed the stm32's so I can reprogram in-field, so I'm just going to include st-lins for now
05:43 AM Luminax-Work is now known as Luminax
09:18 AM rue_house: not the 6 pin they use?
09:18 AM rue_house: or is that 10 pin
09:18 AM rue_house: er 8..
09:18 AM rue_house: these dont have a header, how am I programming them?
09:19 AM rue_house: oh, its 4 pins
09:25 AM rue_house: so, I suppose I should build the controller, write the code, import the servo libraries, calibrate the position and scales, apply kinematics, see if I can get movement, and wind up the step sequencer
10:39 AM squirrel is now known as veverak
12:46 PM Tom_itx is now known as Tom_L
04:57 PM trojan is now known as synja
06:38 PM rue_house: damn, as a robot, one of the first deaths I may have to deal with is my own
06:38 PM rue_house: THATS scrweed up
06:39 PM rue_house: thats a + for going the cyborg route and making it a phase-over
06:40 PM Tom_itx: ok i've got the relay wired into the control
06:40 PM Tom_itx: tested it with 5v but the IO pin doesn't work like it's supposed to
06:40 PM Tom_itx: i think it's a software / firmware issue
06:41 PM Tom_itx: rue_house, don't let your batteries go dead
06:47 PM rue_shop3: I have a plan
06:47 PM rue_shop3: but yea
06:47 PM Tom_itx: on brownout: send message to close friend: please plug me back in!
06:48 PM rue_shop3: if I were looking for PH strips, where would I look?
06:48 PM rue_shop3: my shop dosn't have a chemistry section
06:49 PM Tom_itx: science eductional center
06:49 PM Tom_itx: school chemistry lab
06:49 PM rue_shop3: I didn't do chemistry/biology in xkool
06:49 PM Tom_itx: same
06:49 PM rue_shop3: I have a pack, I dont know where to file them
06:49 PM Tom_itx: physics
06:49 PM rue_shop3: maybe with the microscope?
06:49 PM Tom_itx: pool supply
06:49 PM rue_shop3: no hits yet tom
06:51 PM rue_shop3: zhanx, hows your wood?
06:51 PM Tom_itx: litmus paper SP?
06:51 PM rue_shop3: 1-14 PH paper
06:51 PM Tom_itx: https://www.amazon.com/Litmus-Strips-Universal-Application-Packs/dp/B00S730YWG
06:51 PM rue_shop3: I _HAVE_ them
06:52 PM Tom_itx: o
06:52 PM zhanx: rue_shop3: normally guys dont ask guys about their wood. but one is cut need to sand it
06:52 PM rue_shop3: I'm trying to work out where to put them, which I do by working out where I would look if I was searching for them
06:52 PM rue_shop3: I hope alot needs to be sanded off, otherwise your being too fussy :)
06:53 PM zhanx: i am fussy
06:53 PM zhanx: was working on other stuff today also. garden, motorcycle etc
06:53 PM zhanx: i get 1 day off for fun stuff i think
06:53 PM rue_shop3: did you see the hexapod?
06:54 PM rue_shop3: http://ruemohr.org/~ircjunk/robots/frankenhex/p1090280.jpg
06:54 PM rue_shop3: http://ruemohr.org/~ircjunk/robots/frankenhex/p1090279.jpg MY PLIERS
06:54 PM rue_shop3: http://ruemohr.org/~ircjunk/robots/frankenhex/p1090284.jpg "look ma, no legs!"
06:54 PM zhanx: nice
06:54 PM zhanx: i like
06:55 PM rue_shop3: 2 weeks to design, a few hours to print
06:55 PM zhanx: oh
06:55 PM rue_shop3: I timed the design and the aliexpress order
06:55 PM rue_shop3: it worked out quite literally perfect
06:55 PM rue_shop3: less forgetting one part
06:55 PM zhanx: was a hackaday article on an ac compressor to engine you need to look up
06:55 PM rue_shop3: oh
06:55 PM rue_shop3: new?
06:56 PM zhanx: http://hackaday.com/2017/08/16/fridge-compressor-to-2-stroke-engine-jb-weld-for-the-win/
06:57 PM rue_shop3: wtf
06:57 PM rue_shop3: wtf!
