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et:projects:tudengid11:kaugjuhitav2 [2011/03/30 09:29] – mihhail smirnovet:projects:tudengid11:kaugjuhitav2 [2020/07/20 09:00] (current) – external edit 127.0.0.1
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   - Nädal 1 {{http://newlifezm.ucoz.com/nadala_aruande-1.pdf}}   - Nädal 1 {{http://newlifezm.ucoz.com/nadala_aruande-1.pdf}}
   - Nädal 2 {{http://newlifezm.ucoz.com/nadala_aruande-2.pdf}}   - Nädal 2 {{http://newlifezm.ucoz.com/nadala_aruande-2.pdf}}
 +  - Nädal 3 {{http://home.fill.ee/~rda/nadala_aruande-3.pdf}}
  
 =====1. Abstract.===== =====1. Abstract.=====
  
-This report describes the work done under MHK0020 project rules of spring semester 2001 at TUT(Tallinn University of Technology). “Mechatronics-project” allows the opportunity to try practically the possibilities of our prior education on specialty of mechatronics. Our team was to develop and construct a robot that was to move by control from a remote computer. For this task we were given a Zigbee system which  allows control by radio waves. We were to develop mechanic electric and programming parts of our system. With no prior experience in such development our team made our best effort to accomplish given task. We were faced with different challenges. In this report we include our results up to this moment.+This report describes the work done under MHK0020 project rules of spring semester 2011 at TUT(Tallinn University of Technology). “Mechatronics-project” allows the opportunity to try practically the possibilities of our prior education on speciality of mechatronics. Our team was to develop and construct a robot that was to move by control from a remote computer. For this task we were given a Zigbee system which  allows control by radio waves. We were to develop mechanic electric and programming parts of our system. With no prior experience in such development our team made our best effort to accomplish given task. We were faced with different challenges. In this report we include our results up to this moment.
    
  
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-=====3. Generalization.=====+=====3. Generalisation.=====
  
 At the beginning of the project we were given an opportunity to freely choose any robot system to develop with only one limitation: it has to be remotely controlled. We considered our options and decided to try to develop a spider type robot. It seemed that a simple wheel drive would be boring and trivial. So we set our task and searched for the closest analogies on the market. We found a popular model (Picture 1 Market model of a spider robot) and based our concept of it.  At the beginning of the project we were given an opportunity to freely choose any robot system to develop with only one limitation: it has to be remotely controlled. We considered our options and decided to try to develop a spider type robot. It seemed that a simple wheel drive would be boring and trivial. So we set our task and searched for the closest analogies on the market. We found a popular model (Picture 1 Market model of a spider robot) and based our concept of it. 
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 During our development we faced several problems: During our development we faced several problems:
-* Possebilityes of movement+* Possibility of movement
 * Mechanical connections * Mechanical connections
 * USB connection possibilities * USB connection possibilities
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 * Slow response * Slow response
    
-=====5. Time sceduals.=====+=====5. Time schedules.=====
  
  
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 |1 |Choosing the project and group assignment |Assigned to the group and given the task| |1 |Choosing the project and group assignment |Assigned to the group and given the task|
 |2 |Idea analysis and planning |Ideas were thought through and decided on a concept and how it would function| |2 |Idea analysis and planning |Ideas were thought through and decided on a concept and how it would function|
-|3 |Programming |Programs and algorithems| +|3 |Programming |Programs and algorithms| 
 |4 |Electronics planning and one leg development |Driver scheme and ZigBee system were implemented|  |4 |Electronics planning and one leg development |Driver scheme and ZigBee system were implemented| 
 |5 |Electronics gathering |New driver was suggested| |5 |Electronics gathering |New driver was suggested|
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 =====6.Development.===== =====6.Development.=====
 +====6.1. Electronics ====
  
-====6.1. Spider concept and parts.====+{{http://static1.fotoalbum.ee/fotoalbum/332/152/08307627979975.jpg?600}} 
 + 
 +Picture 2 Block diagram 
 + 
 +====6.2. Spider concept and parts.====
  
 {{http://static1.fotoalbum.ee/fotoalbum/328/281/08214077581ce3.jpg?400}}  {{http://static1.fotoalbum.ee/fotoalbum/328/281/08214077581ce3.jpg?400}} 
  
