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Blog page on fischertechnik robotics and embedded systems.

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All pictures and videos: copyright Huub van Niekerk

2018
15 June (Playlist)

Arduino Mega2560: Again I2C in combination with pwm: how can I get a delay working? After another attempt I'm in for an oops and a surprise. But also: what's up with the signal on the oscilloscope? Click the image to watch the video.

Hand: Focussing on the yaw: what goes wrong with the switch? What about the timing? What about the direction? How about the algorithm? Click the image to watch the video.

RaspberryPi: I2C: adding an fischertechnik LED to complete the 8 and replacing the button by an ft switch, but does the makefile work? Click the image to watch the video.

Mirft2: With a rewire solution for getCurrentDistance() is find that results are very strange: from nice values to ... ? And another mistake with editing the video results in the second part going wrong with 11 missing minutes. GRRR. Click the image to watch the video.

Mydfir: Continuing from last time. I change the minimum and maximum distance. Also, I find that something is off with sensors. Finally, I may have to rethink the complete algorithm. Click the image to watch the video.

Arduino Yún: Again: how to get data and time via an array into file storage and getting a nice graphin either Scilab or Octave. Some oopses, but somehow there's result. For now. Click the image to watch the video.

Discovery: With the speed dilemma, I decide to increase the distance for the sonar if's. But what about the speed? Then the camera angle gives an issue but how? What works better: cloth or no? Click the image to watch the video.

Arduino MegaADK: Checking the RC circuit again and focussing on port values, actually pwm. So will another LED work? What about the motor with propeller? The monitor does show the wrong stuff, but what does the oscilloscope show? Click the image to watch the video.

RaspberryPi2 & ROS: Focus is on C++ again: how to get it working? Adjusting the settings gives a problem and working with only 1 screen does too. How to solve all of this? Click the image to watch the video.

BeagleBoard & monorail: After analysis of the motion by diagnose and algorithm, I decided to a modification of the roller setup. Question: does this influence the speed in any direction? Something seems still off, but what? Click the image to watch the video.


8 June (Playlist)

Arduino Mega2560: Starting with the Uno, I need to check on pwm and wiring. Then why doesn't delay work? Searching leads to millis and a timeout. But does it work? Click the image to watch the video.

Hand: Another reconstruction of the motor connection with the arm. This leads to checking the chain: will this actually work or is a small change necessary? A test in the end will reveal the result. Click the image to watch the video.

RaspberryPi: Continuing I2C experiments, I have to check the wiring. Then for expanding the circuit, in search through samples of C to read a button and find a nice solution and a problem. Click the image to watch the video.

Mydfir: Focus is again on the sonar at 8 cm distance from objects. What happens and why? Is motor 1 really at left? How many cm. is needed? How to go on? Click the image to watch the video.

Arduino Yún: Again, focus on system time, shifting to time. Then: how to get time into column 0? And into Scilab, Octave, gnuplot? Would it work? Click the image to watch the video.

Discovery: Focus again on speed, what does a cloth do? The results are strange..how strong do the motors need to be? Why the turns? Facing an algorithm dilemma. Click the image to watch the video.

Arduino MegaADK: Checking on the RC circuit powered by port2, it still is weird. Then: how about A5? and 6? What does the serial monitor show (if anything)? Something is really odd, but why? Click the image to watch the video.

RaspberryPi2 & ROS: After last time, I'm making a new start using C++. What to do and how to do it? What will work? Back to the tutorials... Click the image to watch the video.

BeagleBoard & monorail: Continuing with the wired adapter, something is wrong executing anything on the interface. But why? After solving it, focus it again on the stability of the carriage. Will it work out? Click the image to watch the video.


1 June (Playlist)

Arduino Mega2560: Continuing with the delay en for-loop within I2C, the next question is why the fischertechnik motor isn't working as should be. Measuring gives an interesting clue. Click the image to watch the video.

Hand: After the problem last time, the wrist motor needs another reconstruction. But how? Several attempts end up by adding a chain. But will this work out? Is it robust enough? Ending with a pivot oops. Click the image to watch the video.

RaspberryPi: After last time, how will the I2C test go? Not so well: trying reboot power-cycle to get going. Then shifting to wiringpi and finding out that a small change in the algorithm is needed. Click the image to watch the video.

Mirft2: Counter vs. distance again. Will changing the algorithm make a difference? How about the wiring? Some mistake cleared, but does it help? OpenCV/HSV picture check. Click the image to watch the video.

Mydfir: Checking on the sonar and linefollowing again. What's up with the reverse? And the linefollowing? Changing the algorithm on motor direction, what will be the result? Click the image to watch the video.

Arduino Yún: For getting the date or time into an array at e.g. [0, 0], I have to read it. So first: set it using the web interface. Then: program it in to the code. Will it go nicely? What will Scilab. Octave and gnuplot show? Click the image to watch the video.

Discovery: The first test is crap and followed by the usual errors. Finally, even w/out code change it works again. But what's with the speed? What's with the if-conditions? Click the image to watch the video.

Arduino MegaADK: After a short test, I find that more has gone wrong. So conentrating on the RC circuit, I start new code from scratch. But will that work? What's with the wiring? Click the image to watch the video.

RaspberryPi2 & ROS: Starting with a very low speed, I need to update. After that, a final series of tests and analysis leads to a decision. Click the image to watch the video.

BeagleBoard & monorail: After buying a USB-Ethernet converter, I want to use it but something acts up. After reverting to wifi, I locate the carriage in the middle and analyze again with some results on speed and a roller. BTW, after recording this video, I managed to get the converter working perfectly. Click the image to watch the video.


