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Mr.Cruz

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  1. Like
    Mr.Cruz got a reaction from Automate in Cardboard Hovercraft   
    I've finally gotten around to documenting the Cardboard Hovercraft build to such a detail that anyone else can build one.

    Since it has a bluetooth/wireless control component, I'll be documenting it at hackaday.io
  2. Like
    Mr.Cruz got a reaction from GrumpyOldPizza in Cardboard Hovercraft   
    I've finally gotten around to documenting the Cardboard Hovercraft build to such a detail that anyone else can build one.

    Since it has a bluetooth/wireless control component, I'll be documenting it at hackaday.io
  3. Like
    Mr.Cruz got a reaction from abecedarian in Robotics BoosterPack   
    Here's your monthly update!
    AVC has come and gone, and while it was fun, there was simply too many things that came up at the last minute for me to deal with. The Hovercraft eventually drove straight-ish, but was not able to make it past the first corner. Oh well. I'll be putting up the documentation backlog on hackaday.io for those that want to make one for themselves. The Robotics BPv3 has a few more smaller issues, one of which being that I completely messed up the IO ordering (instead of the pins going 1,2,3,4,5,6,7,8, I did 4,3,2,1,8,7,6,5). Fortunately, it wasn't a dealbreaker, but I will want to fix this. Also, the SD Card connector has been marked NRND, so I'll have to replace that. Something really weird was happening with the Launchpad during AVC such that unless I outputted variables via printf, they would get optimized out. There were loops that I was never entering, despite data being there, there were variables not getting updated, and all in all it was really weird. This is something I'm going to fix before releasing the firmware for the project. Before AVC, I was able to update the control app for the Hovercraft. The fun really started when the night before I only slept 30 minutes and learned how to use GPS and the Sensors on my smartphone. Unfortunately, the IMU sensors on the phone were both noisy and slow, which meant that if I wanted to go straight, I'd need to get that MPU6050 working. Also, the GPS only worked at 1Hz, BUT I did get accuracy down to +/-4m, so there's that. On the subject of the IMU, I think there's something really weird going on with my implementation of I2C. I could read individual packets, but never got the DMP working. I ended up sampling the Gyro at 1KHz, which while it got the job done, starved my command parser such that sometimes I received invalid commands. A huge issue when simply turning on the motors requires 6 back to back commands (one for setting the initial value, and one for enabling them).  
    Now time for a bigger announcement. I'd like to switch gears again to working on the Pick and Place. It's become a large enough bottleneck that I need one working sooner than later. BUT, I also still want to keep testing this board and working on software, so I'm going to try something. I've decided that for the next rev (v3.1 for those keeping track), I'm going to send out test boards so that people can actually put the boards through their paces. If anything this should help incentivise me in documenting how to use the board. This should also help me see how people want to use the board.
     
    This is the first time that I've ever done this kind of thing, and I'll be sinking a good chunk of money into this, but I'm getting close to the point where I'd like for the project to be wrapping up, and hope that this will help. If for some reason I get a lot of response/demand for this, then I'll likely be looking for people that are much more active on working on projects than those who are new to embedded systems, simply due to the stage that the board is at. For those that are interested, PM me or post here for more questions. 
     
     
    TL;DR: AVC was fun. Waay too many last minute issues to correct for. Found minor issues with the board.
    I'll be giving away a few boards to hopefully receive feedback on the board, and find out what else needs improvement.
  4. Like
    Mr.Cruz reacted to GrumpyOldPizza in Autonomous Rover   
    Bluebash, sorry if I was not clear enough. I was not looking for FS recommendations. I have a FAT filesystem whereby I was asking for other folks whether they could review/help making it more portable/usable. I am programming bare metal, so my internal interface might not be suited to perhaps integrate this into Energia, or other projects. 
     
