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  1. Replies
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    Re: OpenCM 9.04 and SPI

    The hardware library didn't seem to work - maybe I got the "mode" was wrong, and rising/falling edges were confused.
    Anyhow, the software version did work, and for reference it is:



    struct...
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    Re: OpenCM 9.04 and SPI

    It was the nano, with is 5v and the OpenCM is 3.3v. However the encoder is supposed to be dual voltage.
    Some of the code for the SPI looks a bit incomplete (with some TODOs for interrupts) so I'm...
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    OpenCM 9.04 and SPI

    Has anyone had any luck using the SPI ports on the OpenCM 904?
    Apparently it has 2, but I could not get either to talk to my AS5048A magnetic encoder.
    The same setup (device, cable) works well with...
  4. Re: Latest version of linear actuator robotic arm

    The brains is a Raspberry Pi 3, connected to a 4.5" touch screen. There is an Arduino Nano behind the screen that reads a bunch of analog inputs (actuator positions, spring displacements) and the...
  5. Latest version of linear actuator robotic arm

    I have been (slowly) trying to design a robot arm with linear actuators for quite a while. The idea is very appealing to me because they have a great price/torque ratio, especially the holding...
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    Re: Project of robotic Arm with dynamixel motors

    Do you mean 'TorqueOff' ?
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    Re: Project of robotic Arm with dynamixel motors

    This is looking pretty good I think.
    I have experienced this sort of jerkiness when trying to get a pair of dynamixes to trace a path.
    The truth is that these are not stepper motors, and can't...
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    Re: Project of robotic Arm with dynamixel motors

    The details of the api may be different depending on what code you are using. I was using the OpemCM code, which starts like:

    Dynamixel Dxl(1 /*DXL_BUS_SERIAL1 = cm094 */);

    I was using a...
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    Re: Project of robotic Arm with dynamixel motors

    You can use
    Dxl.getLoad(inId);
    to get the load. This is the amount of power required to drive the motor to the requested position.
    Detecting a collision using this could be tricky because this...
  10. Re: Self-navigating rover, and how to ruin an AX-12A

    Could it be an angular momentum thing? Does the slipping happen if you spin the wheels in the air with no surface contact?
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    Re: First test of robot arm

    Yeah, the hubs are a bit of a sore point because the exposed soldering on the back, aluminium frame and the Arbotix M serial port did not mix well. I printed backs for them, but too late to save the...
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    Re: First test of robot arm

    Here is a bit more info on the design of the arm.

    https://www.youtube.com/watch?v=xPKi3ssETbM
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    First test of robot arm

    Here is a video of the first attempt to run a sequence on my robot arm.

    https://www.youtube.com/watch?v=B417vTm4DDM

    The arm is still a bit of a work-in-progress, and uses a linear actuator to...
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    Re: Some love for the Money Pit

    I see 4 independent drives could allow you to spin on the spot.
    You could probably gear you ax12s by a factor of almost 2 and still keep your range of movement, say by a timing belt or a simple...
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    Re: Some love for the Money Pit

    Nice project. Have you considered using a micro-linear-actuator for steering? These seem to be a bit more expensive than the ax12, but might handle the load better. If you can rig it to only use 1...
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    Project Re: MX-Phoenix hexapod and some more

    Wow, that is a great video. Creepy, but in a good way.
    Hugh
  17. Re: Ressources for OpenCM-companioncomputer UART communication?

    The OpenCm will "forget" what it was doing if you give it a command and unplug it. ie, the program will restart.
    It depends on what you get your program to do when it starts (the blinking LED was a...
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    Re: Capacitor for MX28?

    I tried the capacitors, no difference.
    I swapped out the power supply for a better one, but only rated 2A, and it works fine. It appears to draw 0.7A while the actuator is running. So I'm thinking...
  19. Re: Ressources for OpenCM-companioncomputer UART communication?

    I think the IDE is a rebranded Arduino IDE which looks like it is Java based.
    You could try the rpi version of Arduino IDE and see if you can select the OpenCM board - might need to copy some...
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    Re: Capacitor for MX28?

    Thanks - I'll give it a go. Sounds like i might need to work out an oscilloscope solution for myself too.
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    Capacitor for MX28?

    Hi
    I'm running a linear actuator and 2 mx28s from the same 12v power supply.
    The supply is rated for 10A, which should be fine I think.
    However, when the linear actuator starts or stops, the mx28s...
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    Re: ArbotiX-M partially dead

    The actuators seem ok. When it happened, I though "you idiot!". But maybe not toooo much damage and a good lesson.
    Mind you, adding a 1c piece of plastic on the back of the connectors would make...
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    ArbotiX-M partially dead

    Hi,
    I think I killed the Dynamixel serial port on my ArbotiX-M when I accidentally shorted the bottom of a connected power-hub.

    The motors seem ok using a different board, and the usb...
  24. Question(s) Re: Assistance in understanding Phoenix Gait routine

    Looks like a beast! Would love to see it moving.
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    Re: An impossible robotic arm?

    Depending on the accuracy you are after, you could use cheap linear actuators to do this. They certainly have the torque - not sure about the millions of times. Here is a example costing only a...
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    Re: Experiment with linear actuators

    Here's a little update to the design using the position feedback to allow control via USB.

    http://youtu.be/QMMlMlj_-NA
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    Re: Experiment with linear actuators

    Good points - the laws of robotics suggests that I should not try to harm anyone. I saw somewhere that someone had added a stiff spring with displacement measurement to a linear actuator to create...
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    Experiment with linear actuators

    I was looking to build a robot arm with a reasonable lifting capacity (couple of kilos), and had difficulty finding something stronger than robot servos but cheaper than a full-spec industrial arm. ...
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    Re: CM-530 controller issue

    I managed to reset the page offsets from the offsets menu. They all appeared "0", but the program did not send the values to the robot until either I wiggled the values or hit the initialize button...
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    Re: CM-530 controller issue

    Yes, setting the position via RoboPlus Manager works, and also the initial position works. Now I am suspecting a funky motion offset because when I move motor 0 to a bigger position, the value...
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    CM-530 controller issue

    Hi,
    I am running a bioloid premium robot. It was working fine, but now things have gone very odd. When I use RoboPlus Motion to view the "Pose of Robot" (after enabling the torque) many of the...
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