25 May (Playlist)

Arduino Mega2560: First: rewiring a transistor circuit for a motor. Then again: I2C. Will sending different bytes work? Why doesn't the pwm delay work? Does any delay work at all? What would a workaround show? Click the image to watch the video.

Hand: Focus is on the switch that should activate the yaw motor, so time for reconstruction. Then it turns out that the pivot motor still isn't mounted robust enough. But how to change it?  Click the image to watch the video.

RaspberryPi: With the focus again on I2C with the mcp23008, I try again and find that it works with the demo. Not only does i2cdetect shows 0x20 but the LEDs are walking! Expanding the number of LEDs gives a problem at first and the wiringpi still doesn't work. But big progress for now. Click the image to watch the video.

Mirft2: Once again, focus is on distance and counters. Why the difference between Python and ROBOPro? What's up with the wiring? What does the API (ftrobopy) say? Click the image to watch the video.

Mydfir: Following the line in the opposite direction, things don't go ok but why? Losing the line, pushing objects, odd turns. What's up? A big mistake in the algorithm and changing a variable to search better. Click the image to watch the video.

Arduino Yún: Starting with an oops, data has to be read and displayed in a graph. Using gnuplot, Octave and Scilab, what works nicest? Then ending with an oops when trying to enter data while controling fischertechnik. Click the image to watch the video.

Discovery: After a rather weird start, why are most of the if-conditions not met? An analysis of the algorithm shows some shortcomings, so some changes are added and an error is fixed. But will all of this help? Click the image to watch the video.

MegaADK: First focus: why does the output act strange? Does changing the software help? Then: some wiring checkout. Does it help to disconnect a motor? Or an LED? Or should I start from scratch? Click the image to watch the video.

BeagleBoard & monorail: Testing speed and signal and analyzing the results leads to a small modification. But will it have result? Click the image to watch the video.


18 May (Playlist)

Mega2560: Focus is again on I2C: how to make the LED react on the set delay. This results is some code changes, but do they help? Some surprising outputs leads to questions, but does it solve the pwm problem?  Click the image to watch the video.

Hand: Following viewer comments to solder the wrist motor wiring and apply a chain, I try if it can be done. It turns out, I need to reconstruct the motor setup completely because the current way doesn't work out. Will it finally work? Click the image to watch the video.

RaspberryPi: Once again: I2C. After checking an LED using fischertechnik and ordinary power to see whether it's a hardware issue. Then trying again wiringpi, demo and piscope shows there's something with sudo. After that, changing the timebase shows something else as well. How to go on? Click the image to watch the video.
 
Mirft2: Focussing on counter and distance, I need to check which is coming from where...what's the wiring and what's the code. Why is one counter kind of ok in Python but not in ROBOPro? What's up with the distance anyway? Click the image to watch the video.

Mydfir: Checking on the linefollowing, I find things go very wrong. Time to check the sensors. Data shows that the 2nd sonar doesn't seem to go reverse, but why? Time to go over the algorithm again. Click the image to watch the video.

Arduino Yún: Continuing with data using octave and gnuplot, what will be the result? Can I select rows the way I want? Some progress, but I need something more. Click the image to watch the video.

Discovery: Again, the focus is on speed: what is good for the algorithm? Testing and experiencing oopses but why? Click the image to watch the video.

Arduino MegaADK: Focus is first on pwm for the mechatronics which leads to using Scilab again. Then the RC circuit: what's wrong there? What's the difference with other code? A change in gEDA is necessary. Click the image to watch the video.

RaspberryPi2 & ROS: Time for a thorough analysis of the original robot_pi package. What does the error really mean according to this info? Is the path ok? Click the image to watch the video.

BeagleBoard & monorail: Starting from the other end of the monorail track, what will happen? During observation it shows there's a distance problem, which has to be solved by modification. But will this solve anything? Click the image to watch the video.


11 May
(Playlist)

Arduino Mega2560: Focussing on I2C again, a wiring oops is a solution for the LED, after which a pwm riddle shows up. But what is the cause? Then checking the motor/transistor pwm riddle and a compare with the other motors. So how come this doesn't work? Click the image to watch the video.

Hand: Focus is again on the wrist, more in detail the motor setup and switch 11. After deciding what to do, it ends with a reconstruction and an unexpected result. But how come? What's the best solution Click the image to watch the video.
 
RaspberryPi: Again, trying to get I2C working. Using the wiringpi library, what happens? Does anotehr change to the algorithm help? A surprise result with the demo...how come? Click the image to watch the video.

Mirft2: Focus is again on counter and distance: what's up? Fixing a wire, walking on cloth but why does it stop so soon? Why the difference between Python and ROBOPro? Click the image to watch the video.

Mydfir: Again, can the robot follow the line? What about the battery? Why does the interface reset? Why does it ignore objects? Why the odd distances? Click the image to watch the video.

Arduino Yún: Continuing putting data in an array of integers. After determining what to further put in the array, I meet with a familiar oops. Can this be solved? Changing settings on the electronics, I find things might work. Click the image to watch the video.

Discovery: First a test with an unexpected ending. Then as decided last time: lowering the speed and an analysis on images as well as screen output. Finally something happens, but what about the rest? Click the image to watch the video.

Arduino MegaADK: Focus is on pwm (pulsewidthmodulation) riddles again: measuring gives the answer, but what is it? Then, what's the value of the signal to an LED? Some very odd values show up. What's going on? Click the image to watch the video.

RaspberryPi2 & ROS: After a massive system update, including ROS, what's the impact? Trying all packages, as well as rosmsg to list messages, what's the result? How to go on? Click the image to watch the video.

