#robotics Logs

Dec 25 2019

02:20 AM Miyu is now known as hackkitten
06:13 AM veverak: deshipu: https://share.icloud.com/photos/0EjTH2v6BwMSX88mz3kWB3KZA IT IS ALIVE
07:35 AM deshipu: veverak: looks great, now just some cable management
07:36 AM veverak: wat, that is installed
07:36 AM veverak: ** pokerface **
07:36 AM veverak: :D
07:36 AM veverak: deshipu: thinking about building cage for it
07:37 AM deshipu: interesting leg configuration, with the inverted knees
07:38 AM veverak: they will flip
07:38 AM deshipu: sure, but it's very compact like this
07:38 AM veverak: yup, that's what I love it
07:38 AM veverak: *what I love about it
07:38 AM veverak: but the unfolding is a little bit harsh
07:38 AM veverak: :D
07:38 AM deshipu: I might steal it
07:38 AM veverak: do it
07:39 AM veverak: deshipu: but it needs 360 deg. servo
07:39 AM veverak: ideally
07:39 AM deshipu: veverak: are you in Brno on the last weekend of January, btw?
07:39 AM veverak: I should be, you comming?
07:39 AM deshipu: yeah, for devconf
07:39 AM veverak: wait, maybe not weekend
07:39 AM veverak: hmm
07:39 AM deshipu: I come on Thursday
07:39 AM veverak: shalle we meet? that's cool
07:39 AM veverak: I can show it in person
07:39 AM veverak: :D
07:40 AM deshipu: I still need to see the transportation options
07:40 AM deshipu: I'd like to avoid flying to Vienna if possible
07:40 AM veverak: brb, going with dog
07:40 AM deshipu: take care
08:04 AM veverak: deshipu: afaik there are trains switz -> vienna
08:04 AM veverak: but, that will be a long ride
08:04 AM veverak: :)
08:09 AM deshipu: yeah, 12h, but there are sleep trains
08:09 AM deshipu: so I don't mind
08:15 AM deshipu: it's the best mode of transportation: you go to sleep and you wake up there
08:43 AM veverak: makes sense :D
08:45 AM yaqwsx: veverak: Cool, but I expected it will walk using your trajectory planner :-P
08:49 AM veverak: yaqwsx: soon (tm)
08:49 AM veverak: yaqwsx: btw: hate the servos
08:49 AM veverak: yaqwsx: on slow movement and small angle change, it can't raise the robot
08:52 AM veverak: if I however command it big movement and fast speed
08:52 AM veverak: it jumps with it
08:52 AM veverak: ...
08:54 AM veverak: I want to be able to setup the PID!
08:54 AM veverak: :)
08:58 AM yaqwsx: veverak: Oh, I should write the FW for the new boards...
09:01 AM veverak: yup
09:01 AM veverak: :D
09:05 AM veverak: yaqwsx: anyway, need to build a cage
09:06 AM veverak: for the robot, where it is floating
09:06 AM veverak: (holded by wires in place)
09:43 AM deshipu: held
09:44 AM Tom_L: y
10:25 AM veverak: yaqwsx: also, speaking of boards
10:26 AM veverak: https://scontent-prg1-1.xx.fbcdn.net/v/t1.15752-9/80132464_459391041654215_4899626806409166848_n.jpg?_nc_cat=102&_nc_ohc=sGaFFgaQOJ0AQn5nIV_LIDPLnExz3kDMOfIJrdgDrp7IhKf6f04fzOjow&_nc_ht=scontent-prg1-1.xx&oh=bf2b33a4f498de51f6175313ad21af39&oe=5E713CF4
10:26 AM veverak: yaqwsx: got "tile" board with F103
10:26 AM veverak: designed for the lewan bus
10:26 AM Tom_L: what is that?
10:30 AM veverak: Tom_L: PCB board for my "generic mounting system - tile"
10:30 AM veverak: so I can spread sensors around the robot
10:31 AM veverak: (most of which can be hacked on the board, or use a shield over it)
10:31 AM Tom_L: lewan bus
10:31 AM Tom_L: what is it?
10:34 AM veverak: ah, those servos are from "Lewan" company and has custom protocol for communication
10:35 AM veverak: over one-wire UART
10:36 AM Tom_L: oh
10:52 AM veverak: nah, want to design the machinery for motion execution (fold/unfold is good practice material)
10:53 AM veverak: somehow it feels like correct approach, is to motion defined as 'plan', where 'plan' has steps and conditions under which the step is valid
10:53 AM veverak: (in case conditions are broken, bail out)
12:40 PM mrdata__ is now known as mrdata-
12:40 PM rue_mohr: force feedback is a way to go
12:41 PM rue_mohr: make sure the forces during a process are within a margin
12:52 PM veverak: exactly
01:17 PM rxF is now known as torque
01:51 PM veverak: also
01:51 PM veverak: motion planner works with the notion "states through the robot has to go through"
01:51 PM veverak: rather then set of actions being the plan
01:52 PM veverak: I suppose sticking to the "state to go through" definition in the execution is wise idea
01:52 PM veverak: gives more freedom to the execution of it
06:46 PM logb0t_ is now known as logb0t
11:36 PM Jak_o_Shadows: I swear the new chinese servos aren't as good as the old chinese servos
11:51 PM Jak_o_Shadows: OTOH, I really do need to attach the servo horns to the arms prperly
11:54 PM mrdata-: um, yeah
11:58 PM Jak_o_Shadows: Well, I don't have the 1.6mm or 2m bolts yet
11:58 PM superkuh: https://www.chinalawblog.com/2019/12/worthless-product-from-china-factories-and-the-reasons-for-that.html