playing with servos

some servos that I had ordered were delivered. the instructions suggested another brand/model of servos, but these were a much more economical (cheap).

I tried adding them to the hand:

I'll have to print the "pulley" pieces that will be attached to the servos.

meanwhile, I did somewhat (hackily) got the wrist to work, for now:

you keep hearing the "usb plugged out" sound in the background, and that's because the servo was being powered by the arduino. the servo's power draw appears to be causing a shutdown of the device.

will need a better power source for the servos.

it feels like these pieces that are supposed to be plugged into the servo will have size issues.

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nodejs migration

Having been playing around with NodeJS recently, I (naturally?) started re-writing some of the OpenSesame code using Node last night. I think I've only worked on it around 2 hours so far, but I've already set up a basic client interface (a socket.io chat tutorial rip) with a server that the Raspberry Pi can connect to and receive requests to open the door. This is probably due to socket.io's socket management (socket.io is the WebSocket module for Node); for my first implementation, I had to manually write up a structure that managed sockets, but that is pretty much handled by socket.io. Also, the servo control logic is pretty much recycled (and the Raspberry Pi code is still Python), and I do remember spending some good time figuring that out. Cool neverthelss. I'll probably keep both versions around.

quick recollection on setting things up

If I can swear that the password is correct, then it's possible that I'm getting the ID wrong. Hadn't logged into the web server in a couple of months and was unable to SSH into it. After an hour or so, I ended up deleting the instance and recreating a clean instance (read: erasing everything). I then realized I'd been putting the wrong ID. apt-get install sudo apt-get install Anyways, some links I visited when setting things up (pretty much a dump of whatever I copy-pasted to notes) : Raspberry Pi http://www.makeuseof.com/tag/optimize-the-power-of-your-raspberry-pi-with-raspbian/ Logging http://docs.python.org/2/howto/logging-cookbook.html Tornado - Python webserver that supports Websocket http://stackoverflow.com/questions/2924991/what-popular-webservers-have-support-for-html5-websocket http://lowpowerlab.com/blog/2013/01/17/raspberrypi-websockets-with-python-tornado/ http://stackoverflow.com/questions/11695375/tornado-identify-tra...

how the fingers work

the fingers are moved using wires and tension. each finger is looped through with a wire/string/line in a top-bottom fashion. when the top wire is loosened/bottom wire is tightened, the finger curls in its joints, resulting in a "bent finger". you don't have precise control of each joint movement, but it is simple enough to be controlled by a single actuator (in this case a servo). here is me just using my own hands as an actuator: here it is hooked up to as servo and controlled by a potentiometer: the movement is not smooth because 1) it's controlled by a potentiometer that I am controlling, as seen in the background, and I was unable to move it all the way with one smooth finer motion. 2) the tension in the line was not entirely tight. I need to learn how to tie these well. now I have a get a bunch of servos. much credit and thanks to Inmoov once again.

the quest for robots

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