Autonomous Cyborg Backpack Instructions:
- Mount Dagu arms on rigid surface (such as a cardboard box or plastic container).
- Place arms/surface in backpack and seal backpack so arms do not fall out (possibly seal via industrial-grade tape).
- Mount cameras on back of backpack and sonar sensors on side of backpack. Buying plastic sonar mounts such as these may be helpful. You can then use tape or strings to secure the sonar mounts on the backpack exterior.
- Create enclosure for SSC32 servo controller. We recommend using a spark fun box (or some other box you have lying around. It's helpful to have a box with a flappable lid from one side so you can add/replace batteries. Tape the servo controller down into the box. Make a cut-out for the serial/usb cable. Poke holes in top of the box for the top for servo wires and pull the wires out. Finally, make a cut-out for the switch. Here is one way you can make an enclosure:
- Hook up servo connections of Dagu arms with SSC32 servo controller. Servo extender wire is extremely helpful to get appropriate wire lengths. Hook up cameras and ultrasonic sensors over usb to raspberry pi. Connect servo controller to Raspberry Pi over usb. A powered usb hub such as this may be helpful for all the usb connections. Power can be provided via the Tekkeon battery.
- Place electronics in backpack and close backpack via zip.
- Download GitHub code for project from https://github.com/prateekt/CyborgDistro and load onto Raspberry Pi.
- Figure out servo limits and place parameters into code. Here are some guidelines.
CyborgDistro/CyborgApp/src/com/TandonRobotics/Cyborg/RobotArm/RobotArmSettings.java is the file that describes the arm model. You will need to define the mapping of servo id (the servo id on the SSC32 controller) for each arm servo that you attach as well as its min/max servo limits.
You want to choose servo limits to minimize the possibility of breaking the arm. You should try to figure out what is the maximum motion of the joints. You can start with the defaults in the code to test the system.
- Download Android code, compile into APK, and load onto phone.
The CyborgDistro/CyborgApp directory contains the Android code. Load into Eclipse (or AndroidStudio) and compile into an APK. Deploy the APK on your android phone.
- Set up ad-hoc connection between Raspberry Pi and Android. Set up a ad-hoc network on the Android phone using the Android networking icon on your phone.
Boot into Raspberry Pi and have Raspberry Pi connect to the Android server. It may be helpful to configure Raspberry Pi to automatically connect to the Android ad-hoc server on boot. This tutorial may be helpful.
- Start CyborgSys.sh on Raspberry Pi. This boots up the camera server process on the Raspberry Pi, the sonar sensor process, and the servo controller server process. You should see camera data being streamed to your phone as a sign the system is working. On the app, you can move the servos to see if your system is up and running.
Note: It may be useful to add CyborgSys.sh to the list of scripts that boot up when the Raspberry Pi boots up
If you got this far, mega congrats! Have fun with your Cyborg Backpack!
Wearable MultiClaw Instructions:
- Assemble Micro Gripper Kit A with Servos (follow instructions on SparkFun site). Actually, there might not be instructions for assembling the servos. Look for a tutorial on YouTube -- there's a good one that I used to figure it out. It's really simple. It's only three pieces. You can probably figure it out.
- Mount grippers on wrist bands via adhesive (such as tape). A good rule is 3 grippers per wrist band. You don't want to have too many, else the wrist band will get too heavy and the grippers may come off.
- Hook up grippers via servo extender wire to the Pololu Micro Maestro servo controller.
- Attach battery to servo controller and mount battery on wrist band. Small batteries are obviously useful here. We recommend the Tenergy ones.
In the software set up, you have two choices if you are using the recommended Pololu Micro Maestro servo controller -- you can either use the Pololu language to script the grippers or attach the Pololu Micro Maestro over usb to a Raspberry Pi and write Python code for the Raspberry Pi. Either way, it's not too bad.
- METHOD 1: Script Pololu Micro Maestro to open and close grippers via the Pololu language. The advantage of using the Polulu language is that you don't need any additional hardware to control the grippers and/or other sensors you choose to add to the servo controller pins.
- METHOD 2: Alternatively, you can code for the Micro Maestro in Python on a Raspberry Pi! This may be easier for novices looking to build cyborgs more quickly. The downside is you'll have to find a convenient place to keep the Raspberry Pi (perhaps in the pocket).