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2018-03-28
03/28/2018 at 13:49 • 0 commentsThe appearance grows part by part. The Wheels made a huge difference on the size and the contours of the body.
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2018-03-27
03/27/2018 at 15:08 • 0 commentsToday I did a quick assembly so I could test the drive system before CNC milling the last parts. Very quite drive (the noise is coming from my Raise3D printer running in the background)
I will 3D print a larger pulley for the shaft reducing the RPM even more.
Here is the Pulley design. Diameter 105mm, 80T. This on the limit on what I could fit within the robot. Lets see
Visit http://valify.se for more info of the project.
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2018-03-27
03/27/2018 at 10:56 • 0 commentsFirst test of the Capacitive TouchScreen Running with Jetson TX2
Read full post here: http://valify.se/2018/03/26/capacitive-touchscreen-running/
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2018-03-27
03/27/2018 at 09:11 • 0 commentsQuick and dirty test of pulleys and belts before final CNC milling of the motor brackets. The noise is coming from the 3D printed prototype brackets.
Follow the build here: http://valify.se
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2018-03-26
03/26/2018 at 22:01 • 0 commentsToday I received the touchscreen for the robot. Did a quick and dirty prototype of the mouting bracket and printed it.
Here is how how it looks mounted on the robot. (Did not have 90-degree HDMI connectors at home, thats why is lifted when powered on). -
2018-03-24
03/24/2018 at 21:13 • 0 commentsMy 3D Printer had no tasks in the pipeline for tonight, So I 3D printed the mounting bracket I designed a couple of days ago. The mount was 3D printed with PrimaSelect PETG, 3 shells and 10% infill. Due to the different surfaces I needed to print with support. The mount came out great and everything fit perfectly. The Scanse Sweep was mounted with 4x 2.5M screws on the bracket and there are two different ports at different orientations which may be used to interface the serial port to USB using a FTDI serial to USB converter. Scanse Sweep plugs into a USB hub which is in turn connected to the onboard Jetson.
The Valify robot will use a Scanse Sweep (2D LIDAR) as a low cost entry point into the LIDAR world. The Scanse Sweep is a single plane scanner. This means that as its head rotates counterclockwise, it records data in a single plane. The beam starts out at approximately 12.7mm in diameter and expands by approximately 0.5 degrees. On the Robot the Scanse Sweep is mounted on the top of the robot which enables a full 360 degree field of view. The scanning capabilities of the Scanse Sweep allow you to adjust the rotation speed on the fly allowing you to slow it down for more detail, or speed it up for fast reaction times. The range of the Sweep is approximately 40 meters but with limitations.
Read full post here: http://valify.se/2018/03/24/scanse-sweep-3d-printed-mounting-bracket/
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2018-03-24
03/24/2018 at 12:50 • 0 commentsContinued to work with brushless motors, VESC and ROS. The Differential drive works.
just order a tachometer so I can measure the RPM. For low RPM the motors are working quite good. No problem with torque, as i wrote earlier I can't even hold them. So I need to measure how low RPM the motors can handle before calculating gearing further. I will order encoders for absolute rotor positions improving low RPM start and torque. The encoder I am looking at is the AS5047P (which seems to be hard to get) I also looking at the AS5048A which can support 16384 positions per revolution.
Read full post here: http://valify.se/2018/03/24/brushless-motors-vesc-and-ros-second-test/
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2018-03-24
03/24/2018 at 12:48 • 0 commentsPart 10, 3D printed 44h 550grams PETG
3D printed wheel valify -
2018-03-21
03/22/2018 at 05:34 • 0 commentsTonight I tested to control the motors with VESC over ROS and Differential drive. I took some time to get it setup. But a few hours later I could control the motor with keyboard_teleop over ROS. For a first test and only a few hours spent on this I am very happy with results.
I have not received any bullet connectors yet, so only one motor was plugged in tonight for this test. So the accutal Differential drive would be needed to be tested, but I can’t see why it should not work.
Thanks to the Morph project, there already was an ROS Driver which I could use. This meant I didn’t have to implement almost anything, Great! The Morph project uses the MIT-Racecarproject open source VESC driver.
Read full post here: http://valify.se/2018/03/21/differential-drive-ros-vesc/
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2018-03-20
03/20/2018 at 16:07 • 0 comments