E-Stop Circuit Upgrade: Schmitt Trigger Inputs
To the SN74HC7001N Schmitt trigger AND gates I ordered arrived. These hysteresis on these should solve the flaky e-stop problems I’ve been having. As noted i...
Posts by Category
ABBY
Running the IRB-120 in the ROS Arm Navigation Warehouse
This post is part of a series of posts adapted from the Engineering Notebook I kept while building ABBY for my masters thesis. Since I wrote these posts thre...
Athena
New PC Parts Are All Ordered
My old desktop finally died of mysterious causes in the spring, and I’ve been back and forth on what to replace it with since then.
CAD Work
Update
This morning I broke up Abby’s CAD files and made a new SimMechanics file for Greg to play with in Gazebo. While I was at it, I updated the inverter and the ...
Computer
New PC Parts Are All Ordered
My old desktop finally died of mysterious causes in the spring, and I’ve been back and forth on what to replace it with since then.
Desktop
New PC Parts Are All Ordered
My old desktop finally died of mysterious causes in the spring, and I’ve been back and forth on what to replace it with since then.
E-Stop
E-Stop Circuit Upgrade: Schmitt Trigger Inputs
To the SN74HC7001N Schmitt trigger AND gates I ordered arrived. These hysteresis on these should solve the flaky e-stop problems I’ve been having. As noted i...
Mac Mini Upgrade
Update
This morning I broke up Abby’s CAD files and made a new SimMechanics file for Greg to play with in Gazebo. While I was at it, I updated the inverter and the ...
Masters
It’s Gotten Quiet Around Here
Edit (December 24, 2015): I’m backfilling posts from my lab notebook to this blog. The backfilled posts are back-dated to match the time they were written.
Making The Kinect Work in ROS
(This may be specific to my laptop.)
RAPID Side of the ROS Industrial Driver
Basic Driver Architecture (Excerpted from a whitepaper I'm writing on my driver) This driver’s architecture was primarily dictated by the structures of ROS a...
I’m Back (I never left)
Week of August 13 Monday - finally shot the video. This took all day and most of the night, but I got couple videos up at http://www.youtube.com/cwruesv
Video Day
I borrowed the camera from 109 on Friday, and today I’m shooting a video for Ford.
First Attempt at AMCL, Teleop Improvements, Eric’s Thesis
Configuration Files Set On Thursday, I set up Abby’s configuration files in ROS Push casters is set to true. This reverses x-velocity commands going to the...
New STL Files
In order to cut down on collision calculations in Gazebo, I’ve generated two new sets of SimMechanics/STL files. Both sets are in my masters git repository, ...
Hostnames and ROS
I figured out why I couldn’t remotely connect ROS to Abby. roswtf showed that the hostname abby-pc was invalid (because the router’s DNS wasn’t properly serv...
Meeting Notes from 8/3 and To Do List as of Morning 8/6
Meeting Notes Discussed next steps in trying to get communication working with IRC5 Try TCP (Russell's code from 109 includes both TCP and UDP. I don't k...
Meeting Notes from 7/27 and Week of 7/30
Meeting Notes Discussed weight distribution (drive wheel skidding). Determined that it may be possible to slide the frame backward to improve the weight di...
Motor Controller Working
I’ve got the wheels driving with the 2x50HV controller. The flaky e-stop (repeated momentary cut-outs) is a bit of a problem, but I think it can be fixed by ...
Motor Controller Status Update
I swapped in the 2x50HV motor controller, which works with commands from the cRIO (tested with a load resistor). In the process, I accidentally connected the...
Motor Controllers: How do they Work?
Here’s an example of a task that should have been simple, but isn’t. Abby’s drivetrain is powered by a Dimension Engineering Sabertooth 2x25 dual motor drive...
ABB e-stop Issue
For some reason, my e-stop signal to the arm is only dropping to about 12v when active (instead of to ground). This causes it to sometimes e-stop when it sho...
Notes (7/16)
Wheel encoders were reading backwards, so I switched them back to the way they were before, which was correct. I’m not sure what happened there.
Gyro Rework Done, Breakout Redesign
Finished reworking the gyro connections on the PCB. The 5v rail tests ok and it’s hard to tell from the diagnostic messages, but I think the gyro is now conn...
Today
To Do Wire up e-stop for good Test encoders Troubleshoot gyro Create drawings for machine shop Mount accumulators Wire compressor switch and solenoid ...
Testing Breakout, Mounting Compressor
I haven’t had much time to work the last couple days, but I did accomplish some things. I had already connected everything to the cRIO breakout except for th...
Designed a Doorknob Gripper
Today, I designed the parts to adapt a parallel plate gripper we had laying around to be able to grip doorknobs. I had to design a new coupling/adapter to at...
