Sunday, February 28, 2021

Pinky buildLog

 Pinky, the octopod AI robot.

Goals: Learn more engineering tricks: Mechanical, Electrical, Software. 

  • Mechanical engineering; Gearing, Servos, Bearings, Nuts, and Bolts.
    • Designed in Fusion 360, then export URDF for ROS.


  • Electrical engineering; Battery (Li-Po), Voltage Converter (5V, 10amp), Microcontroller (pi Pico), Microprocessor (pi Zero W), PWM control board (PCA9685)
  • Software engineering; Windows with Ubuntu VirtualBox (lubuntu20.04), ROS noetic.

Progress videos:

JointControl:
Stand command:x)

In depth details:

  1. knee/hip joints. Drive gear tooth count are: ankle=9t(2x), knee=12t(1.5x), hip=20t(0.9x)
  2. 12ish Volt Li-Po -> voltage converter -> 5-6volts -parallel> 2 PCA9685s v++ terminals
  3. Software
    1. Set up Ubuntu VM
      1. Enable shared clipboard, folder - guest additions
    2. Install ROS on VM 
    3. Configure ROS ENV 



    Thursday, April 16, 2020

    Setting up Octopi on a Raspi4 for use with Ender3


    1. Download .img file from octoprint.org
    2. Burn .img file to microSD card with WIN32DiskImager
    3. Modify octopi-wpa-supplicant.txt with notepad(win10) with my local wifi settings, so I can run it headless(no HDMI out).
    4. Insert microSD into RPI4, power on.
    5. SSH into my router(RPI0W) use arp -a command to list connected devices, find octopi's IP address.
    6. SSH into octopi, user name:pi, password:raspbery.
    7. Customize your own options with "sudo raspi-config.
    8. Set up OctoPrint through its web interface.