-Picture 2 Spider concept+Picture 3 Spider concept
  
  
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 The XBee-PRO 802.15.4 (formerly Series 1) OEM RF module is an IEEE 802.15.4 compliant solution that satisfies the unique needs of low-cost, low-power wireless sensor networks. The module is easy-to-use, requires minimal power and provides reliable delivery of critical data between devices. Innovations stamped in the XBee-PRO design enable it to yield two- to three-times the range of standard ZigBee modules. The XBee-PRO 802.15.4 (formerly Series 1) OEM RF module is an IEEE 802.15.4 compliant solution that satisfies the unique needs of low-cost, low-power wireless sensor networks. The module is easy-to-use, requires minimal power and provides reliable delivery of critical data between devices. Innovations stamped in the XBee-PRO design enable it to yield two- to three-times the range of standard ZigBee modules.
-The XBee-PRO 802.15.4 module operates within the ISM 2.4 GHz frequency band and is pin-for-pin compatible with Digi's regular XBee (1 mW) 802.15.4 module. The modules are optimized for use in US, Canada, Australia, Israel and Europe.+The XBee-PRO 802.15.4 module operates within the ISM 2.4 GHz frequency band and is pin-for-pin compatible with Digi's regular XBee (1 mW) 802.15.4 module. The modules are optimised for use in US, Canada, Australia, Israel and Europe.
 No configuration is necessary for out-of-box RF communications. The module’s default configuration supports a wide range of data system applications. Advanced configurations can be implemented using simple AT commands. No configuration is necessary for out-of-box RF communications. The module’s default configuration supports a wide range of data system applications. Advanced configurations can be implemented using simple AT commands.
  
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 | Servo driver   | 1        | SSC-32            | $39.95 |  | Servo driver   | 1        | SSC-32            | $39.95 | 
  
-^Toatal                      |||$263.95|+^Total                      |||$263.95|
    
-====6.2. Algorithm and programming.====+====6.3. Algorithm and programming.====
    
 {{http://static1.fotoalbum.ee/fotoalbum/330/78/0825392675dc5c.jpg?600}} {{http://static1.fotoalbum.ee/fotoalbum/330/78/0825392675dc5c.jpg?600}}
  
-Picture 3 Movement Algorithm+Picture 4 Movement Algorithm
    
 Movement algorithm (Picture 3 Movement Algorithm) description: Movement algorithm (Picture 3 Movement Algorithm) description:
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 //Addition:// //Addition://
 If the algorithm reaches the “End” point the joint and the base servos are returned to the default position.  If the algorithm reaches the “End” point the joint and the base servos are returned to the default position. 
-Code: 
  
