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Each leg on this robot has 3 motors; a shoulder, an elbow, and an ankle
To make things easier I labelled them up like this:
There are 18 separate motors to control:
Board
Servo
Board
Servo
Left
Front
Shoulder
Pwm1
8
Right
Front
Shoulder
Pwm1
7
Left
Front
Elbow
Pwm1
10
Right
Front
Elbow
Pwm1
5
Left
Front
Ankle
Pwm1
13
Right
Front
Ankle
Pwm1
2
Left
Middle
Shoulder
Pwm1
9
Right
Middle
Shoulder
13
6
Left
Middle
Elbow
Pwm1
14
Right
Middle
Elbow
14
1
Left
Middle
Ankle
Pwm1
15
Right
Middle
Ankle
15
0
Left
Back
Shoulder
Pwm2
8
Right
Back
Shoulder
Pwm2
7
Left
Back
Elbow
Pwm2
9
Right
Back
Elbow
Pwm2
6
Left
Back
Ankle
Pwm2
10
Right
Back
Ankle
Pwm2
5
Design Thoughts
First thought was to create a function that controls each limb. At the least every limb should move in the same way. However, whilst limbs move together from the gait perspective (Figure 2) I don’t think we can do that from an Arduino perspective. I don’t think I can create a function that says move limbs L1, R2, L3 at the same time. I think I’ll need a function that does that. But then separately what it’s doing is moving “Left Front Shoulder, Right Middle Shoulder, Left Back Shoulder” together, then “Left Front Elbow, Right Middle Elbow, Left Back Elbow”, etc. until that function is complete.
I think I’ll have a multidimensional array with degrees in it for each joint. What I might do though is write a routine which sets each joint to 0. Then unscrew and reattach the joints so I know where zero is on each motor. Either way, I probably need a few lists to define:
the start and end position of each joint for a forward motion
the start and end position of each joint for a circular motion
the start and end position of each joint for being sat still.
That currently looks like this:
Name
Board
Servo
servo_min
servo_max
LeftFrontShoulder
Pwm1
8
500
500
LeftFrontElbow
Pwm1
10
LeftFrontAnkle
Pwm1
13
LeftMiddleShoulder
Pwm1
9
LeftMiddleElbow
Pwm1
14
LeftMiddleAnkle
Pwm1
15
LeftBackShoulder
Pwm2
8
LeftBackElbow
Pwm2
9
LeftBackAnkle
Pwm2
10
RightFrontShoulder
Pwm1
7
RightFrontElbow
Pwm1
5
RightFrontAnkle
Pwm1
2
RightMiddleShoulder
13
6
RightMiddleElbow
14
1
RightMiddleAnkle
15
0
RightBackShoulder
Pwm2
7
RightBackElbow
Pwm2
6
RightBackAnkle
Pwm2
5
Maybe a piece of code that takes serial input and resets the device to zero’s.
Control System:
Due to its built in Bluetooth, I’m thinking about having a raspberry pi zero-w connected to an Arduino nano over USB Serial:
Then I can both ssh into the robot to tell it what to do. And I can also write a phone app to act like a remote control, connecting over Bluetooth. The v5 of the robot car did that.
This policy applies to all information collected or submitted on the Feelix App iPhone and any other devices and platforms.
Information we collect
We collect the information you save in the Feelix App but the data does not leave the phone. So effectively if you can see the data in the phone, that’s the data being collected. But it isn’t going any further
Ads and analytics
Feelix doesn’t track your usage, not show you banner ads
Information usage
We do not have access to your data.
We do not share personal information with outside parties (because we don’t have access to it).
Accessing, changing, or deleting information
All data is held locally within the Feelix App. If you wish to delete this data, clear the app storage settings. No data is transmitted externally
Third-party links and content
Third party links and content are not part of the Feelix App
Information for European Union Customers
Feelix stores all of it’s data locally. No data is transmitted outside of the phone itself
Your Consent
By using our site or apps, you consent to our privacy policy.
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