Subject:
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Re: SSClagorpion
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Newsgroups:
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lugnet.technic
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Date:
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Tue, 20 Apr 2004 20:14:39 GMT
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Viewed:
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9672 times
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In lugnet.technic, Steve Hassenplug wrote:
> In lugnet.technic, Kevin L. Clague wrote:
> > In lugnet.technic, Steve Hassenplug wrote:
> > > This sounds like we can NOT do the table edge detection stuff, using it's feet.
> >
> > Hmmm.... We would need to know two things to determine we'd hit the edge of the
> > table.
> >
> > 1. The foot is down as far as it will go.
> > 2. The down foot is not touching anything.
> >
> > We would need one of these sensor pairs for each front foot.
>
>
> Right. That's listed somewhere in my prior ramblings. It should work fine with
> 2 inputs (one for each foot)
OK. You are going to put two touch sensors on one port?
I thought you needed to know that the leg is fully extended, but not touching.
How will you do that with one sensor port?
>
>
> > When the foot is down and not touching anything, we wait for the foot start to
> > rise, and flip the muxes to backwards. At the time the legs get to the top,
> > they will go backwards, so I don't think we'll walk off the table. ...
> >
> > Remember, 7 of the 8 legs will be down at the time we realize that we're at the
> > edge. Given that pneumatics are slow, we should have plenty of time to slam it
> > into reverse.
>
> We may need to figure something out, here. I think it WILL be a problem.
>
> At any given time, he will (could) have only four feet on the ground, right?
>
> If I understand this correctly, when he puts his other four feet down, and
> senses one foot is off the table, he must continue walking forward, raising four
> feet from the table, and leaving him standing on three feet, including NO front
> feet.
>
> That makes me think we'll have to consider weight distribution, and how it will
> balance on three feet.
You are right, he needs to balance on the three feet that are further back, but
it will not have to walk forward. It can walk backwards.
Kevin
>
> Steve
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Message has 2 Replies:
 | | Re: SSClagorpion
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| (...) I can think of two was: use two touch sensors, and be able to read the state of both of them (you can do this with a 3rd party multiplex, or cybermaster sensors (which are kinda rare... right, Steve?), or use touch sensors stacked with (...) (21 years ago, 20-Apr-04, to lugnet.technic)
| | | Re: SSClagorpion
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| (...) There are a couple ways that come to mind. If you don't want to know the details, skip ahead... We want to know when the leg is extended, and the foot is not touching the ground. There will be four possible states: 1) Leg up, foot not touching (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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Message is in Reply To:
| | Re: SSClagorpion
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| (...) Right. That's listed somewhere in my prior ramblings. It should work fine with 2 inputs (one for each foot) (...) ... (...) We may need to figure something out, here. I think it WILL be a problem. At any given time, he will (could) have only (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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