Lexy the Sexy Hexy

Hexapod Robots

Re: Lexy the Sexy Hexy

Postby plingboot » Fri Oct 30, 2009 1:19 pm

much to my surprise the SRF04 arrived today. :shock:

-> ten mins to solder on a strip of connection pins, 2 mins to connect everything up and SUCCESS !! :D :D

she's wandering around avoiding things and looking a bit too real.

noticed a slight issue with the front and back legs knocking into the middle legs when she's deciding which way to turn, but other than that it's very impressive.

once i've finished the 'real work' i'm doing, i'll shoot some video.

PS: looking forward to trying the CMUCcam3 project out. :D
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Re: Lexy the Sexy Hexy

Postby Matt Denton » Fri Oct 30, 2009 8:43 pm

Great! good to see this is working for you! :)

plingboot wrote:noticed a slight issue with the front and back legs knocking into the middle legs when she's deciding which way to turn, but other than that it's very impressive.


Reducing the maximum stride in the Hexengine config should sort this out, reduce the LZR setting which will set the MFS, MSS and MTA accordingly.
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Re: Lexy the Sexy Hexy

Postby RiverRatDC » Sat Oct 31, 2009 12:40 am

 
Excellent! Glad it worked out for you, David. :D

CMUCAM project should be coming in the not too distant future.
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Re: Lexy the Sexy Hexy

Postby plingboot » Mon Nov 02, 2009 11:50 am

Here's a quick bit of footage showing my hex' in action.

I still need to make the LZR adjustment and i'm also going to try to understand the Atom code, as i'd like to have her continue 'hunting' for space in one direction (clockwise or anticlockwise), rather than hunt a bit then switch directions - which seems to slow the ability to find clear space.

That aside, i'm very please with this new function.

---

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Re: Lexy the Sexy Hexy

Postby Matt Denton » Mon Nov 02, 2009 2:01 pm

plingboot wrote:I still need to make the LZR adjustment and i'm also going to try to understand the Atom code, as i'd like to have her continue 'hunting' for space in one direction (clockwise or anticlockwise), rather than hunt a bit then switch directions - which seems to slow the ability to find clear space.


Well there is plenty room form improvement on my original code, especially as I was running out of space on the BS2p, however, on the atom I expect allot more could be done!

Nice vid :)
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Re: Lexy the Sexy Hexy

Postby dan1els0n » Sat Nov 07, 2009 11:58 am

These look amazing!
I'm just about to go and pick my kit up. Just have a couple of questions: I want to incorporate the SRF04 into my hexapod, but I would also like to use a thermopile array sensor: the devantech TPA81. I want it to avoid objects in a room until it finds a heat source with the TPA81. Here is a link to the product on the rapid website, you can access the data sheet from there:

http://www.rapidonline.com/productinfo. ... ef=78-0792

I was just wondering which board would be best to control these out of the ATOM or the BS2P? It runs off an i2c configuration. I have found this guide for the bs2p

http://www.robot-electronics.co.uk/htm/tpa81bs2p.htm

Just wondering what your suggestions are before i purcahse?
Thanks, Daniel
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Re: Lexy the Sexy Hexy

Postby Matt Denton » Sat Nov 07, 2009 12:26 pm

The Atom is more powerful than the BS2P, so I would stick with that. You can also plug some I2C devices into the p.Brain-µ24 module, and access the I2C port via the PIP serial interface, or over bluetooth. So you could for example hook up an SRF08 via I2C and run you obstacle avoidance code on a remote PC, sending commands over the bluetooth link via PIP packets.. just a thought :)
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Re: Lexy the Sexy Hexy

Postby dan1els0n » Sat Nov 07, 2009 3:18 pm

That sounds like a good idea, How many i2c or other sensory devices can I hook up to the p.brain u24? I am still a student so cost is a big factor, if I don't have to buy the atom then I wont!
Thanks, Dan
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Re: Lexy the Sexy Hexy

Postby Matt Denton » Sun Nov 08, 2009 3:28 pm

Hi Dan,

You need to check the I2C protocol of the devices being used, but if they are simple enough as is the SRF08, then you shouldn't have a problem. You do need to make sure the both use different I2C addresses. Take a look at the PIP guide for more info on the I2C PIP Functions.
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Re: Lexy the Sexy Hexy

Postby RiverRatDC » Mon Nov 09, 2009 3:41 am

We interrupt your programming for a special announcement: ;)

Life has led to me neglecting Lexy lately and, like any good mistress, she's not happy about it...

Temporarily smoothed things over last evening by finally tweaking and testing the ATOM obstacle aviodance code so 'turn on detection' performance is now akin to the original BS2 code, around 90 degrees or less. Also accounted for a couple of recent internal ATOM compiler changes - like they changed the serial timeout resolution from 1.0ms to 0.5uS and neglected to mention it in the CHANGELOG :roll: . What you thought was a 300ms. wait is now 150uS. Suprise! :x

http://users.rcn.com/klincoln/srf04_obstacle_avoidance_atom.bas




We now return you to your regularly scheduled programming... :lol:
Kevin

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