What mods, if any, have you done to it? _________________ Latest robot news, information, reviews, hacks, photos, and videos - with special on-site coverage from Japan
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Joined: 01 Jul 2006 Posts: 211 Location: between my computer and robot.
Posted: Thu Jul 27, 2006 2:24 pm Post subject:
limor wrote:
amazing!
does the RN1 have a gyro?
My RN1 has two gyros and an accelerometer but none of these are in use during this video
tempusmaster wrote:
What mods, if any, have you done to it?
Other than the two gyros and accelerometer, i have Matt's grippers on there (which adds extra weight obviously) and i believe that helps a bit on getting the RN1 around.
Some modifications that are less important to this task are an extra head servo (so the head can turn - plus the added feature of weight and momentum), two 3-color LEDs for the eyes, and well, i think thats all you saw in use for the video.
I have a few other mods that I'm working on, but we will save those for later _________________
Excellent flip, very impressive! I'd like to join the eager queue of owners salivating over the chance of you posting all your hard-earned MOVEs on this forum.....
Also, could you talk a bit more about the eyes mod? It looks like you have tri-colour LEDs in there? I've been trying to source 5v 3mm tri-colour LEDs, but not had much success. Also, how do you control the different colours?
I too added the servo for the head movement, and it's a really tight squeeze, as you said. Hitec needed to add a couple more mm to make a standard RN servo fit, IMHO.
Joined: 01 Jul 2006 Posts: 211 Location: between my computer and robot.
Posted: Sat Jul 29, 2006 11:31 pm Post subject:
Well folks, here is the long awaited code, ready to go, all you have to do is compile exactly what i post and send it over, it can work as its own independant program.
Before you you test this though, there are several things you should know. I have modified my RN-1 so that it has three extra servos that could dramatically alter the effects of this flip, the head servo (located in the chest as i explained earlier) and Matt's two gripping claws. Also i have used several rubberized mats on a cement floor (cement reduces inconsistencies and the rubber mat is to make sure it is not damaged) I have noticed that he will work on other surfaces (hard wood and even my carpet) but the cement (or tile floors) with a rubber is the best.
And one final thing: any damages that may incur due to this routine or any variation you may create/come upon are not my responsibility. You should be careful with your robot and use it wisely, give it plenty of space and dont let it fall and there SHOULD be no problems, but i suggest a rubber mat for protection. I hold no responsibilty for any damages as i have tested and re-tested my routine to perfect it. You use this code at your own risk, but i would appreciate that if you were to post it elsewhere you do not claim it as your own, and even if you do, be sure to keep my warnings.
here you are:
'== motor diretion setting ======================
DIR G6A,1,0,0,1,0,0
DIR G6B,1,1,1,1,1,1
DIR G6C,0,0,0,0,0,0
DIR G6D,0,1,1,0,1,0
PTP SETON
PTP ALLON
'== motor start position read ===================
GETMOTORSET G24,1,1,1,1,1,0,1,1,1,0,0,0,1,1,1,0,0,0,1,1,1,1,1,0
'== motor power on ========================
SPEED 5
MOTOR G24
^END OF ROUTINE: As for tempusmaster, thank you for posting my video on your site i will have a follow-up very shortly if you would like to add it to that same page (heh)
and beermat, as for the tr-colour LEDS that im using for the eyes, i am using the PWM ports (as you can see in my code above) instead of the LED ports as i can control the power of each LED _________________
Last edited by hivemind on Sun Jul 30, 2006 1:52 pm; edited 1 time in total
Thanks for the code! In the event you weren't going to post it, I've been studying the video and have just finished recreating it. Almost. Ugh! I've done the handspring part and the landing prone part, but not the 'stand up at the end' bit. But the hard part is now done. My biggest sticking point (which I just solved prior to looking at your post!) was exactly the same requirement for a DELAY when landing on his hands to let him rock forward. 100 did it for me.
Anyway, thanks for the inspiration, the code (which I will compare to what I came up with from your vid) and the info on the eyes! PWM was the way I was going to go. All I need is a source for the parts. Any clues? I scanned my Digikey catalogue, but didn't see any?
This is the (unfinished standing up part) code I wrote:
'Recreation of the 'flip' move (really a front handspring) as originally demonstrated by hivemind
'Rock ankles back, body forward - lands on hands and should tip forward
HIGHSPEED SETON
SPEED 15
MOVE24 101, 128, 187, 167, 97, 100, , , , , , , , , , , , ,102, 132, 188, 159, 98, 100
WAIT
'Small pause to complete rocking
DELAY 150
'Swing legs almost straight with body which is now almost vertical upside down
MOVE G6A, 97, 101, 154, 109, 97, 100
MOVE G6D,102, 106, 160, 104, 102, 100
WAIT
Actually, just tried yours, hivemind. He doesn't complete the flip. I have stock hands; you have the grippers I believe? Could that be the difference because of the size and weight difference from two extra servos? I have the extra head servo, though.
I have to watch a movie with the missus now; I'll finish up what I was working on for stock hands after, and maybe post that?
Joined: 01 Jul 2006 Posts: 211 Location: between my computer and robot.
Posted: Sun Jul 30, 2006 1:32 am Post subject:
well im not sure what you mean by "he does not complete the flip" but it could be a zero difference too, i know i have my RN-1 zerod very strangly, so who knows, but if he just starts and moves on too quickly its probably the hands or not a long enough delay.
keep in mind i use a special mat and cement floor for best performance, that may also be your issue.
Sorry, I should have been more specific. I just bunged the code in, ran it a few times, posted my comment and had to run away
I run my flip directly on hardwood floors. With my own first cut, it works around 70% of the time so it needs some refinement. Where yours fails to work for my RN (and mine fails 30% of the time) is at the obvious point between dropping to his hands and having that momentum carry him over into the forward roll (or not), at that crucial 'DELAY' point. Judging by how fine a line that point is for the RN during the development of this move, I can see how small differences in hand length, zero settings, etc. can cause the move to fail quite easily. I'm going to poke around with it a bit more, see if I can get it towards the level of repeatability of the other stock but complex moves.
But, thanks again for the move! My former-gymnast other half loves it. Never have I had so much acceptance for something so, well, expensive and pointless in her mind We might actually work on a RN gymnastics routine together and put a video together!
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