BeagleBoard & monorail: Testing the roller properties again after last time's modification. Then an oops with the wifi & VNC. How to go on? What happens why halfway? Click the image to watch the video.


4 May
(Playlist)

Mega2560: Starting with a check on fischertechnik: not everything works anymore using transistors. Then: I2C.. changing the "hello" requires a byte change but why doesn't the electronics work? Changing the algorithm and using the oscilloscope shows an oops. Click the image to watch the video.

Hand: With the lower gears solved,what about the timing of yaw and pivot? The motor seems to have a bad connection with the pivot and the switch isn't very robust. What to do? An algorithm change helps a bit, but how to proceed? Click the image to watch the video.

RaspberryPi: With the focus on I2C again, what's with wiringPi? I manage to get it compiled, but what does it do and how? Debugging sheds some light, but then what's up? What does it do? Click the image to watch the video.

Mirft2: Due to a mistake, the first 6 minutes of screencast are missing: checkout of the robot with frame reset and feet removal. Further: using ROBOPro to check battery, counter and imagemagick to check on OpenCV images. Questions remain. Click the image to watch the video.

Mydfir: Testing backwards again, things finally to work out...only to go wrong a few times. How come? Colours? Flat vs. rough object? Losing the line? Click the image to watch the video.

Arduino Yún: Another attempt to get data read from the circuits in to a file meets with an error. After finally solving it, I have to change the algorithm a bit to get the data nice into the file. Only to get an error in Octave that shouldn't occur. Click the image to watch the video.

Discovery: Analyzing the stages of the trajectory, sonar condition, images and timing leads to a small change in the algorithm, with an unexpected conclusion after another test.  Click the image to watch the video.

Arduino MegaADK: Trying the motors again, and checking various signals. This results in wiring corrections, but questions remain. Click the image to watch the video.

BeagleBoard & monorail: Starting with a view at the HDMI screen, I continue with a problematic carriage. When I find out what the cause is, it looks simple enough for just a modification. But will it keep working? Click the image to watch the video.


27 April


Arduino Mega2560: Time for a new idea in combination with the Uno: I2C. For now just following an example, how will it work? Click the image to watch the video.

Hand: First testing all of it, then a look at the lower gears. Why not change the speed a bit for a short time? This seems to work.. but what's again with the wrist? Time? Speed? Why touch the motor? Click the image to watch the video.

RaspberryPi: Trying to get I2C working, but how? The text from boot shows everything is loaded. The test shows it doesn't work. Searching again brings to a different part of something familiar. Will this really help me out again? Click the image to watch the video.

Mirft2: Starting with rubber feet and reconstruction to see how it holds (and some gear issue), I continue with OpenCV and HSV. How will things work out?  Click the image to watch the video.
 
Mydfir: Focus is again on reaction of the robot after sensing an object: what happens and why? Then a small change in the algorithm seems to solve a problem. What if? Click the image to watch the video

Arduino Yún: Again, focus is on data array and after some trying a switch to integer data only. Although that works better, no data is stored. Until a small change in the algorithm. Click the image to watch the video.

Discovery: So why doesn't the robot ride anymore? Some serious analysis, a bit of code change and an idea. And what about the sonar conditions? Click the image to watch the video.

Arduino MegaADK: Starting with an oops, I manage to solve it, but find several issue that have to be resolved. Will it all work out? Click the image to watch the video.

RaspberryPi2 & ROS: Alternative start: HDMI monitor. Then: testing the hardware and tryinh the message again. 1 package left, so changing the settings and try. What will happen? Click the image to watch the video.

BeagleBoard & monorail: After last time, I need to find a good solution to the wiring. Instead. I find another mystery. But how to solve it? Finally, it seems I've found some solution to the wiring, but still a problem remains. Click the image to watch the video.


20 April


Arduino Mega2560: Checking the fischertechnik motor again: what's up with the wiring? Then SPI: something is still odd, so a thorough analysis of SPDR and more. Will there be any clarity? Click the image to watch the video.

Hand: Starting with a motoric and sensor test, something else happens which needs a reconstruction. After that, what work, and what not? Click the image to watch the video.

RaspberryPi: Using i2cdetect and raspi-config I try to get some verification. Will a reboot, help this time? Then I make a big oops using config, but continue working. I do a test using piscope with a surprising result. So what's up?! Click the image to watch the video.

Mirft2: Starting with an oops, it becomes big OOPS: testing the whole code again, finding part of a foot and some HSV imaging making sense. Click the image to watch the video.

Mydfir: Testing sonar and linefollowing leads to several questions. again. E.g., why doesn't the robot drive backwards when meeting an object? Adding to the algorithm shows a clue. Click the image to watch the video.

Arduino MegaADK: Testing the mechatronics on LDR and propeller shows there's a problem somewhere. Time to test: motor, wiring, signals, power. What's the culprit? Click the image to watch the video.

Discovery: Adding another motor stop for camera and changing the camera function for OpenCV to use HSV. Will things finally start to work now? Click the image to watch the video.

Arduino Yún: Continuing to convert integer into a char * array and finding again it's not easy. How do I retain a value? If I can... Click the image to watch the video.

RaspberryPi2 & ROS: Trying the packages again and expanding with a message. After some mistakes in settings. what will happen? Does it run? Or does the same error come along? Click the image to watch the video.

BeagleBoard & monorail: Checking speed & wiring: how does the adhesive tape do? Does it run better now? The probes show various results, but why? Weight of an axle? Bad wiring? Click the image to watch the video.


13 April


Arduino Mega2560: Starting with a motor and propeller: why doesn't it run. Wiring? Then back to SPI. What's wrong with the strings? Lower the speed of mechatronics might help. Also, checking the code helps. Will it work? Click the image to watch the video.

