Gareth's blog

Point cloud anyone !!! maybe 3D scanner

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Its scanning, the stealthy Dual Time of Flight wiring was a soldering pig to execute (or should I say "Exterminate").

Data is flowing.... at momo a bit strange 200 Steps = 360° (until microstep instigated giving theoretical 1/16 steps ermm if my maths is correct 3200 Steps for 360° however at the price of speed)


Double_ing up the "Time of Flight" sensors

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Two is better than one...... (or 4 or 8 etcetcetc).

Following successful experiments with 1 single Time of Flight distance sensor mounted to Stepper, watching the scan process its seems to lend its self to setting the scan to just 180° and mount two sensors back to back to extract the whole 360°...... (or 90° scan with 4 sensors, hope you see where I am going with this :-)


BlueTooth elves choose "BlueTeeth"

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Time of Flight meets BlueTooth.....

Extensive testing with WiFi mesh networks proved to be not the way to go for this project... timing issues killed the progress.

Exit Wifi Mesh network goblins...... YAY

Enter the BlueTeethed Elves ....... YAY

The ESP32 has up its sleeve BlueTooth capabilities, it was a simple job to reconvert the data packets.


It all gets a bit Meshy

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Persistance pays off , ESP8266 Mesh network begins to work, this transmits sensor data from the Time of Flight Laser distancing module and the Compass module to the basestation rover.

The latest Plan (software Workio) :-

1.ProMini + TOF + Compass +ESP8266 sits on top of the 360° rotating Stepper motor (can be any speed literally (just limited up to the max that the TOF and compass can read data))


Mesh Networking the LIDAR elements together ESP8266 <> ESP32

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One step further in attempt to make a wireless system between the base rover station and the spinning Laser module.

 

In a Nutshell :-


Stepper Motor Rover + HomeBrew Lidar

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Thought it may be of interest to document a rover platform using Stepper Motors as drive linked to an ESP32 sporting a Web gui to control movement and display Sensor data.


InMoov Touch Sensor (Full Bridge Strain Gauge)

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Here I present a "Touch Sensor" for InMoov's finger tip

Its uses a Full Bridge Strain Gauge circuit, this consists of 4 resistive strain elements and an instrumentation operational amplifier.

Basic Full Bridge :-

[1] Two active elements (one placed on top surface , other placed on bottom surface)


CMUcam5 Pixy - first impressions

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Here is some test data that I am working on to check out the capabilities and speed of a CMUcam5 Pixy camera.

I am using two interfaces to set the system up :-

1. USB plugging into the Pixy allowing the PixyMon Gui to monitor,adjust & capture objects (by colour).

2. A connection between the Pixy<> Arduino on the 6pin ICSP port (aka SPI (Serial Peripheral Interface))


Han

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