borntoleave / catmini Goto Github PK

I am working on the servo controller right know and I need to comment some points. We start from the modes.h. In this file you store the position of each servo for every moment. This work as a look up table. I add one example for bd :const char bd[] PROGMEM = { 19,
93, 93, 63, 63,-36,-36, 7, 7,
83, 83, 49, 49,-41,-41, 14, 14,
73, 73, 36, 36,-41,-41, 22, 22,
63, 63, 34, 34,-36,-36, 19, 19,
52, 52, 36, 36,-28,-28, 9, 9,
45, 45, 40, 40,-19,-19, -1, -1,
41, 41, 47, 47,-11,-11,-12,-12,
41, 41, 55, 55, -4, -4,-21,-21,
47, 47, 63, 63, -1, -1,-28,-28,
54, 54, 78, 78, 4, 4,-34,-34,
57, 57, 99, 99, 15, 15,-39,-39,
56, 56,106,106, 27, 27,-36,-36,
61, 61,107,107, 26, 26,-30,-30,
69, 69,104,104, 18, 18,-21,-21,
78, 78, 99, 99, 7, 7,-11,-11,
87, 87, 91, 91, -3, -3, -2, -2,
93, 93, 83, 83,-14,-14, 4, 4,
96, 96, 78, 78,-23,-23, 5, 5,
94, 94, 66, 66,-33,-33, 6, 6,
'\0'};
In this point I have one questions :

• Which kind of data you store in this vector? Are you storing pulse width or angle ? Which are the limit values?Between 0 to 360?

Hello,
I have been studying your code and I have found some variables that are directly read from eeprom. I haven't found the value of these variables. It would be great if you could clarify the value of these variables for each servo and the write process. These variables are :

• middleShift
• rotationDirection
• rangeRation

Thanks for your time :)

Some images from wiki, and commited to the repository does not appears to be optimized for sharing on web. If they are not intended to have some extra metadata (ex. a program who exports the PNG also hide a layer data inside the file) could be a good idea use some online service optimize the images.

My suggestion: use the website https://tinypng.com/ to convert the images and upload the optimized ones. This could be useful not only for documentation pages, but even for code repositories, since the non-optimized files could take much more storage than the code itself.

As comparative, see the improvement, who would be very welcome to users with poor internet (and also at some point could improve search engine rankings by not serving content not optimized for mobile pages):

• Image: https://github.com/borntoleave/catMini/blob/master/Images/sketchFlow.png
• Last image from https://github.com/borntoleave/catMini/wiki/Assembling-instructions-(mini-kit)

Hello,
I already have a basic structure where I could make work together :

• Gait controller
• Servo controller
• Accelerometer
• Serial port

Right now I would need one explanation of the connection between gait and servo. Could you explain the way you use the data stored in gait to move servos?

In addition, the second step would be to add the data from the accelerometer.

Thanks ;)

With this hardware structure you have create a reponsive robot. You send a command using IR and it reacts. It charges the vector moments from mode.h.
Could you show me the way you have used to desing it? The different parts that it involves.I would like a block structure with the different parts of the code and the interactions of every part. If you could underline the code lines that you use for every part it would be great.

I have started with the buzzer. In this code you use some numbers that I don't understand. I understand that you switch on and off the buffer changing the period to create different tones but I don't understand the way to calculate the frequency and the period. I have attached this piece of code :

int freq = 220 * pow(1.059463, note);
  float period = 1000000.0 / freq / 2.0;
  for (byte r = 0; r < repeat; r++) {
    for (float t = 0; t < duration * 1000; t += period * 2) {
      analogWrite(BUZZER, 150);      // Almost any value can be used except 0 and 255
      // experiment to get the best tone
      delayMicroseconds(period);          // wait for a delayms ms
      analogWrite(BUZZER, 0);       // 0 turns it off
      delayMicroseconds(period);          // wait for a delayms ms
    }
    delay(pause);
}

As a programming tip you shouldn't use numbers in the code. It makes the code hard to understand. You can use #defines instead. This numbers are named magic numbers.

It would be great to create a functional definition with the basic working modes of the robot. I am thinking about a description of the different walking modes and what to do in each mode. I have realized that it has declared from line 73 to 93 but I would need further explanation.