#robotics Logs

Dec 07 2017

12:16 AM rue_mohr: found it, they had tracking on it, so I got a notify, this is good, didn't see it in my list cause the picture is a dip
12:19 AM rue_mohr: and I wonder if thats gonna screw me up
12:19 AM rue_mohr: might have been expecting to buy dip
12:26 AM rue_mohr: huh, yup, looks like those were supposed to be my DIP versions
04:22 AM rue_mohr: getting closer on my pid code here
04:41 AM rue_mohr: am I supposed to dial kp up till it rings or just before?
05:15 AM rue_bed: nowonder d wasn't working, tapped it off the wrong place
06:09 AM anonnumberanon: i don't know my neighbors
06:10 AM anonnumberanon: still trying to source printers i can go pick up before i head to work this morning
07:45 AM anonnumberanon: ah found 3 recycling center at 5 mile radius gonna hit em all before work
07:45 AM anonnumberanon: wish me luck
08:01 AM micmac_: what are you doing with old printerd ?
08:01 AM micmac_: printers*
08:03 AM durrf2: probably recovering steppers and gears and belts and rods
08:03 AM durrf2: and encoder wheels and endstops
08:03 AM micmac_: ok
08:04 AM durrf2: thats what i scavenge from printers lol
09:16 AM -!- #robotics mode set to +o by tolkien.freenode.net
09:20 AM bolt is now known as Guest26645
09:34 AM rue_mohr: #define Kp 4
09:34 AM rue_mohr: #define Kd 1
09:34 AM rue_mohr: #define Ki 32
09:34 AM rue_mohr: ok, so kp = * 4
09:34 AM rue_mohr: kd = /1
09:34 AM rue_mohr: and ki = /32
09:37 AM rue_mohr: still have4 messy divides all over the place tho
09:38 AM mrdata: for integers, divide by a power of 2 is shift-right by a number of bits
09:40 AM rue_mohr: it is, but their signed
09:41 AM rue_mohr: I have it all premultiplied so I'm working in 16 bits
09:42 AM rue_mohr: would be nice to find PRACTICAL microcontroller PID code, and not the useless academic stuff found everywhere
09:42 AM mrdata: shifting signed numbers is a little more complicated
09:42 AM mrdata: but not too bad
09:43 AM mrdata: there isnt much code in a PID loop
09:45 AM mrdata: and practicalities are specific to circumstances like do you busy-wait because your microcontroller is dedicated, or do you wait for timing events
09:47 AM rue_mohr: then add integrator antiwindup and all the other stuff you have to when you actaully implement it
10:00 AM mrdata: https://en.wikipedia.org/wiki/Integral_windup
10:00 AM mrdata: seems like there are 5 choices on how to deal with that
10:01 AM mrdata: but which one you pick is also particular to your circumstance
10:09 AM anonnumberanon: <rue_mohr> would be nice to find PRACTICAL microcontroller PID code, and not the useless academic stuff found everywhere
10:09 AM anonnumberanon: yeah maybe I'll do such a thing
10:10 AM anonnumberanon: if i order an mpu6050, don't know where the quadcopter's on eis
10:10 AM anonnumberanon: one is
10:10 AM anonnumberanon: could also make a fine lib for it
10:10 AM anonnumberanon: to be shared only within #robotics
10:10 AM anonnumberanon: man i got 2 printers so far, at work now but got a few more places to hit before I've drained the area
10:12 AM anonnumberanon: best way to find printers around city X is to type in google: "$X recycling center" and drive to it in the morning :)
10:14 AM polprog_ is now known as polprog
10:17 AM anonnumberanon: https://imgur.com/a/qnn5v
10:17 AM anonnumberanon: here, the printers, in a cozy car :) waiting to be gutted https://imgur.com/a/qnn5v
10:18 AM anonnumberanon: both of them are heavier than expected, should be good for rods and motors, hopefully steppers will be in there
10:18 AM anonnumberanon: that screen is kinda nice on the one in the back but I think I'll struggle to find a driver for it or to adapt to the one that it already has
10:27 AM mumptai: c'mon PIDs are really generic
10:27 AM mumptai: and an implementation is just a few lines of code executed periodically
10:28 AM mumptai: all the extensions are basically application specific
10:30 AM anonnumberanon: mumptai, it's simple once you've done it and understand it, but the first one is hard, i did it 3 years ago and now I forgot I would have to completely review it again
10:32 AM mumptai: but that isn't completly covered by the implementation
10:33 AM mumptai: also the PID thing is only a part of the control system.
10:34 AM mumptai: but i don't have good introduction at hand :-/
10:37 AM anonnumberanon: looks like no steppers in that smaller printer
10:38 AM anonnumberanon: but i should find this somewhere in the larger one :)
10:38 AM anonnumberanon: https://www.ebay.com/itm/HP-COLOR-LASERJET-4300-4350-STEPPER-MOTOR-P-N-RH7-1336-Lot-A114-/321642966980
10:40 AM anonnumberanon: oh nevermind i lied
01:30 PM Tom_itx is now known as Tom_L
08:10 PM rue_mohr: hmm
08:10 PM rue_mohr: world is starting to spinn and headache is getting annoying
08:12 PM rue_mohr: this isn't a good time to be ill, I should have had more chocolate at haloween
08:13 PM Tom_L: i've had those
08:14 PM Tom_L: cold in the ear causing the equilibrium to to haywire
08:15 PM Tom_L: almost got my cad model fixed