KHR3 progress report

KHR-1, KHR-2HV, KHR-3HV, ICS servos, RCB controllers and other Kondo products
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4 postsPage 1 of 1

KHR3 progress report

Post by ks_khr3 » Tue Jul 06, 2010 2:14 am

Post by ks_khr3
Tue Jul 06, 2010 2:14 am

Ok. Short update.

Finished installing the Ultrasonic TX & RX on the head. I needed to bend one of the standard brackets to look the other-way so I could install TX & RX in a symmetrical fashion on the sides of the head. Wish Kondo manufactured these brackets in a Left & Right configuration. Oh well, if this was my only gripe...

Also finished installing 2 x IR sensors or as Kondo calls them PSDs. There were no specific instructions as to where to put them on the robot. Some KHR-2 based photos show them installed on the feet right above the sole. I chose to attach them to the arms. On the dummy servo right above the hands. Rationale for this decision was that I have more mobility on the arms so I can "look" around with the IR sensors with ease. Also when I open the arms to make the look like a T I get maximum distance possible between the IR sensors which will help in triangulating later on.

On the software front...

My love & hate relationship with HTH4 is thriving. After some struggle I managed to program an endless loop that listens to the sensors and throws a motion when an object gets closer than a threshold that I set. I was able to put a call to my GetUpConditional motion in there as well so now if the robot gets thrown on the floor it gets up itself without me triggering the motion. All cool & nice. The family pet dog hates #6 (yes that's the name of my robot) even more now since the Ultrasonic transmitter seems to bother her much!

Once above was accomplished I then progressed to expanding my autonomous behavior motion to be more selective. I managed to figure out how to chain to CmdAD boxes to form an If-Then-ElseIf-Then struct. Now the robot responds to left & right IR sensors being approached differently by raising the corresponding arm.

I wish part...

I really really really wish HTH4 had variables in it. I want to now be able to compare readings from 2 sensors and do something. Ideally I would love to see a CmdAD variant that has 2 drop-downs for 2 AD inputs and then allows me to do something based on a comparison operator. Failing this I wish there was a way to assign the current reading of an AD input to a variable and then do the same for the other AD input and then compare the 2 and go from there...

Unless I'm missing the obvious I think I am very close to depleting the autonomous behavior possibilities in HTH4... Robotis Bioloid is looking nicer & nicer as I read more about it.
Ok. Short update.

Finished installing the Ultrasonic TX & RX on the head. I needed to bend one of the standard brackets to look the other-way so I could install TX & RX in a symmetrical fashion on the sides of the head. Wish Kondo manufactured these brackets in a Left & Right configuration. Oh well, if this was my only gripe...

Also finished installing 2 x IR sensors or as Kondo calls them PSDs. There were no specific instructions as to where to put them on the robot. Some KHR-2 based photos show them installed on the feet right above the sole. I chose to attach them to the arms. On the dummy servo right above the hands. Rationale for this decision was that I have more mobility on the arms so I can "look" around with the IR sensors with ease. Also when I open the arms to make the look like a T I get maximum distance possible between the IR sensors which will help in triangulating later on.

On the software front...

My love & hate relationship with HTH4 is thriving. After some struggle I managed to program an endless loop that listens to the sensors and throws a motion when an object gets closer than a threshold that I set. I was able to put a call to my GetUpConditional motion in there as well so now if the robot gets thrown on the floor it gets up itself without me triggering the motion. All cool & nice. The family pet dog hates #6 (yes that's the name of my robot) even more now since the Ultrasonic transmitter seems to bother her much!

Once above was accomplished I then progressed to expanding my autonomous behavior motion to be more selective. I managed to figure out how to chain to CmdAD boxes to form an If-Then-ElseIf-Then struct. Now the robot responds to left & right IR sensors being approached differently by raising the corresponding arm.

I wish part...

I really really really wish HTH4 had variables in it. I want to now be able to compare readings from 2 sensors and do something. Ideally I would love to see a CmdAD variant that has 2 drop-downs for 2 AD inputs and then allows me to do something based on a comparison operator. Failing this I wish there was a way to assign the current reading of an AD input to a variable and then do the same for the other AD input and then compare the 2 and go from there...

Unless I'm missing the obvious I think I am very close to depleting the autonomous behavior possibilities in HTH4... Robotis Bioloid is looking nicer & nicer as I read more about it.
Last edited by ks_khr3 on Wed Jul 07, 2010 7:54 pm, edited 1 time in total.
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Post by ks_khr3 » Wed Jul 07, 2010 2:01 pm

Post by ks_khr3
Wed Jul 07, 2010 2:01 pm

I caved in and bought the KCB-1 kit today. It comes with a shiny bright CD called the SDK!!! I am busy installing the tool-kit. Fingers crossed.

I figured this is the lowest cost solution to get some autonomous experience going right away while waiting to figure out which way to go with a more powerful platform.
I caved in and bought the KCB-1 kit today. It comes with a shiny bright CD called the SDK!!! I am busy installing the tool-kit. Fingers crossed.

I figured this is the lowest cost solution to get some autonomous experience going right away while waiting to figure out which way to go with a more powerful platform.
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Post by chrisvo » Wed Jul 07, 2010 9:22 pm

Post by chrisvo
Wed Jul 07, 2010 9:22 pm

Let me know if you need some additional functionality - From what I remember, the KCB-1 SDK only implements running motions and setting/unsetting RC buttons; however I've added some code in libkondo4 to read A/D, free servos, get servo data, etc which can be easily ported to KCB-1.
Let me know if you need some additional functionality - From what I remember, the KCB-1 SDK only implements running motions and setting/unsetting RC buttons; however I've added some code in libkondo4 to read A/D, free servos, get servo data, etc which can be easily ported to KCB-1.
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Post by ks_khr3 » Thu Jul 08, 2010 5:28 am

Post by ks_khr3
Thu Jul 08, 2010 5:28 am

Thank you very much for the offer. That would be terrific. The examples provided with the SDK have at least one sample involving the PSD (IR sensor) and gyro etc so I assumed it has coverage for the AD but if not it would be great to expand your library.
Thank you very much for the offer. That would be terrific. The examples provided with the SDK have at least one sample involving the PSD (IR sensor) and gyro etc so I assumed it has coverage for the AD but if not it would be great to expand your library.
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