calamity's blog

Tracking service

calamity's picture

I have look at the Tracking service and identify a few thing that was not working well


Servo limits

calamity's picture

There is currently two way to set limits to a servo

  • with servo.map(minInput, maxInput, minOutput, maxOutput)
  • with servo.setMinMax(minOutput, maxOutput)

Both method are doing a good job at keeping the servo inside the limits. However, they behave differently and that dual behavior is causing problem to services using Servo. Tracking service is an example of service that suffer from it


Integrated Movement Demo using VinMoov

calamity's picture

 

 

 

this is the script use for the demo, run after my inMoov script.

[[home/Calamity/imdemo.py]]

 

 


viewing your virtual inMoov in 3d implemented in inMoov service

calamity's picture

I add the possibility to view a virtual 3d InMoov from the inMoov service.

To view it, you have to add in your inMoov script

i01.startVinMoov()

and

i01.stopVinMoov()

to stop viewing it.

The 3d model should mimic what your real inMoov is doing.
The model probably still needs some adjustment but is looking good.
The fingers and eyes are not working yet


Moving 3D model with JMonkey in MRL

calamity's picture

Last week I manage to get a 3d model of InMoov taking the position in synch of my InMoov. So let me explain how I did it

I start with the VinMoov model that Gareth post some time ago. Unfortunatly, I did not manage to be able to move it's armature (or did not found how to do). So I try something else

in Blender, I disasemble the VinMoov and saved each robot part that represent my DHLink in IK individually. I modify the part slightly so the origin of the part (rotation point) is at 0,0,0. I then export the part using OGRExml exporter.


IntegratedMovement service visualized with jmonkey

calamity's picture

edit

I have replace the drawing with mesh. I still have to do some adjustment as the movement seem to be a bit offset but progressing

 

 


ESP8266 and MrlComm with websocket

calamity's picture

In the last few day, I have try to use my ESP8266 to run MrlCommand communicate with it using a WiFi protocol.

So far I manage to


Servo Mapper

calamity's picture

There was a lot of discution about the servo mapper this week-end and we did not seem to found a consensus how to fix the problem related the it's usage.

To have the servo service work properly, the user should be able to


Pinocchio playing drums (almost)

calamity's picture

 

 

https://youtu.be/76EfxJIRVXk

A little video for demonstration of the IntegratedMovement service.

The position of the cymbal and the tom are scripted, but how the inMoov choose to move the stick to the tom or cymbal is fully determined by the service.