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  1. Replies
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    Just For Fun Re: LIDAR-lite 360 Mirror Scanner

    OMG, that's superb! It's incredible to see it in action!
  2. Thread: It's ALIVE!

    by tigakub
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    29,021

    Project Re: It's ALIVE!

    Woah! That's great! There is an obvious correlation, but the FSR produces much cleaner data. What FSR are you using, and how is it mounted? Does your bot have 4dof limbs?
  3. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Hey! thanks! I'd be fascinated to learn of any insights you might have. I've been tossing ideas around in my head, but I haven't had a chance to really try any.
  4. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    I might be mistaken, but the data aggregation you're talking about is called Nagle's algorithm, and is a way of reducing seek/read/write latency on block devices, as well as packet overhead in TCP/IP...
  5. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Hi Romain. Thanks!



    Interesting. I didn't think of comparing present position with goal position. I see what you're saying about the error when the servo is in motion. Even with present load,...
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    Just For Fun Re: LIDAR-lite 360 Mirror Scanner

    Excellent! I didn't think to look closer to home. Lol, I want one now.
  7. Re: Converting my PhantomX Hexapod to ODroid XU3-lite and ROS...

    The BNO055? It works pretty much out of the box for Arduino, and the library is all open. RTIMULib supposedly supports it. There's no reference to it in the ROS wiki or documentation, but I'm...
  8. Thread: It's ALIVE!

    by tigakub
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    29,021

    Project Re: It's ALIVE!

    Yes, of course. :wink:






    Hello, sexy.

    It does say "simultaneous position-velocity-torque" control which the Dynamixel's also have. I read somewhere that the "motors" have "springs" in...
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    Just For Fun Re: LIDAR-lite 360 Mirror Scanner

    Yes, like this one:

    6036

    It's a full ceramic bearing, so it should be quite light, and REALLY smooth, with an internal diameter of 60mm which should be plenty wide for the LIDAR Lite. They do...
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    Just For Fun Re: LIDAR-lite 360 Mirror Scanner

    I've actually been knocking this idea around in my head for the past week, too. Here's a crude (really crude) mock up to illustrate what I'm thinking:

    6035

    Or maybe a belt instead of gears?
  11. Re: Converting my PhantomX Hexapod to ODroid XU3-lite and ROS...

    Forgive me if this is out of place, but I just got my hands on a BNO055 IMU board from Adafruit, and after having tried unsuccessfully to get drift-free telemetry from Sparkfun's LSM9DS0 based 9 dof...
  12. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Thanks, Zenta! I didn't change the torque or torque-limit. I just thought that the more resolution I could get, the better, but come to think about it, maybe less sensitivity would be better here....
  13. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Hah! Actually, it was your thread about your hexapod that got me started. At some point you and several others were discussing using the load data in this way. That inspired me to try it out after...
  14. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Yes! That's exactly the one. Thanks for the link!



    Hmmm, ok. I knew that it wasn't really an accurate measure of load, but I hadn't even considered whether it was stable over the life-time of...
  15. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Oops. Didn't mean to be rude. Missed your post. Thanks!
  16. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    I remember reading in another thread about someone trying to use the Dynamixel's load measurement capability, but for the life of me I can't find it again.

    I did some experimentation today on that...
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    Just For Fun Re: LIDAR-lite 360 Mirror Scanner

    This is a fascinating project! I'm really interested to find out how it turns out. Have you considered pointing the sensor upwards, mounting the mirror above it and spinning it with a gear or a belt?...
  18. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Lol. I'm only using AX12A's for this bot so even if I got my finger caught, I don't think I'm in danger of loosing it. But I have to say that when I first did get pinched by one, I was surprised how...
  19. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    UPDATE. Got my new ArbotiX, new tibias, and completely rewrote the sketch. Now the the IK and gait control are done 100% on the ArbotiX. I did a bit of profiling, and even with floating point matrix...
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    Re: HR-OS1 3D Models & 3D Printed Armor

    I've been using shapeways printed parts for my hexbot, and I was very pleasantly surprised at how light and strong they are. It takes a while to get the parts, though — 2 weeks — but it's primo...
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    Re: Buying a USB2Dynamixel Adapter

    Yay! Eagerly awaiting one from Seeedstudio. Put in the order a few weeks ago.
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    Re: Buying a USB2Dynamixel Adapter

    If you are using the 10A brick sold by Trossen, its barrel connector will not fit into the SMTS2Dynamixel's jack, so you WILL need the 2.5 to 2.1 barrel. I speak from experience. :)
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    Question(s) Re: Bad luck with Dynamixels?

