#robotics Logs
Jan 01 2022
#robotics Calendar
12:33 AM justanotheruser: What are some of the most popular and high quality robot arms with 6 degrees of freedom, >5kg payload, and under $20,000
12:41 AM justanotheruser: the atomata eva is only $7500, but it has a max payload of 1.4kg
01:08 AM rue_mohr: DIY
01:08 AM rue_mohr: for sure
02:15 AM rue_mohr: HAPPY NEW YEAR
02:16 AM rue_mohr: WOW THAT LAST 2 minutes just went poof
02:16 AM rue_mohr: fireworks by the neighbours!
02:25 AM Jak_o_Shadows: timezones are wack
02:25 AM Jak_o_Shadows: You're like 18-ish hours behind me
05:53 AM veverak: rue_mohr: array is valid option on the table, but the paradigma of the commands is more complex and I want to be able to do this without arrays
01:10 PM rue_mohr: I have an interface where I set the position of each axis for the new target, then tell them all at once to go, the system interpolates all the axies at the same time so they get there togethor
01:12 PM rue_mohr: void SimotaniouslyLinearlyInterpolateMultiAxis(axies2_t * this) {
01:12 PM rue_mohr: https://github.com/ruenahcmohr/roboPlayer/blob/master/interlin2.c
01:13 PM rue_mohr: veverak, have you seen my robots move?
01:14 PM veverak: rue_mohr: interpolates how, linearly?
01:14 PM veverak: that won't work
01:15 PM rue_mohr: heh
01:15 PM rue_mohr: it DOES work
01:15 PM veverak: for your use case :D
01:15 PM veverak: there are valid uses cases for that
01:15 PM rue_mohr: linear interpolation beween non-linear waypoints
01:16 PM rue_mohr: where the hell is my video
01:16 PM veverak: anyway
01:17 PM rue_mohr: o it does work
01:17 PM veverak: I have a queue of commands to be executed, that are synchronized by "barrier command" (barrier blocks following commands until all joints in the barrier finish actual job)
01:17 PM rue_mohr: https://www.youtube.com/watch?v=slxOrCXxXOg
01:17 PM veverak: seems like we do the same thing
01:17 PM rue_mohr: https://www.youtube.com/watch?v=j4uz_yha9uI
01:17 PM veverak: awwwww that thing is cute
01:18 PM rue_mohr: https://www.youtube.com/watch?v=3N7DNfg4p9I
01:18 PM rue_mohr: ^^ that one I had a buffering problem with the kernel
01:18 PM rue_mohr: https://www.youtube.com/watch?v=qZF9WJ1Ueew
01:19 PM veverak: :D
01:19 PM rue_mohr: all use the linear interpolation library
01:19 PM rue_mohr: it can sync up to 65535 axies
01:20 PM rue_mohr: now where the hell is the realtime video
01:30 PM rue_mohr: https://twitter.com/RueNahcMohr/status/1467692311966482434
01:31 PM rue_mohr: arg twitter is a write only freaking site
01:31 PM rue_mohr: veverak, that uses the linear interpolation library
01:31 PM veverak: nice :)
01:32 PM rue_mohr: I can gang up the outputs and control multiple robots at once, I hook up all 4 once, it was kinda scarey
01:33 PM rue_mohr: like having an army follow your every move
01:47 PM rue_mohr: oh so many projects I just want to focus on for like a week continious
01:48 PM Tom_L: robotic snow plow?
01:49 PM Tom_L: i wonder how they control those drone clusters
01:49 PM Tom_L: that would be interesting to see i think
01:50 PM rue_mohr: with ground mount cameras
01:50 PM rue_mohr: all the drones emit beacon lights and the cameras track them
01:50 PM Tom_L: like for those light shows
01:50 PM rue_mohr: or visa versa
01:50 PM rue_mohr: yea
01:50 PM rue_mohr: its 3d camera tracking
01:51 PM rue_mohr: they have to set up quite the ground field to use them
01:51 PM Tom_L: they're very cool to watch
01:51 PM rue_mohr: yes
02:06 PM Tom_L: they respond very quick for all that is going on
02:12 PM rue_mohr: :)
02:12 PM Tom_L: intel will set you up with a kit for $99k
02:12 PM rue_mohr: had to drop the baud rate to kill the latency
02:12 PM rue_mohr: kit?
02:13 PM Tom_L: for drone light shows
02:13 PM rue_mohr: hah
02:13 PM rue_mohr: funny intel divisions
02:13 PM Tom_L: excuse me... starting at $99k
02:13 PM rue_mohr: for $99k you get the software liscence?