06:58 PM ace4016: lol
06:59 PM zhanx: rue get on it!
06:59 PM rue_shop3: I was just given an engine
07:03 PM zhanx: send it to me
07:03 PM zhanx: or print me some parts for my extruder?
07:04 PM rue_shop3: I'm supposed to show you that for piffle you can make it all
07:04 PM rue_shop3: less a few bits
07:04 PM zhanx: well i am saving milk jugs just in case
07:22 PM rue_shop3: no, go pla, picnic cups
07:33 PM rue_shop3: hmm
07:39 PM rue_shop3: to control 8 servos
07:39 PM rue_shop3: 1 pin from a timer to the clock on a 4017
07:39 PM rue_shop3: 1 pin from an io to the reset on the 4017
07:40 PM rue_shop3: aaaaaaaaaaaaand rue fell asleep
07:40 PM rue_shop3: ok I can do this on my own
07:41 PM rue_shop3: every 20ms the reset is pulsed
07:41 PM rue_shop3: that triggers
07:41 PM rue_shop3: something to go thru an array of values
07:41 PM rue_shop3: yea, cause 1 timer uses k+pwm for the interval
07:41 PM rue_shop3: so, the 4017 always clocks on one of the edges
07:43 PM rue_shop3: rising edge
07:43 PM rue_shop3: so, the timer should be set up as one-shot
07:43 PM rue_shop3: but with an interrupt
07:44 PM rue_shop3: its started, which puts the pin low, and when it times out, it goes high, which switches to the next servo
07:45 PM rue_shop3: and fires the interrupt to set up the next one
07:46 PM rue_shop3: on reset, the first output will be activated
07:46 PM rue_shop3: so thats when the timer needs to start
07:48 PM rue_shop3: all intervals are min 1ms
07:49 PM rue_shop3: so, if I make it a continious pulse, with an interrupt, I have 1ms to load the new value, LOTS of time
07:49 PM rue_shop3: the interrupt can write a new duration to the timer
07:50 PM rue_shop3: it'll always be more than the 1ms minimum
07:50 PM rue_shop3: after 8 cycles, it should hit the reset and reloop
07:51 PM rue_shop3: it does mean I cant turn off individual servos
07:53 PM rue_shop3: my protocol can take 32 servos on one serial bus
07:53 PM rue_shop3: via 4 controllers, so I just have the controller emulate 3 controllers
07:54 PM rue_shop3: dam, I'm falling asleep too
07:57 PM rue_bed: so I just need to controll the interval of 3 timers
07:58 PM rue_bed: I dont know if I can do that with the channels on the 108
08:19 PM rue_bed: so does the mecha code work the same way...
08:19 PM rue_bed: maybe kinda
08:19 PM rue_bed: there is a time lookup table
08:20 PM rue_bed: the error is mapped to one of the values
08:20 PM rue_bed: so no
08:20 PM rue_bed: how do I do the solinoids then
08:20 PM rue_bed: maybe I need to presequence the outputs
08:21 PM rue_bed: so, a set of 8 outputs will have 8 bytes that are spooled to them as the different values are hit
08:21 PM rue_bed: the interval sequence could be preprogrammed into the timer sequence
08:25 PM rue_bed: hmm
08:26 PM rue_bed: commands are listen, ignore, one time listen, set flags, set position, cache position, get current, get position, and query model
08:26 PM rue_bed: under flags is enguage cached position, servo on, servo off, and set control position to actual position
08:27 PM rue_bed: so, I CAN turn the channels on and off
08:27 PM rue_bed: kay
08:27 PM rue_bed: but this proto allows me 255 servos
08:28 PM rue_bed: something is amiss
08:28 PM rue_bed: its a 10 bit value
08:28 PM rue_bed: oooh, 256 servos, 0-255, and 256 is an all-call
08:29 PM rue_bed: ah, another proto does bit-mapping to handle cached position writes
08:35 PM rue_bed: is there a thingiverse 2 AA battery box thats split?
08:46 PM rue_bed: is the memory on a cmos chip eeprom or battery backed up ram?
