jinnie / fairykame Goto Github PK

Add more documentation about printing and assembly of the robot body, additional parts needed (nuts and bolt, bearings, etc).

A new fairy body is needed, lighter, smaller, quicker to print.
Ideas include:

• longer legs
• usable after turning the robot over
• etc. ideas and discussions are welcome

For dev purposes it's much faster to be able to control the robot from the computer, over the serial connection.
A separate connector needs to be added, which will listen for commands over the serial interface.

CC @JavierIH, @Blomdoft

This is to say hi and thank you for your work on this magnificent project.
I am starting my fork with the idea to make it as easy as possible for random contributors to add new gaits and moves and encourage some community activity around it.

I am ready to contribute back any code that you find interesting to your repos (for example the new versions of PlatformIO needed some love to start working properly).

I will also be really honored if you decide to participate in this version. Code, ideas, thoughts, testing, everything counts. Saying "hi" counts too. :)

Will be great if we together manage to build some community around this great project.

Currently only ESP8266 is supported. ESP32 is a newer chip and would be nice to get support for it too.
Not sure if it can be in the same codebase, or we need a separate branch. I would prefer keeping in the same branch if possible, but this will require duplicating different libraries. At least:

• servo control
• web connector

This may not even be possible. I have poor CPP experience, so I'd appreciate any comments about how we can either abstract the board or have 2 branches for the boards which will share the board non-specific code some way.

Description:

Add a layer of permissions, including, but not limited to the conformance to the Three Laws of Robotics

We only need the basic functionality at this point, which will permit any action, on the basis that according to our knowledge we are not breaking any of these laws.

Currently the posing changes are performed with directly setting the desired position.
Investigate the possibility to replace this with soft, sine-wave based transition moves (similar to the oscillators).
This will require knowledge of the current position for each motor.

Add more documentation, with examples on viewing and creating new moves and gaits.

Trying to simplify, the ability to trim each motor in separation was lost.
Please bring back the possibility to trim each motor independently of the others.

Description:
Currently, the robot features only some of the basic moves and the ones migrated are done without precision, just to make it work.

Expected result:

• Verify if migrated moves are as good as, or better than the old ones; update where needed.
• Add all other old robot actions back, using the new API.

This is a long-term goal.
It should get started only after a good deal of new functionality (and possibly some new robot body design/s) are already there.
No need to repeat on the content that's already there in the predecessor projects.

Right now there are 2 loops - the "pulse" loop and the control loop.
They can be competitive to each other and not always in sync. Additionally, this leads to complicated event flow.

Task:
Reduce the complexity of the control chain. Leave only the pulse loop and implement direct command control, that happens on the active cycle, not async in the next

Description:
Add a "soul" package alongside the "body" and "mind" that are already there.
The soul should be responsive about knowledge and behaviors that are above the mind level:

• Rules to be obeyed (add conformance to the laws of robotics; detail TBD in a separate issue)
• Connection to the creators
• etc; explore the possibilities, open for discussion

Tasks:

• Add a soul package
• Migrate code to it - web connector, possibly the command handlers, etc.

Right now speed gets updated only after a new command is issued. Should be great if speed gets changed immediately after the slider position was changed.