So today has been exceptional! I’ve made loads of progress with thanks to the arrival of my new components. As was stated previously, there were way too many losses in the gate shift registers using the 4x 1k resistor arrays. Therefore, I needed to replace the arrays for 1k resistors to the gate (maximum output […]
(Its now 4/5/17 shhhh) Frame So last night I was in the hackspace testing out my new hinges and moved actuator. Sadly, the hinges once again were too weak to fully support my weight (ugh) so it’s made me rethink the design of each leg. I am however going to keep the hinges for now […]
After the faults with controller board 1, I wanted to respin another controller board ASAP. These boards arrived yesterday and with a swift order from RS, so did a load of components! On the previous board, I was using a large STM32 device with many pins and driving the motors directly through level shifter chips. […]
Obviously having feedback for each of the linear actuators is a pretty big requirement (though not essential realistically for the leg lifting actuators), therefore a fair bit of through needs to go into this section. I was originally going to use flex sensors on the joints to measure the angle of each joint but after […]
I guess now would be a good time to disclaim my machining abilities. I can safely say that I’d make a shocking machinist but I guess its the effort that counts right? Regardless, with the arrival of parts, the build could begin! The leg and hip hinges As all of the aluminium was pre cut […]
Half man, half (ant, beetle, grasshopper, cockroach…), the ultimate dream of creepy sci-fi locomotion. I’m sat here with a 6 legged centaur like image in my head, somewhat like the Scorpion King from The Mummy (exceptional 1999 CGI). Probably about the strangest intro to a post I’ve ever written but hey! It’ll do. This is […]
A couple of people had requested that I give some example code on using the I2C peripheral in an interrupt controlled manner. By using it in this manner, the processor can achieve other tasks while also doing I2C transactions giving a multi-tasking feel to a program. In this example, I combine using the DRDY output […]
So I’m looking to do some analogue synthesizer design and one of the coolest sounding basic waveforms for a synthesizer (imo, of course) is the sawtooth wave. The sawtooth wave is pretty much described by its name – a wave that increases linearly then drops off as fast as possible, as if to imitate the […]
Well it has been absolutely ages since I last posted! I’m blaming it on exam season. Regardless, I’ve done managed a quick project in between the immense revision and what not. Here, I’ve coded up a really simple audio range sine wave quadrature generator (sin[x] + cos[x]) with a frequency range from 0Hz to <24kHz, […]
It’s certainly been a while since I wrote a tutorial, a lot of the STM32 ecosystem has changed and its probably time I changed with it. CubeMX was developed by ST to streamline application design and creation. It allows for a visual method of generating initialization code without needing to know the ins and outs […]
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