Lynxmotion Tech Support

Pololu has ball castors.

Yeah, that changes the look a little. What are all the brackets for?

Are you going for autonomous?

There are some X-Rover.BAS files on the LM web site, that might get you going.

;Program tracker1.bas Basic Micro Studio v1.0.0.10

Should also help.

My code is currently in C!


Alan KM6VV

_________________
Visit:
http://groups.yahoo.com/group/SherlineCNC/
http://tech.groups.yahoo.com/group/HexapodRobotIK/

Some of the brakets are to hold the BotBoard in place...
The "C" brakets are to hold the battery under the bot, and to attach the ball once i have it..

I have made a "Realy" simple code that make the bot "Live"...

_________________
Eric Nantel
Qc Canada

Always liked Robot... Now i am learning to make some...! Wonderfull...

Autonomius... yes

Will probably buy thoses this week to get the project going.
http://www.robotshop.com/ca/pololu-ball-caster-1-2-in-metal-ball.html
http://www.robotshop.com/ca/pololu-qtr-8a-infrared-sensor-array-1.html

_________________
Eric Nantel
Qc Canada

Always liked Robot... Now i am learning to make some...! Wonderfull...

Yeah, That'll work! And the bolt spacing almost matches the servo horn pattern...

OK, a line follower!

I'm working on adding a pair of light sensors (CDS). And getting my behavior code running.

Alan KM6VV

_________________
Visit:
http://groups.yahoo.com/group/SherlineCNC/
http://tech.groups.yahoo.com/group/HexapodRobotIK/

That is my "Realy" simple program.

=== Edit ==== nevermind just found bb2tst01.bas
I would like to make change to the speed .. etc when touching buttons on the botboard.
Just can't find the right pins... (I know.. it's basic)

_________________
Eric Nantel
Qc Canada

Always liked Robot... Now i am learning to make some...! Wonderfull...

My ASB13 'Bot ran at the RoboGames (called "MicroMoose"), and won a Silver metal.

http://robogames.net/2011.php









Currently, I'm adding a working jaw (gripper) to it.





the gripper design is still evolving.



Alan KM6VV

_________________
Visit:
http://groups.yahoo.com/group/SherlineCNC/
http://tech.groups.yahoo.com/group/HexapodRobotIK/

I realy like the bracket on the first picture.

congratulation for the silver medal...!

_________________
Eric Nantel
Qc Canada

Always liked Robot... Now i am learning to make some...! Wonderfull...

Thanks Eric!

Which bracket, the copper-colored one? It's cut out of PCB stock on my CNC'd Sherline mill.

I'm still working and improving on the design. I added two additional long-range IR sensors, to see the goal (a shoebox at the end of the table). The middle two forward-looking IR sensors find the target, as small square box. Two additional IR sensors look down at the table; to prevent the 'bot from falling off!

http://robogames.net/rules/tablebot.php

Alan KM6VV

_________________
Visit:
http://groups.yahoo.com/group/SherlineCNC/
http://tech.groups.yahoo.com/group/HexapodRobotIK/

congrats!!!

Kurt

well done Alan. i love the AS13B 'bot, and its great to see it has won a silver medal. congratulation. inspirational design.

_________________
Jonny Poole,
Freelance Concept Art & Animatronics, 3D Art and 3D Modelling, as well as Physical Modelling, Mechanical design, and illustration.
http://www.innerbreed.co.uk/
Create, Innovate, Inspire.

Thanks Jonny!

The design is working out really well. However I did want a shorter 'bot, but because of the necessity of mounting the floor-sensors out front quite a bit (so the 'bot wouldn't fall off of the table), it made it a bit long. I realized I had enough room to slide in another R/C servo for the jaws, so that's what I'm working on now.

Alan KM6VV

_________________
Visit:
http://groups.yahoo.com/group/SherlineCNC/
http://tech.groups.yahoo.com/group/HexapodRobotIK/

Congrats Alan!

Very well done and made!

_________________
[b]Kåre Halvorsen, Zenta[/b]
-----------------------------------------
Zenta's blog
http://zentasrobots.com/
Zenta's YouTube channel
http://www.youtube.com/ZentaOlbaid
-----------------------------------------

Thanks Kåre!

That means a lot!

Alan KM6VV

_________________
Visit:
http://groups.yahoo.com/group/SherlineCNC/
http://tech.groups.yahoo.com/group/HexapodRobotIK/

yes iv seen your design for a gripper. nice design. would be very cool to see that on the AS13b! what are your plans regarding the material to use.?

_________________
Jonny Poole,
Freelance Concept Art & Animatronics, 3D Art and 3D Modelling, as well as Physical Modelling, Mechanical design, and illustration.
http://www.innerbreed.co.uk/
Create, Innovate, Inspire.

I'm currently making the gripper out of aluminum sheet metal. I did temporarily use two pieces of PCB stock for links to the R/C servo horn, but I've received my bell-crank links now, and will replace my test material.

I've been experimenting with using latex (?) tubing over the jaws, but it gets in the way of the microswitches I want to use.

The LPA gears as seen in the CAD drawing above would allow me parallel motion of the gripper jaws, but really not that much range.

Idea is that acquiring the object (target) closes one or more (low pressure) microswitches on the back of the gripper, then the jaws close on the object until the (higher pressure) microswitches on the jaws close). At that point, the gripper R/C servo stops closing and just holds. At least, that's the theory. The "Close Jaws" behavior is initiated when the object is detected in the gripper, and when finished, the behavior shifts to the "Search for goal" behavior. Should the object be lost, then before the behavior returns to "find object", an "open jaws" behavior is executed. All the while, a "Don't fall off the table" behavior is running (actually has the highest priority). Should the edge of the table be encountered, the behavior "Back up and reverse course" takes over until the new direction is achieved. Then we're back to a base line behavior of moving forward for a while, and then doing a first left, then right sweep in the forward direction. A 180 spin could also be way to first find the object (target). The highest behavior, "find the goal" is currently the same as the "find target" behavior, we just use sensor data from the higher-mounted Sharp IR rangers.

All of this is accomplished with FSMs, (Finite State Machines) or AFSMs (Augmented FSM). Sensors are checked about 10 times a second via a task flag set by the system timer implemented with an interrupt. Sensors trigger behavior shifts, and the tasks are all controlled by flags. there is no "blocking" or waiting for sensors or any other status.

With the addition of the new R/C servo for the gripper, and the extra "jaws closed" microswitches, I've used all of the I/O and analog pins on the Arduino UNO!

With the form factor being the same, the new Basic Micro "Mad Hatter" board should be a "drop in". Only tricky part might be getting a system timer interrupt set up under Basic.

Alan KM6VV




Alan KM6VV

_________________
Visit:
http://groups.yahoo.com/group/SherlineCNC/
http://tech.groups.yahoo.com/group/HexapodRobotIK/