    Regarding Chan's FatFs. It's deeply rooted in the "as small as possible" philosophy. A friend of mine benched it at 80kb/sec throughput on a 10MHz SPI bus using small block (512 bytes). My requirement was in the order of 200kb/sec. The implementation I came up with got me around 800kb/sec (still on a 10MHz SPI bus). My rover uses a 20MHz SPI bus (thanx to RobG's great boosterpack !!!).  Anyway, just thought other folks might be interested.
     
    - Thomas
  5. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Nearly another month, and another update!
     
    PCBs are back, and aside from USPS not delivering around $250 in packages (still tracking them down, but I'm not optimistic and simply reordered everything), v3 of the PCB will be assembled and tested by the end of next week! Looking forward to getting real time current readings up to 100A. The IMU! Finally getting around to porting the MPU6050 from the I2Cdev project to the Tiva Launchpad + my I2C implementation. Aiming for it to be completed by the end of the week. There's something to be said about Hovercrafts. Working on my Sparkfun AVC entry, hence all of this work being done. Oh, the Android Hovercraft App has been fun to work on (need to test it somehow!). Probably won't post another update until after the AVC, but I suppose I could post an updated version of the BoosterPack once I get it assembled.
  6. Like
    Mr.Cruz got a reaction from Diodoman in Robotics BoosterPack   
    Pictures? Pictures!
    Pictures.
    https://plus.google.com/117104116706660321116/posts/Zp5z1x4UBAh
     
     
     
    (Yes, I'm to lazy to upload them to the forum...)
     
     
  7. Like
    Mr.Cruz got a reaction from bluehash in Can you help me please about servo control?   
    To learn about Servos: https://learn.adafruit.com/search?q=servo
     
    To figure out how to use Servos with Energia: https://www.google.com/search?q=energia+servo
     
    The TM4C123G is backwards compatible with the LM4F120 MCUs (take a look at Table 5 in this document). Energia definitely supports the Servo object (see source code).
     
     
    The resources are definitely out there. maybe you can be more specific when asking for help? From your two comments, it seems like you haven't done any research on the subject.
  8. Like
    Mr.Cruz reacted to pabigot in Execution time - the easy way   
    FWIW, DWT is a compile-time constant pointer, not a variable, so there's no double-dereference (the CYCCNT value is read directly from its register). This is true of all CMSIS pointers to mapped memory.
  9. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Another week, another bit of progress.
     
    Right now I'm working on making a library similar to MBed because I'm starting to make more and more objects for the BP, and I want the code to be as easy to use and understand as possible. I'm pleased with what I've finally decided on and will be implementing it shortly.
     
    Made a new frame for the demo tank robot. Each layer has magnets and attaches with screws that I had laying around. It's a surprisingly strong hold. Each layer is separated as follows:
    - Servos and other stuff
    - Tiva Laucnhpad w/ top headers cut off + Robotics BP
    - Smartphone + Omnicamera Lens
    - Motors/Encoders + Six Cell NIMH battery Pack + Track
     
    A picture will follow soon.
     
     
    Oh, and I was able to get 12 servos completely driven and powered by the BP. Video above. I assembled a second board and gave/loaned it to a friend who wants to make a 12 servo crawler.
  10. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Wanted to let everyone know that I finally got around to uploading the code I've been working on into GitHub.
  11. Like
    Mr.Cruz reacted to bluehash in Robotics BP v2 Code Dump   
    Cool!
    Also if you have makerFaire pics. Please post them here. I'll give you a forum badge
  12. Like
    Mr.Cruz got a reaction from bluehash in Robotics BP v2 Code Dump   
    It's getting even better. I've been working on an I2C ISR, making all of the intractable things on the BP C++ objects (Servos, Motors, etc...), and since I convinced a friend to make a 12 servo crawler, I'll have that code working by the end of the weekend (and possibly a second assembled v2 PCB)

    In other news, these BoosterPacks will be getting shown off at the Austin Mini Maker Faire
  13. Like
    Mr.Cruz got a reaction from bluehash in Robotics BP v2 Code Dump   
    Just wanted to share a massive code dump that I just uploaded to my github repo.
     
