[sillyString]

hey dan,
im re looking at your original post on how to code IK for a spidercam.

you use these two equations

T = (EE – A);
lengthA = sqrt( Tx*Tx + Ty*Ty + Tz*Tz );

what does the T stand for?

[sillyString]

yea its in the configure file here
https://github.com/MarginallyClever/Skycam/blob/master/skycamFirmware/configure.h

so i have understood why i need plotter_z but can i simple change PULLEY_PITCH (4.0) to the classic (d*pi/steps) ?

#define PLOTTER_RADIUS       (6.0)

#define PLOTTER_Z (0.5)
`#define PULLEY_PITCH (4.0) // 20 gt2 teeth = 40mm, or 4cm.
#define THREAD_PER_STEP (PULLEY_PITCH / STEPS_PER_TURN)

can i change it to use
#define SPOOL_CIRC (SPOOL_DIAMETER*PI) // circumference
#define THREADPERSTEP (SPOOL_CIRC/STEPS_PER_TURN) // thread per step

it seems PLOTTER_Z and PLOTTER_RADIUS is used in the IK function.
how would i change it to use a pulley with a 12mm diameter.
as PLOTTER_RADIUS is already set to 6 it should be fine im just confused how to change the pulley pitch part.

thanks

[sillyString]

hey dan i managed to get it working thanks so much for your help.

i do have a few mini questions tho.

since i see you are using a pulley and thread and not a pitched belt pulley why are you using the value #define PULLEY_PITCH (4.0) ?
and where is the value #define PLOTTER_Z (0.5) from?or used?
is it distance to the center of all thread lenghts where they are tied in the center? and so the 0.5 is because you are not tying them all together?

thanks again.

merry christmas

[sillyString]

yea that helped allot dan thanks.
my step values are now looking right.

im away from home at the moment but will give it a try with steppers attached soon.

thanks again

[sillyString]

hey dan.

so i ended up having some more problems.

im not trying to run the skycam from your software instead im trying to get it working with my own stepper interupt routines.

but i tried setting it up to test lenghts and stuff like you sugested using M101 and such, but i couldn’t get any stepper movement and currently only have one adafruit motor driver.its already installed on my wall running your wall plotter.

i tried running the software for the skycam on osx serria 10/12/6 .with no luck

i get these errors.

when trying to run osx_runme.sh i get this error.

Skycam $./osx_runme.sh
Error: Unable to access jarfile /Users/hero/Desktop/Skycam-master/src/main/java/com/marginallyclever/Skycam/DrawbotGUI.jar

so i added the DrawbotGUI.jar to the folder.

and then got this

Skycam $./osx_runme.sh
Exception in thread “main” java.lang.NoClassDefFoundError: gnu/io/SerialPortEventListener
at java.base/java.lang.ClassLoader.defineClass1(Native Method)
at java.base/java.lang.ClassLoader.defineClass(ClassLoader.java:1009)
at java.base/java.security.SecureClassLoader.defineClass(SecureClassLoader.java:174)
at java.base/java.net.URLClassLoader.defineClass(URLClassLoader.java:545)
at java.base/java.net.URLClassLoader.access$100(URLClassLoader.java:83)
at java.base/java.net.URLClassLoader$1.run(URLClassLoader.java:453)
at java.base/java.net.URLClassLoader$1.run(URLClassLoader.java:447)
at java.base/java.security.AccessController.doPrivileged(Native Method)
at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:446)
at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:566)
at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:499)
at java.base/java.lang.Class.forName0(Native Method)
at java.base/java.lang.Class.forName(Class.java:374)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:56)
Caused by: java.lang.ClassNotFoundException: gnu.io.SerialPortEventListener
at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:466)
at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:566)
at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:499)
… 14 more

as i have never ever used java im unsure what to look for.

i then tried running it from eclipse by importing a maven project and running.
and i got more errors.

