Category Archives: Hardware

Laser Cut Mount for PS3 Eye Toy and Laser Line Scanner

Posted on June 12, 2016

A few years ago I made a 2d line scanner using a webcam and a laser. It worked pretty well but two major improvements needed were the addition of a line laser as opposed to a dot and using a … Continue reading →

Posted in Hardware, laser cutter, Robots, Uncategorized | Tagged 3d scanner, line laser, line scanner, mount, ps3 eye toy | 1 Comment

Bare bones programming of the TM4c123G ARM Cortex m4 microcontroller

Posted on April 14, 2016

This post will document one possible way of getting an LED blinking with the tm4c123g microcontroller. I’ll be using the TIVA C Launchpad for this example: A toolchain is needed to compile and link our code. I used this one: … Continue reading →

Posted in ARM, Development Boards, Hardware, how to, Microcontrollers | Tagged arm, bare bones, lmflash, programming, tiva c, tivaware | 2 Comments

atmega16u2 virtual serial example using LUFA Library

Posted on January 6, 2016

Sending data from a microcontroller is a pretty common requirement in a lot of the projects I work on. One way of doing it is sending serial data out from the uC to a serial to usb converter chip to … Continue reading →

Posted in Atmel, Hardware, Microcontrollers, PCBs | Tagged lufa, pcb, usb | Leave a comment

PlantBot – The Plant Watering Robot

Posted on November 30, 2015

PlantBot – because watering plants is boring. Laser Cutter Plans: Here is a preview of what the plans look like: For laser cutting, click here to download an SVG file of the plans Code:

#include <math.h>
#include <Servo.h>

Servo arm;
Servo shoulder;
Servo pull;


//servo angle limits (abs degrees)
#define S_MIN -60
#define S_MAX 60

#define A_MAX 170
#define A_MIN 0

#define P_OPEN -40
#define P_CLOSED 67

//xy_points of robot arm when over a plant box section
int xy_points[16][2] = { {1,3}, {5,1}, {0,-12}, {0,-16},
                         {0,-3},{1,-5},{3,-10}, {3,-14},
                         {2,-3}, {3,-5}, {5,-9}, {6,-13} }; 

void setup()
{
  Serial.begin(9600);
  arm.attach(9); 
  shoulder.attach(5);
  pull.attach(2);
}

float calc_shoulder_angle(int x, int y){  //forward kinematics for shoulder
  static int neg_flag = 0;
  
  if(y < 0) {
    neg_flag = 1;
    y = abs(y);
  }
  
  static float shoulder_angle, yx_div, q_ang;
  yx_div = (float)y/x;
  
  q_ang = acos( (x*x + y*y +49.91) / (24*sqrt(x*x + y*y)) );
 
  shoulder_angle = atan(yx_div) -q_ang ;
  
  if(neg_flag == 0) {
    shoulder_angle = ( shoulder_angle + q_ang ) + abs(q_ang); 
  }
  
  shoulder_angle = shoulder_angle*(57296/1000);

  if(neg_flag){
    shoulder_angle = shoulder_angle - 90;
    shoulder_angle = shoulder_angle + (2*q_ang*(57296/1000));
    neg_flag = 0;
  }
  
  return shoulder_angle;
  
}

float calc_arm_angle(int x, int y){  //forward kinematics for arm
  static float arm_angle;

  arm_angle = acos( (x*x + y*y -238.09) / (232.8) );
  arm_angle = arm_angle*(57296/1000);
  
  return arm_angle;
}

void set_angles(int x, int y){     //set angles of shoulder and arm servos

  static int a_ang,s_ang;
  
   s_ang = (int)calc_shoulder_angle(x,y);
  a_ang = (int)calc_arm_angle(x,y);
 

  arm.write(180 - a_ang);  //invert arm angle to robot arm bends the other way

  shoulder.write( abs_to_servo(s_ang) );
  
