Penguin Rotating Feet PWM

Interact

Finally had some time to work on my Penguin. I added the Pololu Micro Dual Serial Motor Controller to control the rotating feet that I made - in this thread.
I tore apart the servos and made them into gear motors by removing the electronics, and the mechanical stop, and wiring directly to the motor inside. I am much happier with the results and with less software overhead I can control the acceleration/deceleration and be able to spin on one foot indefinitely rather than being limited to 180 deg.
This in conjunction with the compass data makes for a really accurate robot. I am attempting to get it to play tic tac toe with another penguin using this set-up and ping.
I am currently making a new version of the feet (Quite a bit different) and will post when I get that done.


Post Edited (Interact) : 10/7/2007 12:19:12 AM GMT

D Faust

Cool, it is amazing what a little engiuity and $ can do!· Awesome mod.· I might have missed it but what are the wheels on the back for?


Hope you saved the guts, you can do something like in this thread: http://forums.parallax.com/showthread.php?p=525689

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

LOOKDOWN ThisThread, [noparse][[/noparse]Your_?, My_?, Cool_Thing], looknum
LOOKUP looknum, [noparse][[/noparse]1, 2, 3], subnum
ON subnum GOTO Hope_this_helps, Thanks!, WOW!!
END 

Post Edited (D Faust) : 10/7/2007 1:19:46 AM GMT

slashsplat

Interact had written:
The little wheel is ness because when one foot is forward and the other is back, the balance point is further back than the edge of the circle-foot. The original foot is more or less square and balance point is taken care of by that fact. If the wheel wasn't there the penguin wouldn't be able to pick up it's back foot.

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
slashsplat
/* Ira Chandler */
BotConnect.com

D Faust

Thanks

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔

LOOKDOWN ThisThread, [noparse][[/noparse]Your_?, My_?, Cool_Thing], looknum
LOOKUP looknum, [noparse][[/noparse]1, 2, 3], subnum
ON subnum GOTO Hope_this_helps, Thanks!, WOW!!
END