2 years ago

Robot Dog, Part 27.
Still Working through the slow process of debugging the code.

In the first seven videos we built a robot dog based on the Boston Dynamics Spot, only smaller.
In part 8, we installed the Bullseye Raspbian OS into the MicroSD card along with Java 11, MRL and WiringPi
In Part 9 we downloaded and installed the SpotMicro_MRL program and we started looking at how the program worked.
In Part 10, we looked at the Servo Services and start the servo calibration process.
In Parts 11 and 12, we started looking at the Kinematic programs, more specifically Forward and Inverse Kinematics.
In Part 13, we added reinforcement of the Top Arm joints.
In Part 14 we started to look at the start of combining the kinematics with coordinated movement controls.
In Part 15 as a result of issues with the Rasperry Pi's power when all the servos started moving, I added a capacitor on the Raspberry Pi's Power Supply.
In Part 16 I continued with the combining the kinematics with coordinated movement controls and covered some of the gesture controls demo in this at the same time.
In Part 17 We looked at Planes of Reference.
In Part 18, I had a failure, one of the servo horns for the wrist broke free and cause a servo on the other leg to get too hot.
In Part 19, I look at programming with Classes in Python to help control the legs.
In Part 20, I continue with the programming in classes to control the legs in both the Robot Pane of Reference and the Inertial Centre of Mass Plane of Reference.
In Part 21, I replace the servos and sort out the stripped servo horn.
In Part 22, I Upgraded the version of My Robot Lab (MRL) from version 1.1.822 to 1.1.1041.
In Part 23, I start looking at the program from 6 months ago to see how we need to upgrade it for the latest versions of MRL.
In Part 24, I have made significant progress towards using the new configs in MRL
In Part 25, Working through the reduced servo torque an trying to control the speed with wich things happen.
In Part 26, Working through the slow process of debugging the code.

You can find the github repository for the SpotMicro_MRL program here:
https://github.com/Cyber-One/SpotMicro_MRL
The repository not only has the program, but also a list of the parts used.

As part of repository, you will also find the documentation I have been building as part of this robot build.
There is also a message posted in the discord whenever I update the program.

Any updates I make to the MRL_SpotMicro program will be included as part of the repository.

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