E-stop Working
The E-stop now works, but I had to make a few modifications:
More E-stop work
Connected the e-stop to the IRC5 today. Unfortunately, I could only figure out how to control the IRC5’s e-stop, not read it. I’m controlling the General Sto...
Note on Relay
The coil of the solenoid relay draws 300mA. The TIP102 can handle that.
Setting up e-stop Modems
Using an Arduino (Duemilanove) as an FTDI adapter and Digi’s X-CTU software to configure my xBee modems.
Populated Circuit Boards
Spent today populating the circuit boards. They’re all done now, except for a couple of wires on the remote.
Notes for 6/25/2012 (RRI)
Found that hitting Motors On and then clicking the enable (not holding, just clicking on and off) clears the “Failed to Start. The operation is not allowed b...
Update
This morning I broke up Abby’s CAD files and made a new SimMechanics file for Greg to play with in Gazebo. While I was at it, I updated the inverter and the ...
Abby’s Network
Note: Router is a Linksys WRT54GS2 v1.5, which cannot be DD-WRT’d, so it’s running stock firmware. IP Addresses abby-router 192.168.0.1
Mounted Inverter, Set up New Workstation, Started Working on RAPID
This morning, I mounted the inverter (and remounted the Sabertooth and the 13.8v power supply). I was able to fit all of them without too much trouble, but t...
Pictures, and a Note to Myself
Note to self: You probably need to install ros-fuerte-audio-common on Abby.
Meeting Notes, ROS Industrial, Gyro Mounted
I forgot to mention in my last post that I have been doing some reading on ROS Industrial, which Wyatt pointed me to last semester. Basically, the Southwest ...
Circuit Boards Ordered, Abby Upgraded
I finally finished the layout for the three circuit boards last week. I did some breadboard work to validate my design choices for the opto-isolators. I had ...
Meeting Notes
Notes from today’s meeting with Wyatt and Greg Greg has a working (ish) model of the robot in Gazebo based on my URDF and STL files. He has defined movab...
Odd Inverter Behavior
While checking out the inverter today, I found that sometimes it will successfully enable the motors. It also seems that once the motors have been enabled on...
Plans for This Week
Now that I'm back in Ohio, I'm starting work on this project again. I'm planning on working Mondays, Thursdays, and Fridays so I can spend Tuesday and Wednes...
URDF Files, New Inverter, and Dynamic PID Gains
Some updates.
It’s Alive (Sort Of)! (Last Post Before Commencement)
I spent this week doing the final mounting and wiring everything up. It’s really tight, but everything fits (pics below).
Today: Mounting Things
I spent today mounting things to the robot. I started the day planning to finally cut that sheet of stainless steel that Bobs found me, but I discovered that...
Status on Orders
Wyatt finally got around to ordering the DigiKey order on Tuesday. It still hasn't come in yet. I put together the McMaster order on Monday morning, but that...
A Name, Finished Frame Parts, and a DigiKey Order
First news: I have a name! I'm calling her Abby (because the arm is made by ABB) on the suggestion of Ian Grams, who I don't even know. I had to remachine th...
Rails Almost Done
Bought a new set of drill bits so I could drill the mounting holes in all of the rails. Using the thrown-together machine shop, I drilled the mounting holes ...
Rails Cut and Faced
I cut all the Bosch rail for the frame last night and faced off the ends tonight. Tomorrow I’m going to drill all of the mounting holes and assemble the fram...
Set Up ALEN’s New PC and Other Things
I set up ALEN’s new PC today. Installed Ubuntu 11.10 desktop with three users (alen, mobile robotics, esv) Installed ROS Electric Installed CWRU ROS stac...
Meeting Notes for 3/30
Discussed mechanical design Make sure we have long enough Bosch rail in the lab for the 4' rails Kinect Should have about +/- 1 radian vertical field of...
Inverter and PC Power Supply Check Out
Finally had a chance to check the inverter today. The beeping noise it makes is a low-voltage alarm. If the power supply drops while it’s starting up, it wil...
More CAD Work Today
Did a bit more CAD work today. I modeled the DC-DC supply, LIDAR supply, relay, sabertooth motor controller, and router. I also found places for these on th...
Inverter is Here
The new inverter is in. It’s a bit shady-looking, and was obviously modified from a 12V to a 24V (there’s a 24V sticker over the 12V label). I powered it up ...
New E-Stop
Designed a new E-stop board based on Chad Rockey’s design for Otto. Like his design, it uses a xBee radio. Unlike his design, it will have user feedback on t...
Electronics Developments
Decided to go with a 12v rail (in addition to the 24v rail) because the compressor needs 12v. I’m still avoiding a 5V rail.
CAD Design
I started CAD assembly of the robot today. I experimented with several different configurations, particularly with regard to the IRC5.
