eirikblekesaune / pinnerobot

Arduino code for the PinneRobots from 'Bridge over Mud' and 'A Thoth Work'

PinneRobot

Arduino and SuperCollider code for the PinneRobots from Verdensteatrets 'Bridge over Mud' and, soon my own installation piece 'A Thoth Work'.

Video documentation from the Bridge Over Mud production can be seen here: https://vimeo.com/112480587 (Scroll to 11:40 to see them used in the piece.)

pinnerobot's Issues

Make robot flippable

When mounted backwards, it should be possible to flip the motors so that motor A becomes right motor and motor B becomes left motor.

Add delay to robot control signals

Add possibility to add delay to robot control signal, so that video tracking signals can happen before the actual motor signals. This way is it easier to sync the video and the motors.

Do checksum for receiving/sending messages to/from robot

Resdesign the stop sensor system

Fix srial queue bug

Sometimes the serial port parser and sender bugs out and no data is sent through the serial port. Most likely a SC code related bug.

Add target speed setting

Instead of setting the PWM speed, use target speed as way of controlling motor speed.

Send position to computer upon change

Make parking function not change position

Now it sets it to 4095 and goes up in order to fool the counter system.

Make echo function for debugging robot messaging

Imporove serial protocol

Still getting a lott of dropped messages because of Checksum testing. Try to add padding to the message packages. May not work if the packages are corrupted by long cable streches. Also test with lower baud rate in cas the latter is the case.

Make speed weight auto tune

For having pinne move in a hotizontal position down/up a scaling factor between the motors is needed. Maybe not if we get a set target speed setting, but until then an autotuning of pwm speed could be nice.

Redesign the way the thread comes into the wheel

Ensure that message are sent from SC in correct order

See if queuing message works correctly.