afdaniele / calibrator-9000

Firmwares and drivers for an Arduino-based 6-DOF calibration tool

Device: Calibrator-9000

Firmwares and drivers for an Arduino-based 6-DOF calibrator tool.

Concept art:

Final prototype:

I want one

Do you want to make one yourself? Nice!

What you need to buy

#	Name	Qty	Link
1	3D model - 2 parts (.STL)	1	https://www.tinkercad.com/things/1XgNqGJ9kwN
2	PCB board (34*26 holes)	1	any
3	Resistance 180 Ohm	1	any
4	Resistance 220 Ohm	3	any
5	Resistance 270 Ohm	1	any
6	Resistance 510 Ohm	1	any
7	M3x8 screws (PCB holders)	4	any
8	M3x16 screws (Bottom part)	4	any
9	M3 nuts	8	any
10	5mm RGB LED	6	any
11	10K linear potentiometer	6	https://www.adafruit.com/product/562
12	Potentiometer knob 30 x 10mm	6	https://www.aliexpress.com/item/Potentiometer-Knob-30-x-10mm-1-Pieces/32745439004.html
13	Adafruit Itsy Bitsy M0 Express	1	https://www.adafruit.com/product/3727
14	3D printable PCB holder	4	https://www.tinkercad.com/things/asoKI28gtia
15	Header pins and wires	*	any

Instructions

Step 1. 3D print the PCB holders, find screws and nuts

Step 2. Prepare the potentiometers

Step 3. Prepare the LEDs for X(red), Y(green), Z(blue), R(cyan), P(magenta), W(yellow)

Step 4. Prepare the PCB

Step 5. Use the 3D printed holders to secure the PCB to the bottom plate

Step 6. Mount potentiometers and LEDs on the top plate

Step 7. Use 4 M3x16 screws and 4 nuts to secure the case

Step 8. Flash the firmware using the Arduino IDE

Step 9. Use the python drivers to calibrate/initialize the device and receive data from it

Step 10. Enjoy the lights

calibrator-9000's Issues

second call to `initialize()` sends the firmware in CALIBRATING mode

The first time I call initialize() after plugging in the device, the device goes in INITILIZING mode, which is correct since the knobs are calibrated (even though the X is not, but that is not implemented yet, issue 1).

If I then call initialize() again without unplugging the device, the firmware goes in CALIBRATING mode. This should not happen.

CALIBRATING mode when a fraction of knobs is already calibrated

When the device is initialized, the device loads the calibration file but it does not check which knobs are calibrated and which ones are not. Enabling x, and y with only y calibrated sends the device in INITIALIZING mode. It should go in CALIBRATING mode with x=UNCALIBRATED and y=UNITIALIZED.

Empty DATA escaping firmware

Sometimes a DATA packet leaves the firmware with all zeros.

Example output:

Axis: [x:0.9561111330986023, y:-0.2471461147069931, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:-0.0861872136592865, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.054569654166698456, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.1659272462129593, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.26530611515045166, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9561111330986023, y:0.3593611419200897, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.4516415297985077, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0, y:0, z:0, r:0, p:0, w:0]
Axis: [x:0.9566666483879089, y:0.6242235898971558, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.6969831585884094, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7670807242393494, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7910381555557251, z:0.0, r:0.015303682535886765, p:0.0, w:0.0]
Axis: [x:0.9572222232818604, y:0.793700098991394, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.793700098991394, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7724046111106873, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]
Axis: [x:0.9566666483879089, y:0.7724046111106873, z:0.0, r:0.01578192226588726, p:0.0, w:0.0]

This is either an empty DATA packet that escapes the firmware or a failure in interpreting the payload on the drivers' side.