Charles, Am 30.11.2013 um 13:12 schrieb Charles Steinkuehler <[email protected]>:
> On 11/30/2013 4:52 AM, Michael Haberler wrote: >> After the OSADL Lugano talk & demo on the portable RTAPI / BeagleBone >> 3D printer, Alex and me have decided to do another stunt, this time >> we shoot for the CeBit 2014 fair and the associated Linux conference >> track: >> http://www.pro-linux.de/news/1/20441/cebit-2014-call-for-papers-gestartet.html > > Sounds great! > > I'll help with at least the HAL component stuff and wherever else I can. > IIRC, pretty much all of the control for a self-balancing 'bot can be > done stand-alone in HAL as long as there's a way to update a few > settings (like desired speed) from an outside process. yes, I think so too. The shopping list I currently see is: - accelerometer and gyro HAL drivers. That really just needs settling for particular chips, and massaging I/O until the desired values arrive in HAL pins. - motor H-bridge and position feedback: that should be doable with stock components - PID, PWM, encoder - the Kalman filter would be a HAL component; while I'm less than firm about the math involved the effort seems entirely doable in an RT component (example: https://github.com/TKJElectronics/KalmanFilter/blob/master/Kalman.h) - UI: I would think the current HALrcomp functionality would be good enough for that project; it's a few hundred lines of Python code RT-side and about the same as gladevcp (in fact halwidgets) extension; it's just Python/Gtk2 right now but I would think that could be wired into a Qt5 framework in time to run on an Android - the zeromq and protobuf stacks. Those should be 'as distributed' (says the theory). So the gladevcp version would be doable pretty much now, modulo drivers/special components, and assuming command (speed/direction) injection via gladevcp pins is good enough. It would be extracool to include remote stripcharting of key variables with halscope, but that is an issue I havent looked into yet. It might even be HALrcomp does that just fine too. Again PyGTK, not Qt as of now. > I am also looking forward to using the new messaging stuff with my 3D > printers, let me respond to that under separate headline, because new API's alone arent enough to remove some fundamental restrictions, and that would suggest discussing in a thread of its own; I need to sort my thoughts on this a bit first > but have recently begun working on building a couple new > machines and haven't been spending as much time on LinuxCNC (that will > change as soon as I get the machines running enough to need some control > software). These machines are non-Cartesian and require trig functions > in their inverse kinematics, so they can't run real-time on an Arduino > controller without pre-processing the gcode. The two machines I'm > building are a Wally and a Simpson, both from Nicholas Seward's > ConceptFORGE: > > http://conceptforge.org/ hm, that would be an interesting spin on the story, assuming the parts are 3D printed: use the first incarnation (3D printer) to build the parts of the second demo. > I'm not sure the Balanduino will be available in time, yes, that's my concern too, I need something orderable with code and parts to go now, and without selling the farm to do so your above idea is worth thinking through. It's just that the machines you referred to are too 'CNCish' for what I have in mind; isnt there some 3d-printed self balancing robot..? > but it would make > a good platform if it is. I'll want to build one of whatever you decide > to go with, so keep me in the loop. I certainly will -m > > Good luck! It sounds like a lot of fun! > > -- > Charles Steinkuehler > [email protected] > > ------------------------------------------------------------------------------ > Rapidly troubleshoot problems before they affect your business. Most IT > organizations don't have a clear picture of how application performance > affects their revenue. With AppDynamics, you get 100% visibility into your > Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! > http://pubads.g.doubleclick.net/gampad/clk?id=84349351&iu=/4140/ostg.clktrk_______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349351&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