    It currently contains hardware PWM generators for controlling Motors and Servos, some untested code for the QEI encoders, and I think has some basic Bluetooth (RN-42) code via UART0 as well.
     
    The repo for those that are curious: GitHub.
     
     
    My development environment consists of Arch Linux and vim. There are some smaller tweaks I want to make and some snippets of code I want to clean up, but at the moment, I'm focused at getting the functionality of the BoosterPack working first.
     
    Oh, and since the BP uses F0 and D7, I have code that unlocks both pins.
  14. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Whelp, I think I'm about due for an update...
     
    Robotics BP v2:
    Nothing blew up! The 1st board isn't completely assembled (had to take off ICs to track down a short). Amusingly enough, I'll be needing this board to test the Pick and Place (testing out Servo-cased actuation instead of Stepper driven).  
    PNP:
    I'm on v4 of the CNC hardware now (four iterations in two months isn't too bad, imo). Latest version:~16" cube Steel tube frame with Aluminum inserts Aluminum mounting blocks for Rods & steppers Core XY motion PTFE gantry and carriage blocks (currently testing) Focused on getting the HW completed since after this weekend and next, I'll be completely booked until the end of March... BBB + Azteeg x3 + Octoprint works wonderfully! Internet-controlled PnP, here I come!  
    Also, I would suggest keeping an eye out on my website (anomalousmaker.com) since I want to start using it more ( anything > nothing).
     
    Peace!
  15. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Woo! Happy Thanksgiving weekend everyone!
     
    I wanted to post another update, as things are coming along quite nicely.
    On v2 of the PCB:
    Routing was long since completed, and the PCB is actually already back and in my hands! OSHPark turnaround times are getting better and better! I have an updated BoM located here. In really low quantities, the components total to ~$65, not including parts Mouser didn't carry (Samtec headers, Inductors, and IMU) and XBee module. The interesting thing is that at 100 boards, the price drops to ~$40 (without Bluetooth, it drops to ~$30). I'll be laser cutting the stencil this weekend and if all goes well (aka parts get in on time and Reflow Oven still works), I'll have a prototype by the middle of next week.  
    On the PnP:
    I have most of the hardware in and will be working to get most of the mechanics built by the end of the weekend. I think I've figured out a cheap way to make Cut Tape feeders, such that each one costs ~$7 each to make, before bulk savings. Aiming to have all hardware for the PnP complete by the end of the year.
  16. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    v2 is complete!

    And now to switch gears to the PnP while the PCB gets made.
  17. Like
    Mr.Cruz reacted to luke in Robotics BoosterPack   
    Great project.  I was looking at power supply solutions last night.  Primarily I wanted a really simple 3.3V source for my CPU etc. derived from a high amp 12V power supply which would drive my LEDs, motors etc.  Normal LDOs get mighty hot when driven from 12V.  I looked at the switchers and didn't like having to add an inductor and several caps and resistors.  Then I discovered these drop in DC/DC converters for a reasonable price.  I ordered some to play with.
     
    R-78E3.3-0.5 for $2.84
    http://www.digikey.com/product-search/en?WT.z_header=search_go〈=en&site=us&keywords=R-78E3.3-0.5&x=-1210&y=-51&formaction=on
     
    OKI-78SR-3.3/1.5-W36-C kind of expensive at $4.30 but no additional parts at allhttp://www.digikey.com/product-search/en?WT.z_header=search_go〈=en&site=us&keywords=OKI-78SR-3.3%2F1.5-W36-C&x=-1210&y=-51&formaction=on
     
    I like your idea of using TI samples, but just wondering if you where aware of these parts and what you think of the idea of using them in this sort of situation?  Generally I only need high current 12V and low current 3.3V so 5V is not needed. 
  18. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    A much needed update:
     
    The demobot was able tp prove, that under manual control, and lots of finagling, the competition can be completed. If needed, I could spend another month making it truly autonomous, but hopefully I won't have to do that. If anyone wants to watch some vids, here's where they currently exist.
     
