I bet one of our resident wizards could have this ported to P2 in a weekend
Why? I think a P1 could do it with power to spare!
-Phil
I have pondered this but as per..
To represent real world robotics, we need to be talking closed loop servos not steppers.
Absolute encoders would be ideal but I see incremental being the preferred solution. So we are looking at 18 inputs to cover 6 axes of A, B, I.
I guess that home sensors could be handled via I²C.
Motor commands require a minimum of 6 outputs of PWM, assuming that the servo drives can handle anti-phase or the +/- 10v analog filter that you came up with for @JonnyMac. Otherwise we need a further 6 outputs for direction signals.
Annin have upgraded from open loop to closed loop steppers but without some form of torque limiting of the drives to enable compliance during teach mode, these things will be next to useless.
The thread over on the P2 section about a good demo for the P2? This could be it.
Unrelated to robots, but nearly as tantalizing. I just got this 1980-vintage Heathkit SB-104A ham rig off Ebay. It's dead, but fixable. Heathkits tend to be serviceable since they are homebuilt, but this will be my most complex Heathkit ever.
Phipi, pay no attention to the 1941 Phil---co radio in the background. I guess I just like old stuff.
Mine arrived today, looks good. Bottom panel is just stapled on, should be easy to servo-ize. Comes with two steel ball bearings, could sense those in variety of ways.
But I plan to program the servo motions... just hard-coded... to do it automatically. So I can sip Mojitos as the labyrinth plays with itself... wait, that sounds bad...
Maybe glue a 2-axis accelerometer to the underside of the platform, so you can at least calibrate it to level when the program starts?
I like the clear tape idea! An alternative might be a solenoid under each hole to poke the ball out if it tries to fall through -- kinda like a pinball bumper.
But I plan to program the servo motions... just hard-coded... to do it automatically. So I can sip Mojitos as the labyrinth plays with itself... wait, that sounds bad...
This was actually fun to code, even if through brute force testing & calibration. I only got halfway done so far, the cat keeps lounging on the labyrinth. Pic & video attached.
Comments
I bet one of our resident wizards could have this ported to P2 in a weekend
https://www.anninrobotics.com/
-Phil
I have pondered this but as per..
To represent real world robotics, we need to be talking closed loop servos not steppers.
Absolute encoders would be ideal but I see incremental being the preferred solution. So we are looking at 18 inputs to cover 6 axes of A, B, I.
I guess that home sensors could be handled via I²C.
Motor commands require a minimum of 6 outputs of PWM, assuming that the servo drives can handle anti-phase or the +/- 10v analog filter that you came up with for @JonnyMac. Otherwise we need a further 6 outputs for direction signals.
Annin have upgraded from open loop to closed loop steppers but without some form of torque limiting of the drives to enable compliance during teach mode, these things will be next to useless.
The thread over on the P2 section about a good demo for the P2? This could be it.
That's ALL I need.
And this paddle ball game. And this remote control.
And a BASIC Stamp.
But that's ALL I need.
BTW I can't wait on those jokers above, so I just ordered my own Labyrinth. Can't wait, must automate!
Which one?
Maybe some of us want to play along.
Is the stock gas pedal really shaped like a bare foot, or did you add a custom one?
-Phil
Unrelated to robots, but nearly as tantalizing. I just got this 1980-vintage Heathkit SB-104A ham rig off Ebay. It's dead, but fixable. Heathkits tend to be serviceable since they are homebuilt, but this will be my most complex Heathkit ever.
Phipi, pay no attention to the 1941 Phil---co radio in the background. I guess I just like old stuff.
Mine arrived today, looks good. Bottom panel is just stapled on, should be easy to servo-ize. Comes with two steel ball bearings, could sense those in variety of ways.
Now, why not put an RC receiver in there, and control the axes from one of the transmitter joysticks?
-Phil
But I plan to program the servo motions... just hard-coded... to do it automatically. So I can sip Mojitos as the labyrinth plays with itself... wait, that sounds bad...
-Phil
Absolutely NOTHING.
I'm hoping that brute force and empirical calibration will suffice, in lieu of a plan.
LOL
I like the clear tape idea! An alternative might be a solenoid under each hole to poke the ball out if it tries to fall through -- kinda like a pinball bumper.
-Phil
Not at all. I do it all the time....
Nothing wrong with a few Mohitos.
-Phil
Just for you, PhiPi.
-Phil