Evolve Robotics

Lego Man - Part 1

2010-12-31T01:26:00.002+08:00

Started printing a gift for my CO COC. Next step start editing the model to fit it into the MOVA globe design.

The model was downloaded online @ http://www.thingiverse.com/thing:4004

Credit to Stefan who created the first Lego Man model.

My first 3D part

2010-12-19T01:31:00.001+08:00

This is a test build for Robotis RX64

PP3DP UP!

2010-12-19T01:26:00.002+08:00

Calibration print.

Day 6 Extruder

2010-10-20T23:11:00.003+08:00

Was planning to solder my stepper motor driver. But hai~, both of my 40W and 30W soldering iron dies at the same time. I believe the heating coil is damage after leaving to rust for so long.

Nevermind, I start on the extruder. The heating element given is too short, I cant coil it around, probability about 5 rounds.

Day 6 view of Mendel, started to rust on the threaded rods.

Day 5 Z-axis build

2010-10-18T01:19:00.003+08:00

After troubling the problems in the z-axis, it finally moves. :)

First align the smooth guide rod, the put in the lead screw.

Was testing the stepper motor driver. There is still a need to fine tune the max AMP in the driver board. For now, is max current :X. But the stepper motor is very very hot. My guess of 80 degree after running it for <5mins. More work to be done. At this point. i will need another 5 more days before i can start on the extruder.

Day 4 - Mendel

2010-10-17T01:23:00.002+08:00

Completed most of the mechanical x,y,z axis build.

Today, a few things bad happened. I broke my print bed, now is superglue print bed.

Tested on the electronics, sad news. My stepper motor only vibrate, it does not rotate. Hope that i have connected everything right, and all the software are working.

BTW, the opto end stop sensor is "Sharp: GP1A75EJ000F"

a super sad day. made a few mistake and nothing seems to work. :(

Correct x-axis

Mistake on X-axis, inverted -.-"

Reprap Mendel progress update

2010-10-13T00:05:00.004+08:00

Day 3 into building a mendel. It is harder then i thought. Still facing bolt and nut issue. I tried buying the bolts for stepper motor, Hai~ didnt work. Wasted my time and money...

Lucky, I meet Soon Wei today. He pass me the ABS material. Motivated me to work faster as i can start printing soon.

Today assembled the X-axis, acrylic is seriously not good for the job. I just hope that nothing crack or breaks.

Progress Update

2010-10-12T00:40:00.003+08:00

Reprap Lasercut Acrylic
Several problems with the build quality of acrylic lasercut. Drill holes did not align, pre-process pieces are not glue proper to one another.

I bought extra nuts and bolts, ones given in the kit is not enough for half the build. Done some re-thread to the extuder mount.

Status:
Frog table is ready
Triangle frame is ready

Reprap LaserCut in progress

2010-10-10T01:05:00.002+08:00

Final the shipment came in today. Started unboxing and working on it. Found out acrylic is pretty weak, it breaks easily when over torque.

Some of the holes are off alignment or too small for any given screw. Tomolo i will go and buy some drill bit for M2, M3 and M8.

Hope to start print soon.

Nobita

2010-02-18T00:05:00.001+08:00

My favorite cartoon character :D

Danger is in hse

2010-02-17T23:56:00.003+08:00

Li-Poly have the "best" energy storage to weight ratio. "Best" that my little money can buy. There are probably better Lithium batteries around but lipoly is most commonly available in its battery family :D

NRG Lipoly 3S1P 2200mAh - constant 25C and burst 50C. Max charge rate of 5C.
B6AC all-in-one charger max 6 lipoly and 5A.
No time to test it yet, still awaiting for some parts in Pololu robotics shipment :D

SPEKTRUM DX7 + AR6110E

2010-02-17T23:48:00.003+08:00

Most expensive toy to date. Over $400 dollar -.-"

Took 1 hr to config and bind with AR6110e

Testing it with Arduino Mega to read receiver data :D... it works... now Arduino and DX7 are talking :D

ArduPilot

2010-02-13T22:10:00.001+08:00

Testing the circuit :D

MY CNY new toy

2010-02-13T22:07:00.002+08:00

Saving it for a top secret weapon :D. With more then 2x the power of previous Arduino board, I am able to complete a design on AtMega

ECP map

2009-07-21T21:56:00.002+08:00

http://changfrancis1985.googlepages.com/ECPmap.zip
http://rapidshare.com/files/260649466/All_In_One.gif

ESC Rooster Crawler

2009-05-06T00:36:00.004+08:00

ESC Testing ... izzit ZERO DELAY ? ... yes it is in some ways...

