Wilsons Sandbox

On Dec 14, 2015, at 11:04 PM, "dschulpius@gmail.com [B9Builders]" wrote:

On Dec 14, 2015, at 11:04 PM, "dschulpius@gmail.com [B9Builders]" wrote:

  Robot Gone Wild!!
LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage. 
Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB.  Scripts I've written to trigger movements and voice response get triggered randomly now.  I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening. 
In the meantime enjoy the show and have a peel at the new arm installed on B9: https://youtu.be/JHJgW0soosU

On Dec 14, 2015, at 11:04 PM, "dschulpius@gmail.com [B9Builders]" wrote:

  Robot Gone Wild!!
LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage. 
Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB.  Scripts I've written to trigger movements and voice response get triggered randomly now.  I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening. 
In the meantime enjoy the show and have a peel at the new arm installed on B9: https://youtu.be/JHJgW0soosU

On Mon, Dec 14, 2015 at 11:04 PM, dschulpius@gmail.com [B9Builders] wrote:  

Robot Gone Wild!!

LOL. Here's my latest video I tried to take of my newly installed B9 arm I've designed. However while filming B9 took over the show and wouldn't let me properly show off his new appendage. 

Bottom line is that the new arm pulls a lot of power and it's thrown off my ADC readings on the EZB.  Scripts I've written to trigger movements and voice response get triggered randomly now.  I'll have to find a way to smooth out my ADC ports and rewrite some scripts so this won't keep happening. 


In the meantime enjoy the show and have a peel at the new arm installed on B9:
https://youtu.be/JHJgW0soosU

***Servo's like are in the wrist and claws of my arm have their own pots along with a small circuit board mounted inside the servo case. Common servos like mine done report back the controller where the little DC motor it uses is and how fast it's going. These servos just receive info and use it's pot to move to a point requested at the wanted speed.

On Tue, 12/15/15, David Schulpius dschulpius@wi.rr.com [B9Builders] wrote:

Subject: Re: [B9Builders] Installed B9 Arm - Robot Gone Wild!!
To: "Tobor001@aol.com [B9Builders]"
Date: Tuesday, December 15, 2015, 11:57 AM

Thanks for the response guys.
I'm glad you're enjoying watching my work progress.

Victor, Don't worry about
asking questions. I'm happy to help if I have the
answer. If I don't know I'll let you know.
I'll try to answer the ones's you've just
asked:
Potentiometers for feedback control:
Each motor or servo in my robot with the exception of the
ones that turn continuously (ears and crown motor) have
some type of feedback device. Without this the
control software has no idea where the motor is or how fast
it's moving. ***Servo's like are in the wrist and
claws of my arm have their own pots along with
a small circuit board mounted inside the servo case.
Common servos like mine done report back the controller
where the little DC motor it uses is and how fast it's
going. These servos just receive info and use it's pot
to move to a point requested at
the wanted speed. ***DC motors like I have mounted at the
elbow and radar section need some type of feedback device
like a pot or encoder added. You can sometimes buy a motor
from a Robot supply vendor with an encoder already
installed. However most of the time you need to come up with
some way to mount one either on the shaft of the DC motor
or the pivot point of the joint you're moving. This
can be challenging and
requires ingenuity. ***Whether you use a pot or encoder depends on
your application and motor controller. I like to use
Sabertooth motor controllers with a Kangaroo X2
daughterboard attached that is in turn controlled by the EZ
Robot's platform. The Kangaroo adds position and speed
control to the Sabertooth (or SyRen controller). In
my application the Roo works better, smoother and
more precise if using a encoder. Seems to be easier to
set up and tune also. I am using
a virtually flat Softpot potentiometer at the
elbow joint because of lack of space and struggle
with accuracy when the arm retracts into the torso. I wish
I could somehow find the room to mount a
high resolution encoder on that joint. I could park the
arm inside the torso with 100% certainty that it would be
centered each time. Voice communication to
the laptop : Right now
I'm using the Blue Snowball desktop mic you see in
the vid sitting next to my laptop. It's pretty good
with picking up conversations or commands from all over a
average sized room. However when there is a lot of
background noise or other people talking it's very hard
to get the robot to hear and understand me. Part of the
problem is Windows Voice Recognition itself. In
my experience it's weak and problematic and only
works well with lots of training and a headset. If I wear a
headset the accuracy goes way up and I hardly ever get
false responses or have to repeat myself like you see in my
vid. Dragon Naturally has a fantastic VR program that works
way better than Windows but at this time
I can't integrate it into my EZ Builder
software. Control and response:
My laptop is running the control software called EZ
Builder. It's wirelessly connected over my home's
WiFi network to three EZB's mounted in my robot. Two
EZB's are mounted on top of the CSS about 6 inches from
each other and the third is mounted in the leg section to
control everything down there. I have nothing except a power
cord between the torso and leg section. As long as my laptop
can connect to my home router (even remotely from the other
side of the world) and the EZB onboard the robot can
connect, I can control the robot. The EZ Robot platform (EZ
Builder) gets it's computing power from my laptop. The
EZB's mounted on the robot has no computing power or
ability to hold a program like an Arduino. All that is done
on the laptop which is why EZ Robot has so much power and
speed. The pre written code that runs in the background of
EZ Builder is very complex and optimized that's it's
lighting fast.That is what is really doing all the work.
It's really only limited by your laptop and Wifi
connection and other devices attached to it. Usually I have
no lag what so ever. When a command is issued in EZ Builder
the robot responds without hesitation. The only lag I've
ever had is when something in the background is bogging down
my laptop like a virus software scan or other heave
processing computer functions. You may want to have a
dedicated, lightly loaded laptop if you're going to use
EZ Robot if you want problem free control. Not necessary,
just me recommendation. The other thing that is mandatory is
a strong and uncrowded WiFi signal. A new modern router set
to a clean channel with the IP numbers of your EZB's and
control computer reserved in the DCHP section is highly
recommended by my own experience.
I hope this all makes sense and
helps.
Happy building, Dave Schulpius


On Tue,
Dec 15, 2015 at 10:25 AM, sandy rivera sandrockriver996@yahoo.com
[B9Builders]
wrote:

























AWESOME!!!

Sent
from Yahoo Mail on Android













Robot Gone Wild!!
LOL. Here's my latest video I tried
to take of my newly installed B9 arm I've designed.
However while filming B9 took over the show and wouldn't
let me properly show off his new appendage.
Bottom line is that the new arm pulls a
lot of power and it's thrown off my ADC readings on the
EZB. Scripts I've written to trigger movements and
voice response get triggered randomly now. I'll have
to find a way to smooth out my ADC ports and rewrite some
scripts so this won't keep happening.
In the meantime
enjoy the show and have a peel at the new arm installed on
B9:https://youtu.be/JHJgW0soosU










































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***Servo's like are in the wrist and claws of my arm have their own pots along with a small circuit board mounted inside the servo case. Common servos like mine done report back the controller where the little DC motor it uses is and how fast it's going. These servos just receive info and use it's pot to move to a point requested at the wanted speed.