  
}

int abs_to_servo (int abs_ang){ // converts from absolute angles (unit circle) to servo angles
  static int servo_ang;
  servo_ang = 90 + abs_ang;
  return servo_ang;
}

void pull_lever(void){          //pull the spray bottle lever
  pull.write( abs_to_servo(-40) );
  delay(1000);
  pull.write( abs_to_servo(67));
}

void loop() 
{ 

  //goes to each planter box aquare and pulls lever
  
  for(int i=0; i<12; i++){
      set_angles(xy_points[i][0], xy_points[i][1]);
      pull_lever();
      delay(1500);
    }

  

  
}

100

101

102

103

104

105

106

107

108

109

110

111

112

113

#include <math.h>

#include <Servo.h>

Servo arm;

Servo shoulder;

Servo pull;

//servo angle limits (abs degrees)

#define S_MIN -60

#define S_MAX 60

#define A_MAX 170

#define A_MIN 0

#define P_OPEN -40

#define P_CLOSED 67

//xy_points of robot arm when over a plant box section

int xy_points[16][2] = { {1,3}, {5,1}, {0,-12}, {0,-16},

{0,-3},{1,-5},{3,-10}, {3,-14},

{2,-3}, {3,-5}, {5,-9}, {6,-13} };

void setup()

{

Serial.begin(9600);

arm.attach(9);

shoulder.attach(5);

pull.attach(2);

}

float calc_shoulder_angle(int x, int y){ //forward kinematics for shoulder

static int neg_flag = 0;

if(y < 0) {

neg_flag = 1;

y = abs(y);

}

static float shoulder_angle, yx_div, q_ang;

yx_div = (float)y/x;

q_ang = acos( (x*x + y*y +49.91) / (24*sqrt(x*x + y*y)) );

shoulder_angle = atan(yx_div) -q_ang ;

if(neg_flag == 0) {

shoulder_angle = ( shoulder_angle + q_ang ) + abs(q_ang);

}

shoulder_angle = shoulder_angle*(57296/1000);

if(neg_flag){

shoulder_angle = shoulder_angle - 90;

shoulder_angle = shoulder_angle + (2*q_ang*(57296/1000));

neg_flag = 0;

}

return shoulder_angle;

}

float calc_arm_angle(int x, int y){ //forward kinematics for arm

static float arm_angle;

arm_angle = acos( (x*x + y*y -238.09) / (232.8) );

arm_angle = arm_angle*(57296/1000);

return arm_angle;

}

void set_angles(int x, int y){ //set angles of shoulder and arm servos

static int a_ang,s_ang;

s_ang = (int)calc_shoulder_angle(x,y);

a_ang = (int)calc_arm_angle(x,y);

arm.write(180 - a_ang); //invert arm angle to robot arm bends the other way

shoulder.write( abs_to_servo(s_ang) );

}

int abs_to_servo (int abs_ang){ // converts from absolute angles (unit circle) to servo angles

static int servo_ang;

servo_ang = 90 + abs_ang;

return servo_ang;

}

void pull_lever(void){ //pull the spray bottle lever

pull.write( abs_to_servo(-40) );

delay(1000);

pull.write( abs_to_servo(67));

}

void loop()

{

//goes to each planter box aquare and pulls lever

for(int i=0; i<12; i++){

set_angles(xy_points[i][0], xy_points[i][1]);

pull_lever();

delay(1500);

}

The calc_shoulder_angle function is dodgy … Continue reading →

Posted in Arduino, Hacks, Hardware, how to, Ideas, Projects | Tagged arduino, botany, plantbot, servo | 2 Comments

Category Archives: Hardware

Laser Cut Mount for PS3 Eye Toy and Laser Line Scanner

Bare bones programming of the TM4c123G ARM Cortex m4 microcontroller

atmega16u2 virtual serial example using LUFA Library

PlantBot – The Plant Watering Robot

Archives

Meta

Archives

Categories