- #include <homelab/usart.h> +{{http://home.fill.ee/~rda/meh_proekt_gui/mehProekt_pcProgram_screenshot/meh_proekt_pc_prog.jpg}} 
- #include <homelab/delay.h>  + 
- // COM connector  +Picture 5 Menu control of a robot. 
- usart in_port = USART(0); + 
- // pinhead GND/RX/TX +1) Shows all ports that have any devices connected to them. 
- usart out_port = USART(1); + 
- int main(void) +2) These buttons make robot to move forward, turn left or right and to stop the current command and take standart position 
- {+ 
 +3) These buttons controls the movements of a single leg of the robot 
 + 
 +Source for the microcontroller: 
 + 
 +<code c> 
 +#include <homelab/usart.h> 
 +#include <homelab/delay.h> 
 +#include <string.h> 
 +#include <stdio.h> 
 + 
 +// COM connector 
 +usart in_port = USART(0); 
 + 
 +// pinhead GND/RX/TX 
 +usart out_port = USART(1); 
 + 
 +int main(void) 
 +{ 
 + unsigned char i;
  char c;  char c;
- unsigned char row = 1;+ int str[40]; 
 + int inc=50; 
 + int init_pos[]={600, 1100, 2000, 1300, 2200, 1300, 100, 1300}; 
 + int pos[sizeof(init_pos)/sizeof(int)]; 
 + for(i=0; i<sizeof(init_pos)/sizeof(int); i++){ 
 + pos[i]=init_pos[i]; 
 + } 
 + 
  // USART   // USART 
  usart_init_async(in_port,  usart_init_async(in_port,
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  USART_STOPBITS_ONE,  USART_STOPBITS_ONE,
  USART_PARITY_NONE,  USART_PARITY_NONE,
- USART_BAUDRATE_ASYNC(115200));+ USART_BAUDRATE_ASYNC(9600)); 
 + 
 + // TX RX
  usart_init_async(out_port,  usart_init_async(out_port,
  USART_DATABITS_8,  USART_DATABITS_8,
Line 178: Line 211:
  USART_PARITY_NONE,  USART_PARITY_NONE,
  USART_BAUDRATE_ASYNC(115200));  USART_BAUDRATE_ASYNC(115200));
 +
  // Loop  // Loop
  while (true)  while (true)
  {  {
  usart_try_read_char(in_port, &c);  usart_try_read_char(in_port, &c);
- if(c=="move forward"){ + if(c=='f'){ 
- // Left top leg + // Initial positionв 
- usart_send_string(out_port, "#0 P1800 S1000\n"); + usart_send_string(out_port,  
- usart_send_string(out_port, "#1 P2200 S1000\n"); + "#0 P600 #3 P1100 #12 P1300 #15 P1150 #16 P2000 #19 P1300 #28 P1300 #31 P1850 \r"); 
- hw_delay_ms(300); + for(i=0; i<sizeof(pos)/sizeof(int); i++){ 
- usart_send_string(out_port, "#0 P1500 S1000\n"); + pos[i]=init_pos[i]; 
- hw_delay_ms(300); + }
- usart_send_string(out_port, "#1 P1500 S300\n") +
- // Right bottom leg +
- usart_send_string(out_port, "#2 P1800 S1000\n"); +
- usart_send_string(out_port, "#3 P2200 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#2 P1500 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#3 P1500 S300\n") +
- // Right top leg +
- usart_send_string(out_port, "#4 P1800 S1000\n"); +
- usart_send_string(out_port, "#5 P2200 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#4 P1500 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#5 P1500 S300\n") +
- // Left bottom leg +
- usart_send_string(out_port, "#6 P1800 S1000\n"); +
- usart_send_string(out_port, "#7 P2200 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#6 P1500 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#7 P1500 S300\n")+
  }  }
- else if(c=="turn left"){ + // Left upper leg 
- // Left top leg + else if(c=='a'){ 
- usart_send_string(out_port, "#0 P1800 S1000\n"); + /* 
- usart_send_string(out_port, "#1 P1300 S1000\n");+ Left bottom leg 
 + */ 
 + usart_send_string(out_port, "#15 P1200\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- usart_send_string(out_port, "#0 P1500 S1000\n");+ usart_send_string(out_port, "#12 P900\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- // Right top leg + usart_send_string(out_port, "#15 P1100\r");
- usart_send_string(out_port, "#4 P1800 S1000\n"); +
- usart_send_string(out_port, "#5 P1800 S1000\n");+
  hw_delay_ms(300);  hw_delay_ms(300);
- usart_send_string(out_port, "#4 P1500 S1000\n");+ /* 
 + Right bottom leg 
 + */ 
 + usart_send_string(out_port, "#31 P1750\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- // Right bottom leg + usart_send_string(out_port, "#28 P1800\r");
- usart_send_string(out_port, "#2 P1800 S1000\n"); +
- usart_send_string(out_port, "#3 P1800 S1000\n");+
  hw_delay_ms(300);  hw_delay_ms(300);
- usart_send_string(out_port, "#2 P1500 S1000\n");+ usart_send_string(out_port, "#31 P1850\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- // Left bottom leg + /* 
- usart_send_string(out_port, "#6 P1800 S1000\n"); + Right upper leg 
- usart_send_string(out_port, "#7 P1800 S1000\n");+ */ 
 + usart_send_string(out_port, "#16 P1950\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- usart_send_string(out_port, "#6 P1500 S1000\n");+ usart_send_string(out_port, "#19 P1100\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- usart_send_string(out_port, "#0 P1500 S1000\n"); + usart_send_string(out_port, "#16 P2050\r");
- usart_send_string(out_port, "#2 P1500 S1000\n"); +
- usart_send_string(out_port, "#4 P1500 S1000\n"); +
- usart_send_string(out_port, "#6 P1500 S1000\n");+
  hw_delay_ms(300);  hw_delay_ms(300);
- else if(c=="turn right"){ + /* 
- // Left top leg + Left upper leg 
- usart_send_string(out_port, "#0 P1800 S1000\n"); + */ 
- usart_send_string(out_port, "#1 P1800 S1000\n");+ usart_send_string(out_port, "#0 P750\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- usart_send_string(out_port, "#0 P1500 S1000\n");+ usart_send_string(out_port, "#3 P1200\r");
  hw_delay_ms(300);  hw_delay_ms(300);
- // Right top leg + usart_send_string(out_port, "#0 P550\r");
- usart_send_string(out_port, "#4 P1800 S1000\n"); +
- usart_send_string(out_port, "#5 P1300 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#4 P1500 S1000\n"); +
- hw_delay_ms(300); +
- // Right bottom leg +
- usart_send_string(out_port, "#2 P1800 S1000\n"); +
- usart_send_string(out_port, "#3 P1300 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#2 P1500 S1000\n"); +
- hw_delay_ms(300); +
- // Left bottom leg +
- usart_send_string(out_port, "#6 P1800 S1000\n"); +
- usart_send_string(out_port, "#7 P1300 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#6 P1500 S1000\n"); +
- hw_delay_ms(300); +
- usart_send_string(out_port, "#0 P1500 S1000\n"); +
- usart_send_string(out_port, "#2 P1500 S1000\n"); +
- usart_send_string(out_port, "#4 P1500 S1000\n"); +
- usart_send_string(out_port, "#6 P1500 S1000\n");+
  hw_delay_ms(300);  hw_delay_ms(300);
 +// 
 + usart_send_string(out_port, "#12 P1100 #28 P1600 #19 P900 #3 P1400 T500\r");
 + hw_delay_ms(1000);
 + }
 + else if(c=='q'){
 + pos[0]+=inc;
 + sprintf(str, "#0 P%i \r", pos[0]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='w'){
 + pos[0]-=inc;
 + sprintf(str, "#0 P%i \r", pos[0]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='e'){
 + pos[1]-=inc;
 + sprintf(str, "#3 P%i \r", pos[1]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='r'){
 + pos[1]+=inc;
 + sprintf(str, "#3 P%i \r", pos[1]);
 + usart_send_string(out_port, str);
 + }
 +
 + // Right upper leg
 + else if(c=='t'){
 + pos[2]-=inc;
 + sprintf(str, "#16 P%i \r", pos[2]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='y'){
 + pos[2]+=inc;
 + sprintf(str, "#16 P%i \r", pos[2]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='u'){
 + pos[3]+=inc;
 + sprintf(str, "#19 P%i \r", pos[3]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='i'){
 + pos[3]-=inc;
 + sprintf(str, "#19 P%i \r", pos[3]);
 + usart_send_string(out_port, str);
 + }
 +
 + // Left bottom leg
 + else if(c=='o'){
 + pos[4]-=inc;
 + sprintf(str, "#31 P%i \r", pos[4]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='p'){
 + pos[4]+=inc;
 + sprintf(str, "#31 P%i \r", pos[4]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='['){
 + pos[5]+=inc;
 + sprintf(str, "#28 P%i \r", pos[5]);
 + usart_send_string(out_port, str);
 + }
 + else if(c==']'){
 + pos[5]-=inc;
 + sprintf(str, "#28 P%i \r", pos[5]);
 + usart_send_string(out_port, str);
 + }
 +
 + // Right bottom leg
 + else if(c=='g'){
 + pos[6]+=inc;
 + sprintf(str, "#15 P%i \r", pos[6]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='h'){
 + pos[6]-=inc;
 + sprintf(str, "#15 P%i \r", pos[6]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='j'){
 + pos[7]-=inc;
 + sprintf(str, "#12 P%i \r", pos[7]);
 + usart_send_string(out_port, str);
 + }
 + else if(c=='k'){
 + pos[7]+=inc;
 + sprintf(str, "#12 P%i \r", pos[7]);
 + usart_send_string(out_port, str);
 + c='.';
  }  }
  }  }
-  } +} 
-  +</code>
-====6.3. Construction.====+
  
