Just built Nomous-580, the platform for my entry into the 2010 mechwars. Originally I was going to learn with the ps2 controller, but I jumped right in an loaded the autonomous “water bottle” program to see how things would work out.
The good part: balance seems to be there and the servo program seemed to work
The not so good: It seems as if the right leg is not moving properly in the forward motion. When the bot tries to course correct, the right leg seems to be moving fine. The funniest part is when the bot tries to kick… it mostly falls and writhes on the floor. It looks like the right legs is trying to snap the leg (kick very quickly and forcefully). I will try to get a video of it if it keeps up.
Here is a video of the bot walking.
The bot is hot off the workbench and I plan to upgrade to 645mg servos, so I am not sure if that may be affecting it. I have glanced at the code, and when I get more time this week will jump in and research it more. Does anyone see anything similar to what they might have gone through when they first brought their bot online?
The right leg seems to be fine to me. The problem is that the robot isn’t correcting in the right direction when the sensor is turned far left. The robot never tries to move forward, (the intended target is too far away) so I can’t really make any comments on that.
What version of the code are you using?
What kind of servo are you using as a panning servo?
Are you using Basic Atom Pro IDE or Basic Micro Studio? I recommend using Studio if you aren’t already.
Also, be sure you have each servo connected to the correct pin:
P4 Left Ankle
P5 Left Knee
P6 Left Hip
P7 Right Ankle
P8 Right Knee
P10 Right Hip
P11 Panning Servo
The robot shouldn’t fall over (and writhe) when it kicks. Can we get a video of that?
@Fish
What version of the code are you using?
abrat5.bas (from here: lynxmotion.com/images/files/abrat5.bas)
What kind of servo are you using as a panning servo?
hs-645mg
Are you using Basic Atom Pro IDE or Basic Micro Studio? I recommend using Studio if you aren’t already.
Basic Atom Pro IDE.
I will upgrade to Basic Micro Studio tonight and reload the program. I will also bring the target closer and see. It was about 6 feet away when i took the video last night.
…Yeah, that sensor only has a range of about 3-32 inches. The only reason the robot moved at all is because it caught a reflection off of the wall or something…
Ok so reloaded the water bottle program. recalibrated the servos. Let him lose on the floor to see what he would do. Success! Identified target and moved in for the kick!
I also got the airsoft barrels today from toyseast. So, of course I had to load at least one barrel on for show. pics of the mech and video of the kicking fest below.
Next step is to work on readying the barrels (attaching the switches and wiring to the board and then test with the PS@ controller.) After that will be to mount the barrels - I need a dremel! - by sizing the mounting pins to fit.
Things look kind of junky with the wires flowing everywhere. I am waiting to buy (Christmas!) the upgraded servos so I don’t want to zip tie anything into place yet
Thanks. The mor it comes together the more exciting it gets.
Nomous-580 mech update:
Now moving autonomously with guns mounted.
Still need to install gun electronics, remount the guns, upgrade to 645 serovs, upgrade programing to including targeting
Very cool. Your camera was able to detect the IR coming from the sensor. were you using a cmos camera? web cams are a good example of the kind of cameras that can detect IR from TV remots or the sharp sensor you have.
Two things… The heel of the left foot may be dragging. Double check your offsets. When the turret is facing forward it’s trying to walk forward. Also we added felt pads to the bottom of the feet. It helps with traction. Good work so far!
Ok, fully configured (just need to tidy up the wiring) Nomous is wandering around though not autonomously, yet. That is the next step. Now the fun part begins. How to get Nomous to walk and fire like an autonomous mech!
After reading this thread again I think it’s possible the last video was done with the 645’s. He states he planned to upgrade after Christmas and it was submitted Jan 7th.