Hand: Again, the focus is on the lower gears: motor, wiring, algorithm, sensors and speed. Where does it exactly go wrong? Seems not too clear. Click the image to watch the video.

RaspberryPi: Trying I2C again, I have to run raspi-config again to make the test work. So where's the error? In my program? In the wiring? In the electronics?  Click the image to watch the video.

Mirft2: Trying to red a red image, I try some more colour images until I find I need another approach. This seems to work better, but I'm not quite there yet. Also, something with the gears... Click the image to watch the video.

Mydfir: Again: the focus is on data from sonar, linefollowing and colours. I have to change the algorithm a bit to find out what is happening when, but of course nothing happens a second time. Click the image to watch the video.

Arduino Yún: Focussing on storing the data again, but how to do it? I need to do a conversion between C types but somewhere the value gets lost. Wby? How? I can narrow it down, but what then? Click the image to watch the video.

Discovery: Testing the algorithm and a thorough anaylsis of the results leads to a conclusion about covered distances, timing, conditions and more. What to do? Click the image to watch the video.

Arduino MegaADK: Last time. a motor stopped. Why? Checking wiring, motors and code reveals some clues, but what are the solutions? Are all signals on the oscilloscope? Some weird stuff. Click the image to watch the video.

RaspberryPi & ROS: Looking into the packages and difference again, I decide to search the net again. Finding a solution that I tried before but didn't work. Will it work now, having migrated to version 1? Click the image to watch the video.

BeagleBoard & monorail: Driving the carriage goes slow, how about with diagnose? With a little help, it goes like.... Then the reverse again, watch with 2 probes. In the end, I apply a modification, but does it work? Click the image to watch the video.


6 April


Arduino Mega2560: Following advise, I decide to reuse the transistors and rewire. This has direct consequences. Back to SPI: after studying the code, I realized that the string problem has to do with the  buffer. Click the image to watch the video.

Hand: A little modification to the weight bin. Then checking the vertikal gears again: replacing the motors and changing the algorithm. What's up with the inconsistencies? How can the algorithm be improved? Click the image to watch the video.

RaspberryPi: Again, testing I2C leads to a new search for a header-file and info as well as a reboot. The info leads to a new setting change, but will this help? Click the image to watch the video.

Mirft2: Focus is on OpenCV with red separation. From this it comes to an algorithm change and a frame modification. But what's up with the colours? Click the image to watch the video.

Mydfir: Following a lijn and sonar picking up something that isn't there...again. Second test...goes way different. So what's what? And why? Click the image to watch the video.

Arduino Yún: Continuing with data conversion and storage of gathered input from the fischertechnik mechatronics, what will happen? Will it work or is it impossible? Click the image to watch the video.

Discovery: Again, checking the algorithm to see if the trajectory is completed. What's up? Some mistakes, but more questions. Ending with another mysterious run, why? Click the image to watch the video.

Arduino MegaADK: Following advise to correctly control the pwm motors, I re-introduce the
transistor/diode/LED, except that meet with a problem (but what's new..). Checking the rest, it seems to work, so what's up? Click the image to watch the video.

BeagleBoard & monorail: Testing and modifying: what works and what doesn't? Measuring signals give a clue. Giving a bit aid, the course seems to work, and raises a whole new question. Click the image to watch the video.


30 March

Arduino Mega2560: Continuing with the XM motor and propeller: what's the pwm value? Or is the wiring? Simple to find out, or is it? Then back to SPI: what's up? Click the image to watch the video.

Hand: To handle the counterweights easier, I decide to modify the way they're held. This brings unforeseen consequences. How to deal with this? A solution is found, but how about the software? Click the image to watch the video.

RaspberryPi: Tyring I2C again, with more electronics. Does the test work? How does the RPi start up? Are all headerfiles there? Click the image to watch the video.

Mirft2: Starting with a power issue, I need to check the battery. Then examining an image, I find that I have to do something with the red colour. But will it work? Click the image to watch the video.

Mydfir: Trying to test the improved linefollwer algorithm ends in something different: sonar test. What is happening and why? Another change in algorithm brings other questions about the data. But how, and what? Click the image to watch the video.

Arduino Yún: After testing the hardware, focus us again on the data: how can I get it right? Why do the values not get shown on screen? What about the stored data? Click the image to watch the video.

Discovery: Using camera images to verify the trajectory and the distance, I find that I should change the algorithm. Click the image to watch the video.

Arduino MegaADK: Testing the phototransistor and lenselamp to see a signal, adding an LED to be independent of the scope. This requires a code change but does it work? Checking the NTC gives questions. Click the image to watch the video.

RaspberryPi2 & ROS: Trying to solve the executable problem, I check further on the creation of packages. Several questions arise. but how about answers? Click the image to watch the video.

BeagleBoard & monorail: Searching for the cause of the friction, I start with the final idea of the last time: wheels. This progresses in checking the alignment, sensor, wiring and rods. What's up? Click the image to watch the video.


23 March

Arduino Mega2560: With 1 of the propeller motors into another project, I have to replace it..but it won't run. Why? Back to what's what: code, wiring, electronics, gEDA, pwm values, ports. But will it work? Click the image to watch the video.
 
Hand: Focus is on the contraweights, speed of the vertical gears, robustness of the carm and the tension of the cord. What's going wrong and why? Click the image to watch the video.

RaspberryPi: Trying I2C again: how does the test go? Then the question: are the LEDs ok? Using the fischertechnik power-controller gives a surprise. Does a reboot solve things? Click the image to watch the video.