Arduino Testing with Timer2 interrupt with Servo.h function
50.0Hz - Arduino (0.5 to 2.5ms)(0-180)
51.0Hz - 27MHz transmitter (1ms to 2ms)(Forward to Reverse)

ESC Rooster Crawler TeamNovak

2009-05-01T00:50:00.004+08:00

"Good" ESC on theory,
come with Zero Reverse Delay, and a 5A 6V regulator.
most important it has a Built-in Li-Poly Cutoff Protection at 6V :D

claim to have peak 400A drive and 200A brake...
just hope it works with my PIC18F6722... hmm ... :D

Crawler DC Motor

2009-05-01T00:38:00.005+08:00

they are primary use in RC world Crawler vehicles. But i guess it is good enough for my Sumo Robot.

RPM: 3350 fwd, 3300 Rev
Turn: 130T
Dimension: 56mm Length, 36mm Dia
Shaft length: 11mm

Team Atlas Rock Climber Series (AT7-153)
No load Amp: 0.45A
Stall Torque: my guess is about ~150mNm
Terminal Resistance: 1.1~1.2ohm
Weight: 165~170g

M3 bolt at 25mm Dia

Sumo Robot CAD

2009-05-01T00:32:00.003+08:00

Simulation done using Solidworks 2009

4 Module Sync Dance

2009-04-15T04:48:00.001+08:00

Conecting AX-12 to Arduino

2009-01-22T11:22:00.004+08:00

Method 1:

Recommended circuity by Robotis. AX-12 is a half duplex uart system, the direction port pin is used to set transmission or receiving mode.

Method 2:

The diode helps to transfer incoming/outgoing signal to AX-12, taking the job of the direction port pin. Do not try this circuit if you daisy chain more then 2 AX-12 to Arduino. Arduino TX can not sink enough current to fan out the signals to several AX-12. This design is only good for prototyping.

UI video

2009-01-12T18:12:00.002+08:00

Wii Evolve

Accelerometer Graph plotting

Manual mouse click

CA2

2008-12-31T23:16:00.002+08:00

Evolve Live Webcam

2008-11-17T18:33:00.003+08:00

Presentation slides

2008-10-04T00:16:00.003+08:00

Download : PPS_Evolve.ppt

Picture

2008-10-04T00:05:00.002+08:00

Iso View

90 positive, and 0 degree

Passive Face 2

Passive Face 1 or 3

Active Face 1 or 3

Evolve Modular Robot Video

2008-10-03T00:57:00.004+08:00

Imitation

Balancing

Recovery from Random Position

Simple Craw via PC host controller

Building up Evolve

2008-09-13T22:40:00.001+08:00

Evolve hard-coded movement1

2008-09-13T22:19:00.002+08:00

First look at the completed blocks

Razer Mouse

2008-08-29T23:51:00.003+08:00

My first "High-end" mouse, Razer DiamondBack 3G... Got it today from Comex 2008

First impression : ... bad ... maybe i am too used with Logitech mouse :D

PIC to XBEE conection

2008-08-29T23:44:00.001+08:00

Note: This connection will only work if you USART baud-rate is below 115200 b/s

Serial Setup

2008-08-29T23:37:00.003+08:00

USART init code for PIC16F877 using Hitech C compiler

Download : Serial.c

You can HyperTerminal or "Terminal" to check if the signals are correct

Motherboard Testing Video

2008-08-04T04:01:00.001+08:00

Evolve just gotten it's first version motherboard,
Current status:
1. Servo - working
2. Buzzer - working
3. Xbee - Working
4. Interlinks - Soldered
5. ADC - not tested
6. Battery - not tested
7. Wireless Communication - Working

PCB skin

2008-08-02T00:41:00.002+08:00

Download : RobotSide.zip

Evolve PCBs:

1. Motherboard
2. Skin
3. Side PCB

Basic Block class program

2008-08-02T00:39:00.003+08:00

Download: BasicBlock.zip

DEV C++, this is the basic block structure for Evolve building block :D

Evolve MotherBoard

2008-08-02T00:30:00.002+08:00

Evolve top secret motherboard is out ... waiting for components...

hopefully Evolve will be up and running by next Wed. :D

QFP soldering

2008-08-02T00:26:00.002+08:00

DIY soldering for QFP chip

Thanks to school etching, i have a QFP I/O board for my PIC18F6722

Using 40W solder, and goot soldering paste...