    I'm shifting focus back to the PCB, because I really want to test out v2. There are, of course, some more changes coming, but I'm really excited about them!
    I mirrored the top half of the PCB, such that the XBee is on the left instead of the right. This'll make routing a bit easier. I'm switching out pretty much all of the regulators The 5v regulator was too safe, such that it couldn't actually power the servos. Oh well. I found one that can. I've also changed the 3.3v regulator to be powered off of the entire input voltage range, such that the new 6v, 5A regulator can be just for the servos. I have a tiny LDO going into the VBUS line on the launchpad for the LEDs. Adding a chip to easier select UART0/1 for XBee/Bluetooth Adding headers directly under UART0 pins on the Launchpad, in the hopes that I can write a wireless bootloader! In other news, I won't have a free weekend until the end of November!
  19. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Another Update!

    This past weekend, I participated in a Hackathon, where I primarily worked on the software for the board, which can now be found here.
    Things that went right:
    Software was moved out of a the large blob and made much more modular. I'll have to retest things to make sure everything still works The SPI Encoders worked! Software QEI Encoders work as well! ADC pins are now up and running Things that need more work:
    The SPI Encoders I designed worked, but not in the way that I needed them to. They can only provide absolute angle output as opposed to total revolutions. Oh well. QEI encoders it is. The next rev will only support two(2) Encoders as opposed to four (4) because the Tiva only has two (2) QEI peripherals. Worst case, I've managed to write a nice, small QEI state machine that seems to get the job done for a consecutive pair of GPIO pins. Moving the SD Card to Port F due to the Encoder change. Yes, that means that LEDs will rave when doing things w/ the SD card... I have a lot of UART work to get done. Bluetooth and XBee are still non-functional.  
    ToDo List:
    Retest software modules Working Bluetooth, XBee, UART <> Android Smartphone interface Create PCB v2 Create a Simple Scheduler (In Planning) I2C State Machine + sensors (I2C Line Sensor, Power Monitor, IMU) Acquire Tiva + PCB v2 As a final note, I've also posted this project in TI's University page.
  20. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Pictures? Pictures!
    Pictures.
    https://plus.google.com/117104116706660321116/posts/Zp5z1x4UBAh
     
     
     
    (Yes, I'm to lazy to upload them to the forum...)
     
     
  21. Like
    Mr.Cruz got a reaction from bluehash in Robotics BoosterPack   
    Wow, I had forgotten about this post.
     
    So a few updates:
    First PCB:Very little worked. The 5v regulator worked once or twice, but due to bad reflowing it didn't ever work again. The 3.3v Regulator has too much paste and shorted out. I got the wrong package of IO Expander, and had to solder directly to the Motor Enable signal to test out motors. They worked. The IMU and Power Monitor both respond with I2C Acks The 100uF capacitor was larger than I thought, and had to leave them out. for this PCB. Indicator LEDs would not be tested due to faulty power rails. Second PCB:Much more working. Reflow worked much better. Both 5v and 3.3v rails work wonderfully! I think I'll be using this 5v circuit more often, even if it is a pain to assemble. The IO Expander works, and can turn on/off the Motor Controllers at will! IMU still responds to I2C w/ and Ack. I flipped the Power Monitor and ended up ripping a pad off the footprint, so that function might need to wait until the third PCB. Motors go! I'm having issues controlling the Servos after initialization, but that's a software fix. More software to write: ADC, IMU, UART Interface, I2C IO Expander (Clean it up a bit) Third PCB:A placeholder for things that I plan to test Bluetooth, XBee, Power Monitor, Smartphone to UART interface  
    As a side note, I was able to charge my phone using my board, the launchpad, a Micro to USB cable, and a OTG adapter. Surprisingly, the MCU got hotter than the 5v regulator, but shorting the RST line to GND fixed that for the time being.
     
    Updates to the next revision can be found here and here.
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