Mirft2: Starting with 2 power oopses prior to recording, I have another one. After fixing the battery voltage in the code, the voltage is clearly not the cause. What's up with the connection? What's wrong with the counters? OpenCV shows some nice pictures. Click the image to watch the video.

Mydfir: Testing the line following with an object further away, the colour seems ok. But the linefollowing strangely goes off. Using diagnostics, I find a condition issue in the software. Click the image to watch the video.

Arduino Yún: First, testing the fischertechnik mechatronics and wiring. Then: back to gathering data in C using an array. Why doesn't the file storage work? How to check if the array has data? Click the image to watch the video.

Discovery: Testing the counters and trajectory again, adding a check for voltage. What will happen this time? I'm in for a big surprise. But why does it happen? Click the image to watch the video.

Arduino MegaADK: Testing the sonar again, but with the odd results, I decide to replace it by another sensor. How does this work out? Is the signal reliable? How do the lamp and propeller influence it? Click the image to watch the video.

RaspberryPi2 & ROS: Focus this time is on the package 1 vs 2: can I change it so I get working packages? Using hints from the internet, I give it a try. Click the image to watch the video.

BeagleBoard & monorail: In a new attempt to find out what's wrong I try vaseline. But then it stops. So what's up? Close observation reveals something unexpected, but how to solve it? And another major oops. Click the image to watch the video.


16 March

Arduino Mega2560: At the Uno: the replaced fischertechnik mechatronics needs a wiring fix. Then investigating SPDR issues again leads to some surprises. How to go on? Click the image to watch the video.

Hand: Testing reveals I need to add more counterweight... so I can lower the speed of the vertical gears. Of course this needs to be tested..with some unexpected results. Click the image to watch the video.

RaspberryPi: Trying I2C again: what do I still have to do? A test with an odd result, but why? An oops with wiring. Searching for the correct library, ends with what? Click the image to watch the video.

Mirft2: Testing the motors, gears and counters starts with an oops, then questions. Finally I find a wiring issue which solves a moving issue but is that the really solution? Click the image to watch the video.

Mydfir: Testing colour and sonar using just daylight gives some unexpected effects, one of which is an deterioration oops. But why is that lamp burning? Click the image to watch the video.

Arduino Yún: Changing a fischertechnik motor into mechatronics for data requires a complete , device oops. Click the image to watch the video.

Discovery: Continuing with distance and stopping the motors, I have to adjust the algorithm quite a bit. This leads to more reading out counts, and a few corrections for screenoutput. Ouch. Finally, I can test and then something else goes wrong. But why?! Click the image to watch the video.

Arduino MegaADK: Testing the mechatronics with the LDR, I find that the pwm is ok can the same be said of the chain? Will some playing with the tension give a clue? Then the sonar: after a code correction, I still get an odd value. Will playing with the wiring help? Click the image to watch the video?

RaspberryPi2 & ROS: Continuing to find the non-executable error leads to debugging and comparing packages and settings. Will anything work? Click the image to watch the video.

fischertechnik convention Hoofddorp 2018: Visiting the first convention of 2018 in NL, bringing 4 of my models: 2 riding, 1 walking and the arm. Unfortunately, the riding robot for colour and the arm were the only models that (kind of) worked. The others suffered from the wifi being overcrowded. So for the next convention, I really need a plan. I made videos and put them into this compilation. I also made a few pictures that will be published in the fischertechnikclub magazine.

9 March

Arduino Mega2560: Focus is again on SPI: strings, ASCII, timing. What works? How does it really work? When does SPDR give the correct values? Some very close observations. Click the image to watch the video.

Hand: Testing the algorithm again, and using the diagnose, I find the algorithm needs a change. Then a wiring issue shows up at the hand and a cord issue. How to resolve the motor wiring? Click the image to watch the video.

RaspberryPi: Focus is once again on I2C. Using this configuration info the question is does it work? Typos? Configuration files? Source code? In the end something works, but what? Click the image to watch the video.

Arduino Yún: Since attempts to try getting data from sensors etc. in to Octave keep failing, maybe gnuplot is an option. This results in an insight that I really have to rewrite the data part of the algorithm. How will this go? No string but what? Click the image to watch the video.
 
Discovery: Experiments with the motor counters again: leading to changes in the algorithm and more to come. Images support a conclusion and how does ROBOPro do? The actual runs give some surprises as well. Click the image to watch the video.

Arduino MegaADK: Another reconstruction of the chain mechatronics for the LDR, checking on the phototransistor/lamp with a remarkable finding and another sensor. Will it work? Click the image to watch the video.

RaspberryPi2 & ROS: Using 2 VNC windows again, cameras via the recording laptop. Starting a new package again, following tutorials: what does it bring? And how does old stuff work? Some surprises and some insights. Click the image to watch the video.

BeagleBoard & monorail: Another reconstruction to attempt to get and keep speed. Some improvement, but still mysteries in speed, location and more. Click the image to watch the video.


2 March

Arduino Mega2560: Again. the first focus is on the motors: the XM and XS are swapped and XM is removed. Now I have the switch back..which brings the focus to SPI. Using screen/monitor I find some very weird stuff, an explanation and that strings do work...somehow. Click the image to watch the video.

Hand: Last time, sensors weren't detected and motors didn't work. So time for a total checkout: wiring, motors and algorithm, even a hardware swap. But what's the result? Will things work now? Click the image to watch the video.

RaspberryPi: Trying to get I2C working and getting a signal on the oscilloscope. Some code-blindness, fixing the makefile, C file and a reminder about RPi configuration. Will it work? Click the image to watch the video.

