Category Archives: Ideas

Scara Arm forward kinematic equation simulator

Posted on January 12, 2016

Source code : App made using processing version 3 for windows. Look at this diagram to get an idea of what the S and E angles are: Forward Kinematic Equations: Diagram and equations source : https://roboted.wordpress.com/fundamentals/

Posted in Ideas, Processing, scara | 2 Comments

Making a USB Powered LED Bird Lamp

Posted on January 6, 2016

Drawings: Download svg file here Download code here Extra Info: LED strip used is ws2812b. Adafruit neopixel library ‘buttoncycler’ program lightly modified to work with a potentiometer. The peacock image was found via google images. link to the pinterest page … Continue reading →

Posted in Arduino, how to, Ideas, Inkscape, laser cutter, Projects | Tagged arduino, laser cutter, video | 2 Comments

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);
    }

  

  
}

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#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

FFTalk : a way for multiple sensors to talk to one receiver

Posted on October 7, 2015

The title description is quite broad so allow me to explain more clearly what I’ve been working on for the past couple of weeks. Think of the television remote or more specifically using IR diodes and IR receivers to transmit … Continue reading →

Posted in Ideas, Python | Tagged fft, FFTalk, IR diode, tiva c | 2 Comments

Category Archives: Ideas

Scara Arm forward kinematic equation simulator

Making a USB Powered LED Bird Lamp

PlantBot – The Plant Watering Robot

FFTalk : a way for multiple sensors to talk to one receiver

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