New and hopefully last rev of the Mech Warfare transponder hot out of the oven.
Improvements over 2012 include…
- Reverse polarity input voltage protection
- 7-24v input
- Dip switch selectable ID
- Smaller current consumption
I was able to spend some time over the weekend to travel to robotics Mecca (Trossen Robotics HQ). While visiting I made some significant progress on the assembly of OKQ1. I was even able to set all the MX-64T servo IDs and buadrates.
Here is a short video the TR crew took of OKQ1′s first power up and software run:
I received a shout out mention from my friends at Trossen Robotics in their latest shop talk video. Thanks guys!
Small update to my auto targeting solution. I am now able to track multiple targets!
Continuing to make some great progress with the code over the week.
I now have all four legs working in tandem with the gait algorithm.
Next up is to start tackling a controller interface and a motion manager.
After my hiatus from competing in 2012 I have started a new mech to dominate in 2013!
OKQ1 (Off-Kilter Quad One) will be an MX servo based quad with four degree of freedom legs.
Between the end of MW 2012 and now I have been experimenting and perfecting new IK calculations, gait algorithms and control ideas.
In this first video you can see me testing my 4DOF IK calculations with a single leg. The foot is being moved in a circular motion. You can see that the final leg joint is always kept perpendicular to the ground.
http://www.youtube.com/watch?v=He6WeLmsaYc
In this second video you can see my first test of the new gait algorithm working smoothly and accurately.
http://www.youtube.com/watch?v=c-W1z0hRlE8
As always my work is open and freely available. Take a look at my github account.
First test post on new WordPress site!
I have imported all of my older posts from Blogger and they should appear below shortly.
I purchased a pair of Dell U2410 monitors for my desktop computer.
Now I have to find out if I am getting twice as much work done or just simply starting twice as many projects…
#include <avr/io.h>
#include <stdio.h>
#define BAUDRATE 57600
static void put_char(uint8_t c, FILE* stream);
static FILE mystdout = FDEV_SETUP_STREAM(put_char, NULL, _FDEV_SETUP_WRITE);
int main(void)
{
UBRR0H = ((F_CPU / 16 + BAUDRATE / 2) / BAUDRATE - 1) >> 8;
UBRR0L = ((F_CPU / 16 + BAUDRATE / 2) / BAUDRATE - 1);
UCSR0B |= (1 << TXEN0);
stdout = &mystdout;
for(int i = 0; i >= 10; i++)
printf("testing %d\n\r", i);
}
static void put_char(uint8_t c, FILE* stream)
{
if (c == '\n') put_char('\r', stream);
while(!(UCSR0A & (1 << UDRE0)));
UDR1 = c;
}