    Thanks for the heads up. I guess I'll have to invest in another U2D at some point. I'm hoping that the U2AX will be shipping soon, but I don't know if I should hold my breath. I wish there was more...
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    Question(s) Re: Bad luck with Dynamixels?

    I did hit it into the wrong position by accident a couple of times while testing. Would that cause damage? I did ensure it was in TTL mode for this round of testing.



    Dunno, I was just thinking...
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    Re: Serial communication issue

    I ran into this issue, too! I found out the hard way that if you don't call ax12Init, you have no idea what baud the ax12 library is using to try to communicate with the servos. That would explain...
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    Question(s) Bad luck with Dynamixels?

    After toasting my ArbotiX, I think I've done in my USB2Dynamixel, too! Lol. I think robots hate me.

    Everything was working fine. I was connecting, writing and reading to the servos via the U2D on...
  27. Question(s) Re: Serial communication to control dynamixels via arbotix, specifications ?

    I'm new to Dynamixel programming too, and I ran into the same problem. It took me >a while< to figure out how to deal with stalled servos. The documentation is far from clear about it.

    In...
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    Re: Toasted ArbotiX-M

    I guess I should invest in one, huh?

    But, yeah, I've probably fried the regulator, but not completely. I can power the servos with a hub, and get the arduino side of the ArbotiX to load sketches...
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    Sticky: Re: Introduce yourself!

    Hi everyone. Jumped the gun and started posting before introducing myself. Name's Ed. I live in Bolinas California, about an hour's drive North of San Francisco. I'm a software guy, obsessed with...
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    Toasted ArbotiX-M

    Hi everyone. I think I fried something on my ArbotiX-M. It seems fine when I power it via FTDI, and am able to upload sketches to it. But when I pop the pin over to VIN, and plug in a power supply, I...
  31. Thread: It's ALIVE!

    by tigakub
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    Project Re: It's ALIVE!

    Oops. Looks like I might have toasted my ArbotiX. Doh. I was trying to do a bit of simple profiling to see how much time was spent calculating the IK solution, and I guess it didn't like the way I...
  32. Thread: It's ALIVE!

    by tigakub
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    29,021

    Project Re: It's ALIVE!

    Yes, I am. I have to say I'm pretty impressed with the Arbotix. It's computing the IK on 6 limbs at 20 Hz, and the only reason it isn't going at 30 Hz is that the ax12a bus seems to saturate even...
  33. Thread: It's ALIVE!

    by tigakub
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    29,021

    Project Re: It's ALIVE!

    Thanks! The redesign will be similar, just not as long. And, as you can see in the video, the pointy tips have poor traction.



    I'm calling into the ax library on the ArbotiX to interface with...
  34. Thread: It's ALIVE!

    by tigakub
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    29,021

    Project It's ALIVE!

    My first robot walks for the first time today! It's pretty rudimentary still, but I'm pretty happy with the movement considering its my first attempt.

    At the moment, the legs are a bit ungainly....
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    Question(s) Re: ax12a troubleshooting

    I have my bot standing and shifting in place, and it will probably take it's first steps in the next couple of days. I have the limbs moving really slowly at the moment, but sometimes when I make a...
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    Question(s) Re: ax12a troubleshooting

    Yes, I did get a charger that is specifically for balanced charging of LIPO cells.



    Well, I have only three (now, four before) servos per limb, so hopefully, at least there won't be more than...
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    Question(s) Re: ax12a troubleshooting

    Ah, yes. It's a 4.5Ah 35C.

    I've read that the C rating indicates the maximum current at which the battery can be discharged. So a 4.5Ah 35C battery under maximum "safe" load would be depleted in...
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    Question(s) Re: ax12a troubleshooting

    Yes, they all worked fine initially.



    I do have a 4.5A 3S, but after reading up on the charging protocol, I ordered some safety gear, and am waiting for it to be delivered before I juice it up....
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    Question(s) Re: ax12a troubleshooting

    Thanks for the reply!



    Oops. Actually, as I typed 2.5A I thought I heard a collective palm-face. For some reason, I was under the impression that it was a 5A until I turned it over and read the...
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    Question(s) ax12a troubleshooting

    Hi all. I'm very new to robotics and have been learning a lot reading all these posts. However, I'm having some trouble finding information on how to troubleshoot ax12as.

    I am building a hexpod...
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