RRI Installed
Author’s Note: I’m going to start using this as a lab journal for my masters, as well as for other projects. Entries may not make a lot of sense out of conte...
Notes for Morning of 2/13
When I came in today, the first thing I did was send my advisor an email about the new PC I want to put on the robot. The old one is a Micro ATX board with a...
Notes for 3/2
Met with my advisers today. Notes: Finally got a Go from ITS about getting SolidWorks installed in the lab. They should schedule someone to come do that th...
Notes for 3/1
Finished disassembling ALEN. No progress on RAPID programming.
Notes for 2/29
Came in today and started disassembling ALEN. I have all of his circuitry documented, and all of the mechanicals are being redesigned anyway, so it was time ...
Notes for Morning of 2/13
When I came in today, the first thing I did was send my advisor an email about the new PC I want to put on the robot. The old one is a Micro ATX board with a...
RRI Installed
Author’s Note: I’m going to start using this as a lab journal for my masters, as well as for other projects. Entries may not make a lot of sense out of conte...
Projects
New PC Parts Are All Ordered
My old desktop finally died of mysterious causes in the spring, and I’ve been back and forth on what to replace it with since then.
ROS
Running the IRB-120 in the ROS Arm Navigation Warehouse
This post is part of a series of posts adapted from the Engineering Notebook I kept while building ABBY for my masters thesis. Since I wrote these posts thre...
ROS Industrial
Running the IRB-120 in the ROS Arm Navigation Warehouse
This post is part of a series of posts adapted from the Engineering Notebook I kept while building ABBY for my masters thesis. Since I wrote these posts thre...
Update
This morning I broke up Abby’s CAD files and made a new SimMechanics file for Greg to play with in Gazebo. While I was at it, I updated the inverter and the ...
RRI
Update
This morning I broke up Abby’s CAD files and made a new SimMechanics file for Greg to play with in Gazebo. While I was at it, I updated the inverter and the ...
Uncategorized
The Weirdest Bug I Found This Week
At work right now, I’m in the process of building software made by another contractor on the project. The software was originally written for Ubuntu 12.04, a...
E-Stop Circuit Upgrade: Schmitt Trigger Inputs
To the SN74HC7001N Schmitt trigger AND gates I ordered arrived. These hysteresis on these should solve the flaky e-stop problems I’ve been having. As noted i...
Running the IRB-120 in the ROS Arm Navigation Warehouse
This post is part of a series of posts adapted from the Engineering Notebook I kept while building ABBY for my masters thesis. Since I wrote these posts thre...
Meeting Notes
Notes from today’s meeting with Wyatt and Greg Greg has a working (ish) model of the robot in Gazebo based on my URDF and STL files. He has defined movab...
Plans for This Week
Now that I'm back in Ohio, I'm starting work on this project again. I'm planning on working Mondays, Thursdays, and Fridays so I can spend Tuesday and Wednes...
Status on Orders
Wyatt finally got around to ordering the DigiKey order on Tuesday. It still hasn't come in yet. I put together the McMaster order on Monday morning, but that...
circuit design
E-Stop Circuit Upgrade: Schmitt Trigger Inputs
To the SN74HC7001N Schmitt trigger AND gates I ordered arrived. These hysteresis on these should solve the flaky e-stop problems I’ve been having. As noted i...
masters
E-Stop Circuit Upgrade: Schmitt Trigger Inputs
To the SN74HC7001N Schmitt trigger AND gates I ordered arrived. These hysteresis on these should solve the flaky e-stop problems I’ve been having. As noted i...
Running the IRB-120 in the ROS Arm Navigation Warehouse
This post is part of a series of posts adapted from the Engineering Notebook I kept while building ABBY for my masters thesis. Since I wrote these posts thre...
RRI Installed
Author’s Note: I’m going to start using this as a lab journal for my masters, as well as for other projects. Entries may not make a lot of sense out of conte...
Notes for Morning of 2/13
When I came in today, the first thing I did was send my advisor an email about the new PC I want to put on the robot. The old one is a Micro ATX board with a...
Notes for 3/2
Met with my advisers today. Notes: Finally got a Go from ITS about getting SolidWorks installed in the lab. They should schedule someone to come do that th...
Notes for 3/1
Finished disassembling ALEN. No progress on RAPID programming.
Notes for 2/29
Came in today and started disassembling ALEN. I have all of his circuitry documented, and all of the mechanicals are being redesigned anyway, so it was time ...
Notes for Morning of 2/13
When I came in today, the first thing I did was send my advisor an email about the new PC I want to put on the robot. The old one is a Micro ATX board with a...
RRI Installed
Author’s Note: I’m going to start using this as a lab journal for my masters, as well as for other projects. Entries may not make a lot of sense out of conte...