Description Resource Path Location Type
The type java.lang.Object cannot be resolved. It is indirectly referenced from required .class files SerialConnectionReadyListener.java /Skycam/src/main/java/com/marginallyclever/Skycam line 1 Java Problem

it seems in both cases some im missing some serial files.

so im a bit stuck.

can you confirm that this code here
https://github.com/MarginallyClever/Skycam
no runs the skycam on one board and does not need two like before?

im also still confused about the things i asked last week.

im now trying to use the kinematics functions and create my own code to get lenghts and telport.

but i still cant understand how to set limits without have to use software or M101.

i have no problems recompiling everytime.

here you say”There are 1000 (one thousand) mm in a meter. so each of your corners would be something like (1000,1000,2000).
limit_a* is the position of the motor A relative to the origin.”

could you please give me an example for say like before i want the star/origin to be the center of a square 2x2x2.

would i do this for each motor?

float limit_ax = 1000; //1000mm i.e half of 2meters?
float limit_ay = 1000;
float limit_az = 1000;

or would i set this in

float homeX=1000;
float homeY=1000;
float homeZ=1000;

as id like my home to be the center of the 2x2x2 cube.

im sorry if im repeating myself i just cant grasp setting the lengths and limits in the firmware.without software.

here is the code i put together to test the kinematics lenghts.
https://pastebin.com/8hiGZs88
it runs steppers and calculates lenghts but when i change x or y pos all lenghts seem to always be equal to each other.which cant be right.

[sillyString]

alright thanks for the quick reply.

im going to try tonight so ill get back to you if i get in a pickle.

[sillyString]

well im sort of a bit further.
could you help me with some things.

im so far trying to start with the pen pos in the center of the center of the square.say the square is 2x2x2meters.
how would i set the starting values without using the java software so i could run a loop function with teleport here or there?

im unsure what this limit is ?is it the lenght in mm?could you give me an example if the i start in the center of a 2×2 cube?
float limit_ax = 0;
float limit_ay = 0;
float limit_az = 0;
is this the home i.e like you explain in the https://www.marginallyclever.com/2015/02/code-inverse-kinematics-spidercam-skycam/
is this below c so 0,0,0 start pos?
float homeX=0;
float homeY=0;
float homeZ=0;
what would this be if again i start with a 2×2 cube?
float posx, posy, posz;

and is this end number mm||cm?
motorStepArray[0] = lround( sqrt(dx*dx+dy*dy+dz*dz) / THREAD_PER_STEP );

does this function move the skycam in 2d rather than 3d movement?
void polargraph_line();

thanks again.

[sillyString]

hey dan hows it going.

looking good your website…things have changed…

i have now started and run some of your projects i tried the v plotter v2 of yours with ams board…

and now i want to move up to this one….skycam for lego haha..

in your link here https://www.marginallyclever.com/2015/02/code-inverse-kinematics-spidercam-skycam/
you say to use the
RUMBA controler or a RAMPS shield
but i see you use the adafruit motor shield v1 is that what you call a ramps?no?
can i use a cnc shield like so http://www.alselectro.com/stepper-driver-cnc-shield.html
only cause i dont have a rumba or ramps so would need to order but i got a cnc shield so could try…

i also read people were asking you to try running it on one arduino control board does the firmware do this or is it still a future idea?

bassically id like to write some loops and let the skycam run and run…so i dont need a computer running the software or and sd card well unless my loop are miles long…
so i was wondering if you could help me simplify it…to just the raw bassics?

as is would i be able to just create a sequence of teleport commands flashed to the arduino would that be fine or is it currently only set to be controlled via your software.?

thanks allot dan hope things your side of the world are marginally good

[sillyString]

hello im looking for some help.

im looking to try and create the skycam project that is here.i see that its possible dated so not sure to get allot of replys.

it will be the biggest thing i have tried and as there is lots of new things for me im just looking for a bit of and overview..

from this folder https://github.com/MarginallyClever/Skycam what do i install from here..

i see there is libs and there is arduino folder should i install this same ino to both arduino?https://github.com/MarginallyClever/Skycam/blob/master/arduino/arduino.ino
but then i also see https://github.com/MarginallyClever/Skycam/blob/master/skycamFirmware/skycamFirmware.ino does this get installed to one of the arduinos?

are the arduinos controled via usb ? bluetooth?

bassically a little over view would be really helpfull to try it out…

like whats the sd card for ?

as you can see im just looking for an overview to get started really..

if anyone can help it would be great.

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