Mirft2: During wlking, comparing counters, doing a reset using ROBOPro. Can this be done different? What's the spanning distance? What's the voltage? A change in algorithm. Click the image to watch the video.

Mydfir: Continuing on all options, where will it go wrongt this time? Soon, I find enough of that. Time to adjust the algorithm a bit, but does that help? Click the image to watch the video.

Arduino Yún: Trying Octave again meets with syntax errors and conflicting info. How to go on? Also: the fischertechnik phototransistor with lamp: how should it do? Click the image to watch the video.

Discovery: Continuing with the counters, it goes wrong sooner than expected. After recovery, the algorithm needs a change..after which answers come but more questions as well. Click the image to watch the video.

Arduino MegaADK: Continuing with the XS motor to improve to construction...which results in a reconstruction. Does it work? Click the image to watch the video.

RaspberryPi2 & ROS: Using a differemce VNC setup to use camera and microphone, I keep on debugging for something that should be executable. Will it work out? Click the image to watch the video.

BeagleBoard & monorail: Trying out a new brush contact but it needs some adjustment and tinkering which leads to another reconstruction. Will it work? Will the carriage gain speed now? Click the image to watch the video.


23 February

Arduino Mega2560: First focus on the fischertechnik motor: how does it run, how is it wired. Then SPI: when does the string pass on screen? What's the value? What's the difference between screen & monitor? How about the oscilloscope? Click the image to watch the video.

Hand: Observing the wrist yaw switch, things are good in distance and timing. Motors don't work, what's up? Diagnose shows wiring issues and the code needs a change. Not to ruin anything, step-by-step going forward. Click the image to watch the video.

RaspberryPi: Trying to get the I2C working, I look for more #include options and makefile changes. Then I find things change over time and small errors can have big consequences. Will it work? Click the image to watch the video.

Mirft2: With 2 rubber feet, another test with some problems. What's up? Gears? Software? In comes ROBOPro for testing: cw, ccw, counters. What works? What doesn't? Then something weird and an oops. Click the image to watch the video.

Mydfir: With colour, sonar and linefollowing all active, what's the result? The algorithm has to be adapted and the colour-calibration has to be done. Some surprises in the data file. Click the image to watch the video.

Arduino Yun: Testing all and getting further on Octave. Some errors, but why? Then the lamp, why does it behave like that? Rewiring? Click the image to watch the video.

Discovery: After loweringthe speed, the number of images is still low. Also, why the trajectory diversion? Changes to the code to compare motor pulsecounts: does it help? And why are some images 0? Click the image to watch the video.

Arduino MegaADK: Testing it all, and making a minor mistake and discovering a wire issue. Then a new idea: modifying a motor to deal with the fischertechnik LDR. This also requires another change. Click the image to watch the video.

RaspberryPi2 & ROS: First some testing results in rewiring. Then new attempts to make the new package run result in debugging and comparing files leaving questions. Click the image to watch the video.

BeagleBoard & monorail: New attempts to improve the speed results in some modifications. Will they work out? Do diagnose and the algorithm give different results? Click the image to watch the video.


16 February

Arduino Mega2560: In an attempt to get a motor running on the Uno, I replace the XM motor. Will this finally work? And how? Then for testing the SPI string, the serial monitor is back to 1 only. Searching for a solution, I find a replacement. Does this have the same effect on the signals? Click the image to watch the video.
 
Hand: Focus is on figuring out the responses of the sensors: why are some gears interrupted? Will changing the algorithm bring a solution? Click the image to watch the video.

RaspberryPi: Going further on I2C, I find that the example algorithm has some flaws. In my attempt to correct them, I find catch myself mixing up things a bit. In the end, the algorihtm works, but does the hardware? What about signals on the oscilloscope? What about wiring? Click the image to watch the video.

Mirft2: Trying to walk again, but it starts with an oops and ends with an oops. Why does it "prance"? Why does it stop? How do the feet go? Click the image to watch the video.

Mydfir: Testing sonar and line following gives some weird as well as interesting data. Why happens what? Out of curiosity, I enable colours and find some oddities. What's happening here? Click the image to watch the video.

Arduino Yún: Back to recording data using Linux and getting them into Octave. After testing the hardware and examining the output, some error remains but the solution is clear. Click the image to watch the video.

Discovery: So 2 images taken, at the beginning and at the end. Too much code? Too slow CPU? Too much speed? Some testing and observing the output feeds a decision with a remarkable result. Click the image to watch the video.

Arduino MegaADK: So how about the motor with chain? After testing the electronic control, I find I need to replace part of it. Some more testing leads to another replacement with a result that leaves some questions. Click the image to watch the video.

RaspberryPi2 & ROS: Trying to get it working again and testing it all. What works? What doesn't and why? Some debugging and trying delivers some renewal of experience but also questions. Click the image to watch the video.

BeagleBoard & monorail: Trying the tracks, I have to make sure they're really parallel. So some modification and reconstruction. Then testing: something very odd with a sensor. How come? Also, halting at a strange place. Why? Click the image to watch the video.


9 February

Mega2560: First focus: the motor attached to the Uno. How can it be solved? Other motor? Other value? Other port? Then: SPI. The strings seem to have gone, but why? Also it turns out I have 2 serial monitors, which makes checking out easier. Close observation with the monitor reveals not only about SPDR but also about signals on the oscilloscope in certain circumstances. Click the image to watch the video.

Hand: Testing the yaw of the hand again with close observation. It becomes clear that a motor is unhinged, but after that: what's wrong? Timing? Cord? Tension? Using the hand as test case it becomes clear that there's more to it. Click the image to watch the video.