02:14 PM Tom_L: https://www.intel.com/content/www/us/en/technology-innovation/intel-drone-light-shows.html
02:15 PM Tom_L: https://inteldronelightshows.com/
02:15 PM Tom_L: for $299k you get 500 premium drones
02:15 PM rue_mohr: how much money do you think you get for a good show?
02:16 PM rue_mohr: and how much do you think the average fireworks display costs?
02:16 PM Tom_L: well, the bigger the more impressive it is
02:16 PM Tom_L: yea fireworks is a reocurring expense
02:16 PM rue_mohr: did you see the video from china where a rival company shut down a drone show?
02:16 PM Tom_L: no
02:16 PM rue_mohr: they all dropped out (landed)
02:17 PM Tom_L: i wonder if they position them then start popping the leds on and off to the pattern
02:17 PM Tom_L: or both movement and led
02:18 PM rue_mohr: didn't dig into it myself
02:18 PM Tom_L: me either
02:18 PM rue_mohr: remember the MIT videos of small formation flying?
02:18 PM Tom_L: yeah
02:18 PM rue_mohr: yea
02:18 PM rue_mohr: ok I think I can design a DAC board that costs less than a dac chip
02:19 PM rue_mohr: a resistor/74HC595 board would cost less than a MCP4725 chip
02:19 PM rue_mohr: its only 8 bits, but way cheaper
02:35 PM mrdata: this is often possible when using through-hole chips
02:36 PM rue_mohr: but I'm not
02:36 PM mrdata: but surface mount are super cheap, often
02:36 PM rue_mohr: both are smt
02:36 PM mrdata: ok, impressed
02:36 PM rue_mohr: the gap is huge
02:36 PM mrdata: really
02:36 PM mrdata: how so
02:36 PM rue_mohr: the mcp4725 is $1.70 cad, the 74hc595 is 14c
02:37 PM mrdata: what about labor
02:37 PM rue_mohr: add resistors and a tiny pcb, tactically neglect assembly time and its way cheaper
02:37 PM mrdata: well, hobbyists can neglect that
02:38 PM rue_mohr: yea
02:42 PM rue_mohr: if you do Y to delta conversion of the last part of an R-2R, you can drop a resistor
02:43 PM rue_mohr: because one of the resistors goes from the digital input to ground
03:04 PM veverak: soooo
03:04 PM veverak: got my patch to ahve joint_goto commands that have "after pos" target and soon I will be able to properly log telemetry
03:05 PM veverak: (where telemetry is input to PID for now)
03:05 PM veverak: so, measured position and desired
03:05 PM veverak: if I am right once I start to use "after pos" parameter properly, the fitting of measured to desired should be better
03:06 PM veverak: only pitty is that I am not near my robots :/
03:11 PM rue_mohr: trapped during vaccation?
03:12 PM veverak: yeah, except that I am at my GFs parents house, so I can't call it that :)
03:12 PM rue_mohr: well no
03:13 PM rue_mohr: same diff tho
03:13 PM rue_mohr: tell her that reproduction has been a great goal but your ditching her for the robots ;)
03:15 PM rue_mohr: ugh
03:15 PM veverak: nah, I still prefer company of humans
03:15 PM rue_mohr: R-2R ladders are a mess to compact
03:15 PM veverak: and one has to make compromises to sustain that
03:19 PM rue_mohr: I guess I cant put an SMT resistor under a SMT chip eh?
03:21 PM rue_mohr: it would be nice if someone made R-2R resistor sips for less than the MCP4725
03:23 PM rue_mohr: multilayer hurts my brain, and I'm only doing 2 layesr
03:25 PM veverak: :D
03:25 PM veverak: I have 4 layer pcbs around
03:26 PM veverak: but in each case the internal layers are just gnd or vcc, so it still has complexity of 2 layer board
03:27 PM rue_mohr: power routing is the final boss
03:28 PM rue_mohr: kicad?
03:29 PM veverak: yup
03:33 PM rue_mohr: have you created a template with like a palette of track widths and stuff?
03:38 PM veverak: not really
03:40 PM veverak: I usually spin up new project and copy limits from jlcpcb
05:02 PM rue_mohr: thats a lot of manual re-entry...
05:02 PM rue_mohr: but you dont do everything with the one default trace size...
05:06 PM veverak: I tend do
05:06 PM veverak: *to
05:06 PM veverak: usually have 3 sizes?
05:06 PM rue_mohr: I got one :/
05:06 PM veverak: but on the simples of projects one
05:10 PM veverak: rue_mohr: anyway, template project seems reasonable if you tend to setup a lot of things
05:10 PM veverak: I do not
05:59 PM Tom_itx is now known as Tom_L