#SERVO DRAWING VECTOR CODE CODE#

(streaks are because i wrote gcode translator, and it goes to x,y,z position instead of x,y and then z).

#SERVO DRAWING VECTOR CODE CODE#

here is using Fengrave on a black and white image with appropriate offsets to produce gcode (well, limited to G0 and G1 commands)įace code still derp. adorable.Īlso, some regal looking hexapods in the actual NASA workplace.Īt MITERS I got a robot arm working with lots of help from MITERS / London Hackerspace / john from BUILDS. they had little robot that made and served you froyo. Went to visit NASA space museum in houston. turns out (minus the flipping controls) I could zero just as well on using the trim knobs on the controller itself. used the kk2 screen to fix some controls that were reversed from what the kk2 expected (left = left and not right, etc.). Used and calibrated my servos to zero… took a while to realize it *can* and *should* read the current values, guess my wires were loose, but the values because a lot easier to input. We couldn’t find the original cable for the transmitter, so we connected the ports up with a FTDI -> USB cable as per Made from a sad clothes drying rack we took apart Worked on quad, now stuck at calibration stage 😡 because i have not built quad before, i could not push through this in a day or two unlike the drawing arm and hexapod. Need to implement the other gaits also, this moves so smoothly, envious, but they have lasercutter :3 I also rehashed my hexapod project with 12 servos and popsicle sticksīut modified to work with the servo configuration on the rectangular robot, and added code to allow you to step through the gait with “j” and “k”:

Problem of walking algorithm: adds a box around the image. Is to check image is within the working envelope of the arm. ( basic code, I basically copied the output from processing into a text file and added some python code to that to plot the values) then output to robot, but robot is limited in resolution (arduino servo library) and cheap hobby servo overshoot.īelow you can see preview in python. thresholds image, performs canny edge detection, then a walking algorithm (look at each black pixel by scanning image in x and y, see if neighbors are black as well, then walk along that pixel) to turn the edges into vectors. This processing code takes a lot of processing libraries. It does not face well, in part i have derpy three year old code Or for the one where it draws what you draw on the screen, Processing takes in x,y coordinates drawn on the screen and spits them out to arduino over serial, which does the inverse kinematics and spits out the theta values to the servo i built a robot arm and refreshed on inverse kinematics more specifically, make sure your servos are rotating as you expect: IK goes counterclockwise since angles increase that way, but your servos may increasing in a clockwise direction… a simple map(theta, 0, 180, 180, 0) will fix your problem if you catch it. I built a lot of robots with parents over the winter break.

Servo drawing vector code