RaspberryPi: Returning to the ADC with LDR for a moment to check its values. Does it work? Then a new subject: I2C. What does it need? How does it work? How do I program it? Click the image to watch the video.

Mydfir: Trying out sonar, it first goes on linefollowing. Then: 2 objects and reaction of the robot leads to thinking about timing. Also, the collected data shows some oddities. Are the distances really accurate? Some doubts are justified. Click the image to watch the video.

Arduino Yún: Again: data. Can I get it into a table for Octave? Can I delete the data file? Some surprises on the way to a solution. What works? What won't? Click the image to watch the video.

Discovery: Testing sensors, sonar, timing and OpenCV on the floor. As an extra, I put the camera image live on the controller display. What are the results? What should be changed? Reviewing images reveals a necessity to change the algorithm. But will this work out? Click the image to watch the video.

Arduino MegaADK: Why doesn't a motor work? Checking wiring and code. Swapping, from analog to digital and back...what are the results? Then a lamp..wiring or voltage? Back to the motor: voltage or pwm? Click the image to watch the video.

RaspberryPi2 & ROS: After last time, I'm curious why the build of the new packages goes wrong. But something else goes wrong before I can check. What's up? Why? History repeating, it seems. Click the image to watch the video.

BeagleBoard & monorail: First, the focus is on the rails/tracks. They seem a bit off. Then, would adding some weight to the carriage help? Some speed change is observed, but will it keep up? Click the image to watch the video.


2 February

Arduino Mega2560: First focussing on the motor: why doesn't it work? Pwm value? Wiring? Swapping wires? Then SPI. After a discussion, I decide to change the algorithm a bit and change a byte. The result is somewhat surprising, but not consistent. And showing another problem as well: info is garbled. Click the image to watch the video.

Hand: Trying to get the yaw working, I find some oddities in the construction. Observation brings more problems to the surface and questions about the software. Although improved, more has to be done. Click the image to watch the video.

RaspberryPi: Testing the ADC with the potmeter as analog source requires a modification and a tool. The result is somewhat surprising. Then another surprise on an LDR. What's up? Click the image to watch the video.

Mirft2: First testing on the oscilloscope, then on the floor. What's wrong with the object? What's wrong with the motors? ROBOPro is there to test and find out that things aren't that easy. Click the image to watch the video.

Arduino Yún: First testing, then: how does the data behave? Is the logfile correct this time? Changing the way the data is written should be different, how does that work out? Octave shows a message that may give a problem with the logfile. Click the image to watch the video.

Arduino MegaADK: Time to get the motor with chain working. To get this done, it helps when the wiring is complete and when the code is correct. Does the motor work? In all circumstances? Click the image to watch the video.

RaspberryPi2 & ROS: Testing and creating a new package. How will this go? Using the tutorial, it should go smooth, but mistakes happen easily. Let's try anyway. Click the image to watch the video.

BeagleBoard & monorail: After advise to tighten to wire connections, I try again. Will this help? The oscilloscope show the familiar signals. Does the new track give improvements? Then 2 oopses and 1  reconstruction to come. Click the image to watch the video.


26 January

Arduino Mega2560: Starting with the Uno and SPI, the number from SPDR is stranger by the time. Then: why does the motor not respond? Some wiring tricks reveal a very odd situation. But how to solve it? Click the image to watch the video.

Hand: With the yaw still not working nice, I find the first test going wrong on the wrist. This needs a modification. After that, some odd findings. But why? Timing? Construction? Wiring? Click the image to watch the video.

RaspberryPi: Testing the ADC which still seems to go well. So how can I extend the setup when I don't have any more sensors? First, clean up the board, then place the components. Also: adjust the program and testing the new situation does bring a suprise. How come? Finally, updating gEDA. Click the image to watch the video.

Mirft2: It starts with a wrong screen, somewhere followed by a power off. Sigh. Then back to sensors. with oscilloscope. In finally find that ROBOPro is correct all the way, so where's the 0-1-2 counting gone? Finally, back on the floor. Something has to change. Click the image to watch the video.

Mydfir: Trying sonar again: what goes wrong? Why? The data shows not all, so I change the algorithm a bit...but still inconclusive. In the end, a surprise...but can it be repeated? Click the image to watch the video.

Arduino Yún: Testing shows some electronics is wrong and a fix is needed. Next: why does some of the written data not appear in the logfile? Finally: can I import the logfile into Octave? Click the image to watch the video.

Discovery: Testing sensors and no change in behaviour, it's time for a change: testing on the floor and of course with a larger distance. What can be concluded, if anything? Click the image to watch the video.

Arduino MegaADK: No Android anymore. But how can I differentiate from Mega2560 when the USB host is unusable? First: check the photo-transistor with the oscilloscope. Then: add a motor, electronics and some code? What goes wrong? Click the image to watch the video.

RaspberryPi2 & ROS: Focus is again on messaging. Why doesn't it work the way I want? Last series of attempts before (maybe) starting over. Click the image to watch the video.

BeagleBoard & monorail: The long awaited reconstruction of the track is finally there. After it, some more tests..with which results? Click the image to watch the video.


19 January

Arduino Mega2560: SPI again: I know where it goes wrong. But why? Testing a small algorithm change, I can confirm it works in another place. So what's up? Then: why does the Uno motor not work? Speed? Wiring? Click the image to watch the video.

Hand: Again the yaw of the hand: after changes for the wiring, it shows that a reinforcement is needed..whcih needs a reconstruction. Does it work? Also: to make the lower-gear sensors work, a relocation of the counter-weight is a solution. How? And does it work? Click the image to watch the video.