Evolve new skin

2008-08-02T00:23:00.002+08:00

New PCB skin fresh from oven :D

USBURN Programmer Brenner8

2008-07-11T00:02:00.001+08:00

USBURN PIC programmer by sprut

i works for me ... how about you ?

Evolve first movement

2008-07-05T14:43:00.000+08:00

PCB testing

2008-07-04T22:23:00.002+08:00

testing testing 1..2..3...
1. QFP 64 pin
2. QFP 44 pin
3. SOIC 28pin
4. SOIC 14pin
5. Magnet holder
6. 0805 pad
7. SOT-223
8. CAP SMD DIA6.3mm
9. many many 0.7mm holes

First Look @ Evolve Reconfigurable Robot !

2008-07-04T22:20:00.001+08:00

LOL... after months of hard work. Evolve is finally born.

Programming Xbee using X-CPU

2008-07-04T22:18:00.001+08:00

We will need a basic schematic to link the computer serial com to xbee.
Inspired by cairn_idris FT232RL board with xbee. I used USB to Serial MB5.

Schematic Design : xbee_X-CPU

NUS - EE2001 FAQ

2008-07-03T02:30:00.005+08:00

EE2001 Tips 101

1. Is the GAs or TAs strong in technical knowledge?
Not all.

2. Where to find sample?
From your seniors, Microchipc or google.

3. What are the good to have for A grade?
Serial Communication, linking with computer(s), SMS, internet, Webcam, innovative features,RF ID, networking, VisualBasic.

4. How to score better?
Work hard, be ahead of schedule. In CA1, go beyond individual system; link them to
one another sub-system together and a computer. CA2, show full working model including the build house or airport. Final presentation, MARKETING ONLY do not waste your time on explaining circuit.

5. Can I buy electronics kits from the shelf?
Yes, you can. Where? from SimLim Tower. They cost between $10 - $70. Note: GA will ask you questions on bought circuitry; make sure you understand them.

6. What amazing things our seniors done?
Use PIC16F877 to built (or link with) a Line tracing robot, Serial communication, PDA, Wireless, SMS, Hand phone, I2C intercommunication, Webcam, RF ID, Remote IR, Remote RF, SD card, Internet.

7. Are the circuitry used complex?
No, think voltage divider. Most 80% of the circuitry is voltage divider.

8. What resistor to use for IR transmitter and Receiver?
10 ohm and 1M ohm.

9. What is the first thing to program?
Try to get your timers up, because they are very important. Eg. serial, PWM, delays, Ultrasonic sensor, LED dimming, Motor control, RC servos… all uses timers.

10. What is a good interrupt timing to use?
I recommend 10us interrupt, as it is good enough for Servo control and other application. Too short in will overflow into next interrupt cycle; too long it will be useless.

11. Should we use the motor driver from the store?
If you need bi-directional drive then use it,else just use a ULN2003 buffer inverter.

12. Why PIC burn?
PIC16F877 don’t source current well, so sink them. Sourcing a LED is ok, try putting in a motor and it won’t work. For higher current application use a motor driver or ICs to protect your PICs.

13. Should I design more hardware or software?
Try to use minimum circuitry. Hardware = hard to reconfigure especially when you start de-soldering. Software = easier to change , just a flash away.

14. Why ICSP?
So you can program the chip even if it is still inside the circuitry. Don’t have to puck in and out the programmer board.

15. How to ICSP?
Using the programmer and io board given:
Programmer Pin1 -> Target PIC Pin1 (MCLR) may need a diode
Programmer Pin12 -> Target PIC Pin12 (GND)
Programmer Pin11 -> Target PIC Pin11 (VCC) may not be need if you supply power to io board
Programmer Pin39 -> Target PIC Pin39 (PGC)
Programmer Pin40 -> Target PIC Pin40 (PGD)

16. Stupid things pass students done?
-There is one student attempting to fine a perfect 1k ohm resistor, for a LED circuit. He measure almost all the resistors from the storage, then he tried parallel 2x 2K ohm resistor. (Don’t be surprised if it is your teammate)
-Trying to write programs from scratch.(eg. LCD) Yes, it is a good learning experience but be practical. All the source are available easily online use them and understand them. Don’t waste your time.