08:46 PM rue_bed: I think its ram
08:46 PM rue_bed: this would be good
08:47 PM rue_bed: ds1307
08:47 PM rue_bed: the universe is going to be a FREAKING borring place when everyone is dead
08:48 PM rue_bed: NV RAM yaaaaaaaaaaaaaaaaaaaaaaay
08:49 PM rue_bed: I can write to it every second
08:49 PM rue_bed: and I can get a 1 second tick out of it
08:49 PM rue_bed: this makes an hour meter REALLY EASY
08:51 PM rue_bed: on boot, load 16 bit value
08:51 PM Tom_itx: split end for end?
08:51 PM rue_bed: on 1 sec interrupt, check power not failing, inc value, write to ram
08:51 PM rue_bed: while waiting, update screen
08:51 PM rue_bed: split?
08:51 PM Tom_itx: battery box
08:52 PM rue_bed: top and bottom
08:52 PM rue_bed: I have an idea
08:52 PM rue_bed: I need an on/off for my led room lights
08:52 PM rue_bed: but I dont want to run wires everywhere
08:52 PM rue_bed: SO
08:52 PM rue_bed: I have an idea to gut a remote and pair it down to 2 buttons in a 3d printed case with just 'volume up' and 'volume down'
08:53 PM rue_bed: I can put as many of them in the room as I want
08:53 PM Tom_itx: it's taking a while to straighten this document mess
08:53 PM rue_bed: not have to worry about wires, have a t13 reveive the signals and operate a relay/whatever
08:54 PM Atomsk is now known as ace4016
08:54 PM rue_bed: and the shop lights hour meter died
08:54 PM rue_bed: china wants $stupid for a new one
08:54 PM rue_bed: buying parts and making one is WAY cheaper, even if I get premium parts
08:55 PM rue_bed: I found a 2x8 lcd to use
08:56 PM rue_bed: I have an rtc
08:56 PM Tom_itx: there's a 4 AA you could fix
08:56 PM rue_bed: I can just bang something up from scratch
08:56 PM rue_bed: it'd be nice to have atleast the lower bit with the battery holder and lid done
08:57 PM rue_bed: I think the printer can make all the right shapes
08:57 PM Tom_itx: i could model one for you fairly quick if you give me a couple dimensions
08:57 PM Tom_itx: pretty easy in catia
08:57 PM rue_bed: I dont know how many subtleties there will be
08:58 PM rue_bed: I'm thinking about 30cm wide, 50cm tall, with a battery box built into back, slide battery door
08:58 PM Trashpanda is now known as staffcantcode
08:58 PM Tom_L: https://www.thingiverse.com/thing:162966
08:58 PM rue_bed: and a face I put two buttons into
08:58 PM Tom_L: fix that one
08:59 PM rue_bed: for some reason, thingiverse keeps crashing the browser on this computer
08:59 PM rue_bed: maybe if I take a shower I can wake up, this is stupid, I'm caught in limbo
09:00 PM Tom_L: https://www.thingiverse.com/thing:1497857
09:00 PM Tom_L: 3 cell with a breadboard mount on top
09:01 PM rue_bed: you know what I mean with the sliding lid?
09:01 PM Tom_itx: there's many ways you can design a sliding lid
09:01 PM Tom_itx: so not really
09:02 PM rue_bed: get your tv remote
09:02 PM rue_bed: slide the battery access lid off
09:02 PM rue_bed: slide it back on
09:02 PM rue_bed: there
09:02 PM rue_bed: that
09:02 PM Tom_itx: there's those on thingi
09:02 PM rue_bed: browser, crash, instant, dunno why
09:03 PM Tom_itx: well word keeps crashing here
09:03 PM Tom_itx: got a table with 24 rows and if i put more than 2 lines above it, it crashes
09:27 PM rue_shop3: ? interesting
09:29 PM rue_shop3: mega328
09:29 PM rue_shop3: no, atmega8
09:29 PM rue_shop3: or 88
09:29 PM rue_shop3: one of them is dirt cheap
09:29 PM staffcantcode is now known as Trashpanda
10:04 PM Tom_itx: ok building a new bitfile
10:04 PM Tom_itx: hope i can remember how to upload it to the board
11:06 PM Tom_itx is now known as Tom_L
11:07 PM rue_shop3: I need a simple i2c for an lcd