RaspberryPi: Using the ADC, testing 1 LDR and expanding with more components, among which fischertechnik. This gives a surprising result. Changing the code to work with more than 2, gives a problem first but when it's solved gives some more insight. The oscilloscope shows some signals, but how to differentiate? Click the image to watch the video.

Mirft2: Testing sensors again, but starting with an oops. After a check, further tests which leads to a change in counting. Which is which? Using ROBOPro is become clear that the algorithm has a flaw. And still sensor 2 is missing?! Click the image to watch the video.

Mydfir: The focus is this time on sonar, but something is not quite right. After a power-cycle, it works slightly better, but why? A little algorithm change, will that help? Several tests later and comparing data...what's the verdict? Click the image to watch the video.

Arduino Yún: With almost everything working, it's time for something new. Choice is a fischertechnik phototransistor, but how to connect it? There's an input available, but how about output? It also requires wiring and some code. Will everything work? Click the image to watch the video.

Discovery: Testing sensors because of confusion gives some unexpected results. ROBOPro points out that some wires are different than thought, so all good? Some screenoutput points to a replacement, but what's the result? Then a big oops, but how come? How is it solved? Click the image to watch the video.

Arduino MegaADK & Android: Testing the Arduino and Android, I check the last timing result with for-loops. What's the result? Then I check details on the connection and find an oops. On with the Arduino: I need some rewiring and I find an oops in the code for the lamp. Click the image to watch the video.

RaspberryPi2 & ROS: Into messages again: will throwing away help? Will replacing help? Will adding help? Will "catkin_make install" help? What does the tutorial say again? Click the image to watch the video.

BeagleBoard & monorail: Testing the speed with the modified carriage brings new questions. Is more modification needed? How? What's the height of the track? What's stopping it? What makes it run? Connection issues...and how to solve them. Click the image to watch the video.


12 January

Arduino Mega2560: Testing SPI again: where does it go wrong at the Uno-side? Slowly a mystery comes to surface, but why does it happen at all? Also, at some other point it does go well..but how come? Click the image to watch the video.

Hand: While trying to improve the yaw cord, I realize that a major reconstruction is needed. But how will this end up? Does the software need change? Click the image to watch the video.

RaspberryPi: Trying the ADC again by rewiring to the original schema and code with a surprising result. Which becomes visible on the oscilloscope after a change of the timebase. Then: how does everything else work? Searching the net gives a clue, but will it work here as well? Click the image to watch the video.

Mirft2: After the new authorization, what happens? Testing with the images gives an unpleasant surprise with the date. What's with the battery? Then with the oscilloscope shows some weirdness on the pwm. What's up? Sensor testing brings confusion. Click the image to watch the video.

Mydfir: Line following again: why is the righthand side not ok? Why is sonar acting strange? Searching for clues in data shows oddities. Is the code ok? Click the image to watch the video.

Arduino Yún: Testing the circuit, then code: why is only 1 value recorded? Some testing reveals 2 problems and a quick solution. Then it's time to replace a potmeter without the need to rewire, but it takes some soldering. Will everything work? Click the image to watch the video.

Discovery: Checking the motors with the oscilloscope reveals that 1 motor has no signal: a problem which is quickly solved. Next: authorization, then: how do the sensors behave? ROBOPro shows all work, so with 1 sensor reporting, what's up? Click the image to watch the video.

Arduino MegaADK & Android: First, testing everything and thinking of improvements. Then: how to increase the delay on the Android? Which value to exceed 1 second? Next: the Arduino... constructing a lamp, rewiring and recoding. Does it work? Click the image to watch the video.

RaspberryPi2 & ROS: Testing shows the current situation works, kind of. Trying several ideas on the messages, what will work? Then some electronics oops. In the end, an idea for next time. Click the image to watch the video.

BeagleBoard & monorail: New rails haven't arrived yet. Testing reveals the balance is off. So first task is to solve this. Then: again some wiring. Time to really solve it. Also: if pressure solves the speed, then adding some weight may help. But how? Click the image to watch the video.


5 January 2018 (Playlist)

Arduino Mega2560: Testing the motor at the Uno side: does it still work? SPI signal on the oscilloscope: what's up? Testing the switch for SPI: what should the result be? Some algorithm change needed. Click the image to watch the video.

Hand: With the new winch, a wire needs to be put in place. Then some testing on the gears, the wrist, the algorithm. What about tension? Direction? Switches? Click the image to watch the video.

RaspberryPi: Testing with a new ADC using ESD, (re)wiring, LDRs, recoding Python. How will it work? Click the image to watch the video.

Mirft2: Continuing with trajectory and sensors: why seems only sensor 2 ok? What does ROBOPro tell ? What does the algorithm look like? Also, the scp command should be automated. Click the image to watch the video.

Mydfir: Testing and reasoning about the sensors leads to some code adjusments with regards to values. Some testing shows this finally maye work, but give straight lines and curves the same result? How about the sonar? Click the image to watch the video.

Arduino Yún: After testing, it's time to use all of the Yún: there's Linux too. As well as a USB memory stick. And some code to change. And an extra ssh terminal. Will it work? Click the image to watch the video.

Discovery: To solve an authentication problem, I need to test. But how is the trajectory? And why? And what's with the batteries? Will change of firmware bring clarity? Click the image to watch the video.

RaspberryPi2 & ROS: Testing shows some rewiring is needed and messaging seems a mess again. But how to solve it? Some replacement is needed too. Will it work? Click the image to watch the video.

BeagleBoard & monorail: Reconstructing the carriage is badly needed, but how will it end up? Some wiring is messed up again, but how to fix it? Again testing using Python and diagnose. Click the image to watch the video.