17. Does the GA check our programming source code in CAs?
No, 99% of the time they don’t check. Because not it takes time you understand code, especially when it is written by students. (because not many can comment their codes well)

18. Doing fail safe programming or hardware circuit?
Yes because it is a good practices. No because your project only need to work on 3 presentation. (Who cares if it can works after that.)

19. How the GA give marks?
-Working model + additional feature = marks++
-Many sub-system = marks++
-Innovative idea = marks++(things they have not since before)
-Complex Circuitry and Over programming = same marks (so don’t overdo a system)

20. Can you spend more than the allocated funds?
Yes, if it is from your pocket. My group spent about S$400 in addition.

21. How can we achieve maximum efficient/output?
Share your knowledge, specializing, and be task oriented. Remember time = marks.

22. How many hours I spent on the modules (for special term)?
On the average 12 hours a day, for 6 week. (crazy me :D)

23. Should we build or buy the house/airport?
My advice is to buy, because it there is no additional marks if you build one.

24. Can I wholesale codes from senior?
Strictly speaking NO, unless you understand them.

More FAQ will be upload...

Arduino

2008-07-03T02:01:00.002+08:00

My Arduino:

*Link : Arduino

Arduino with xbee module:

Arduino with AX-12+ servo, the schematics used is show in AX-12+ datasheet.

Robotis AX-12 source: AX-12+

Arduino with Accelerometer MMA7260Q + 2x AX-12+

*Soucre code: EE3001

Arduino with CMPS03 (I2C)
*Soucre code: Compass

Wiimote

2008-07-03T01:54:00.000+08:00

I have tried some programming using GlovePIE v3.0. will post up my source code soon

My Electronics Store

2008-07-03T01:52:00.000+08:00

Components:

Resistors & Capacitors:

Evolve Skeleton

2008-07-03T01:48:00.000+08:00

Yeah, Evolve’s metal skeleton. Thanks to UltraEngineering.

My robot first block, linked with two Robotis AX-12 servo.

ICD2 Clone

2008-07-03T01:25:00.000+08:00

GTP-programmer:
- no Windows Vista support
- can only program limited PICs model
- no firmware update
- WinPic800

ICD2 Clone
- support directly by Mplab
- support directly by PICC
- USB base
- no external power supply

My new test programmer is the ICD2 clone base on Lothar Stolz new USB version ICD2 clone.

ICD2 is used by Microchip programmer support by many compiler. I am using Mplab and PICC-18 Pro for my PICs programming.

*Link : PCB Design

HyperTerminal for Windows XP

2008-07-03T01:19:00.001+08:00

HyperTerminal by Microsoft is pretty good for general applications, but for development i prefered "Terminal". Done by Bray.

*Link :Terminal

PIC18F2550 IO board

2008-07-03T00:51:00.000+08:00

For the start for my FYP, I chose a simple to use PIC with USB. This is the input/output board:

I have placed a jumper to select between the USB or regulator supply. Sad to say, I forgot about ICSP pins when designing it. The solution is to solder the pins via DIP pins at the back of the PCB board.
*IO Board :PCB Design

Iphone

2008-07-03T00:29:00.001+08:00

My Iphone 2G, got it few months back...Having heard the news from apple, there is a 3G version coming this 11 July. I hope that they will be available soon in Singapore. Singnet do your job, we want Iphone in Singapore :D

btw dude, don't expect the same price US$199, my guess is about S$750++

PIC programmer (GTP-USB-Lite)

2008-07-02T23:35:00.000+08:00

After researching online, there isn't much simple PIC programmer available. An average low-end PIC programmer will cost about US$50-100. I am not a rich student, so it is time for us to DIY. The first programmer I tried in 2003 was the JDM programmer for pic16f84, but JDM programmer doesn’t work with USB-Serial adaptor unless we supply additional voltage at MCLR.

My senior introduced me to GTP-programmer. Here Ali3nWorld

I added a additional MAX232 circuit so I can have serial communication with my PICs :D

The GTP-programmer uses a PIC18F2550 and a few transistors to flash other PICs. For more information please see ali3nworld blog spot.

PCB design:

GTP-USB-Lite Programmer:

*Programmer :PCB Design