Subject:
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Re: SSClagorpion - The Sequencer (long)
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Newsgroups:
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lugnet.technic
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Date:
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Sun, 4 Jul 2004 02:00:04 GMT
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Viewed:
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24267 times
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In lugnet.technic, Steve Hassenplug wrote:
> In lugnet.technic, Kevin L. Clague wrote:
> > Anyway... for anyone still reading this long diatribe, I think the new circuit
> > will work 40% faster than its predecessor.
>
>
> Sounds good. I think the whole thing will go faster, if there are less pistons
> to move, because less air is required.
>
> So, how many pistons are there? It looks like just the five. Can we put
> sensors on pistons A & C to determine which state it's in? I know before, we
> couldn't stop, or change direction, while all feet were down.
Piston A and C are not replicated. Piston B has three copies (making 4 legs in leg group 1). Piston D has three copies too. Piston E has seven copies (a total of 8).
>
> Also, we had discussed stopping the movement by stopping the timing pistons.
> That will still be possible, right? (stop A or C?)
Yes.
>
> > I'm going to study to see if I can eliminate pistons A and C using Steve's
> > mechanical leg lock.
>
> I think the leg lock will still be needed. How much air pressure will be
> required to hold up the SSClagorpion? (hard to say)
I want leg lock for when it has been shut off for a long time and is completely
depressurized. I think we can eliminate pistons A and C (only two but if we
don't need them because of mechanical lock, then toss them).
>
> What will happen if the compressor is turned off? Will we be able to start it
> again, or can the state machine go into an unknown state?
We should freeze the state machine when all 8 feet are down and mechanically
locked. This is at the end of step 1 and/or step 4. Eventually the compressor
will get to max pressure and shut itself off. After that we can shut off the
compressor.
>
> Our friend Nick Donaldson says leg locks are required.
I think they are, because it will be hard to get it started without it. Without
leg lock, gravity can force it into an invalid state (collapsing under its own
weight) and never recover.
>
> Steve
Kevin
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Message is in Reply To:
 | | Re: SSClagorpion - The Sequencer (long)
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| (...) Sounds good. I think the whole thing will go faster, if there are less pistons to move, because less air is required. So, how many pistons are there? It looks like just the five. Can we put sensors on pistons A & C to determine which state (...) (20 years ago, 4-Jul-04, to lugnet.technic)
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