robdobsn / rbotfirmware

Robot Firmware for various geometries

RBotFirmware

Firmware for an ESP32 or Particle device to control robots of various geometries More information here http://robdobson.com/2017/02/a-line-in-the-sand/

rbotfirmware's Issues

Home command in sequence does not finish

Adding 'g28' to home the bot in a sequence of commands does not work. The robot moves on to the next command before home finishes. This can be simulated by pressing home on the webUI, then starting a pattern before homing is complete

Homing

Hi Rob

I think the Homing is broken. When powering up the Sand table it does not home. It automatically sets the coordinates to 0,0 no matter were it stopped when it was powered down. I did test my limits and in the cncUI you can see that they register when the arms pass them.
If you use the cncUI to try and home, it chooses the weirdest position and then the UI locks up.Not sure if is just me but if you can give me a brief explanation on how the Homing is suppose to work that would be great.
Besides the homing, the table works great. Just a pity that I have to strip the top of to manually set the arms in the homing position when powering up the sand table
THX for the nice project.

Deon

WIFI connection

Hi,

When you set up the SandBot, you have to configure the Wifi with the command w/SSID/PASSWORD/HOSTNAME

So the netword SSID and Pasword are hard coded in the feather board. Is it possible to add an file "CONFIG.INF" to the SD card with the following information:

CONFIG.INF

WIFI-SETTINGS:
SSID: my_networkname
Password: xxxx

And every time the SandBot starts up, he checks the data in the config.ini file and make connection with the wright password? This way, it is easier if your network changes or you're taking your table to somewhere else...

Theta Rho Points Join Path

Theta Rho files are designed to have all points joined by an archimedes spiral, with the simplest .thr file being:

0 0 628 1

Which spirals outward 100 times.

Some pattern files have points that are currently connected by a straight line, and this can result in undesired affects in the pattern.

Add repeat function to sequences

It would be great to repeat a sequence forever

Wrong Patterns

Hi Rob,
Thanks for an amazing project.
I successfully printed assembled and tested out the sand table.
But no matter what I do, nothing apart from homing works fine.
I am using a4988 drivers and followed all the steps at your website.
All patterns are drawn wrong, even the builtin pattern generator example is drawn wrong.
The android app and builtin simulator also draws wrong.
Kindly have a look at attached picture for reference.

Below image is of what it is supposed to draw:

Below image is of what it actually draws:

Below image is a Possible explanation:

Kindly help I am stuck with this for past two weeks.
Really want to see it draw something perfect.

Expose speed control in REST endpoint

Allow web interface (or other consumer) to change the motor speed via rest json interface. One value to apply to both (or all 3?) Axes would be fine. I assume this value could be read as a work item is popped off the queue

General information

Hi Rob

Left you some messages on your Line in the sand blog..... without any response from you.
Guess you are a busy man. Do you mind me asking some questions in this area?

Thanks
Deon

Robot config max radius values not used

xMaxMM and yMaxMM values from the robot config are read in MotionHelper.cpp, but never referenced. Increasing these values has no effect on motion calculations

Pattern Start Positions

Some patterns are designed to start at the outmost or inner most portion of the table. If one pattern ends at the max radius, and another begins at max radius, it would be nice to have the new pattern start where the old left off. Currently the bot will draw a straight line across the table to get to the exact starting angle of the new pattern, even though it is already at the correct radius.

Maybe determine if the new pattern starts at the same radius as the previous (this is easier with theta rho files, as they would end and start at the same rho (0 or 1)), and if they are the same, create an offset equal to the current angle minus the new start angle, and apply that to all thetas?

Compile failed

Hello, I would like to replicate the sand table. Now I tried to compile the files from Github with Visual Studio Code (PlatformIO). I get the following error message.

(Compiling .pio\build\featheresp32\src\WorkManager\Evaluators\tinyexpr.c.o
src/WorkManager/Evaluators/tinyexpr.c:121:15: error: conflicting types for 'random'
static double random() { return rand() / ((double)RAND_MAX); }; )

Can you help me to fix the problem?

Thanks a lot!

A different UI

Hi Rob,
Thanks for the awesome project.
So i followed all steps on your website:
https://robdobson.com/2018/09/sandbot-software-revamp/
and programmed the huzzah32, but upon accessing sandui.html i get get a website which looks different and a little confusing.
Attached is the picture of webpage being displayed:

Am i doing something wrong?
Kindly help.
Thanks.