-During the last part of the development we were given access to tools to make parts for our robot. At first we decided it would be best to make the robot out of aluminum for its good characteristics, but after we tried to make the first leg it was decided that plastic would suit best with its lighter possibilities for remodeling and sculpting.+The source for personal computer: 
 + 
 +<code c> 
 +#include <QtGui/QApplication> 
 +#include "mainwindow.h" 
 + 
 +int main(int argc, char *argv[]) 
 +{ 
 +    QApplication a(argc, argv); 
 +    MainWindow w; 
 +//    w.setFixedSize(650, 380); 
 +    w.show(); 
 + 
 +    return a.exec(); 
 +} 
 +</code> 
 +<code c> 
 +#include "mainwindow.h" 
 +#include <rs232/rs232.c> 
 +#include <stdio.h> 
 +#include <iostream> 
 +#include <string> 
 + 
 +MainWindow::MainWindow(QWidget *parent) 
 +    : QWidget(parent) 
 +{ 
 +    h_layout_ports=new QHBoxLayout; 
 +    h_layout_buttons=new QHBoxLayout; 
 +    g_layout=new QGridLayout; 
 +    textEdit_log=new QTextEdit; 
 + 
 +    //  Commands: legs 
 +    list_char_commands_legs 
 +            << 'q' << 'w' << 'e' << 'r' //  Left upper leg 
 +            << 't' << 'y' << 'u' << 'i' //  Right upper leg 
 +            << 'o' << 'p' << '[' << ']' //  Left bottom leg 
 +            << 'g' << 'h' << 'j' << 'k'; // Right bottom leg 
 + 
 +    //  Commands: movements 
 +    list_char_commands_movements 
 +            << 'a'  //  Move forward 
 +            << 's'  //  Tern left 
 +            << 'd' //   Tern right 
 +            << 'f'; //  Stop 
 + 
 +    // Labels: legs 
 +    list_label_legs.append(new QLabel("Left upper leg")); 
 +    list_label_legs.append(new QLabel("Right upper leg")); 
 +    list_label_legs.append(new QLabel("Right bottom leg")); 
 +    list_label_legs.append(new QLabel("Left bottom leg")); 
 + 
 +    //  Buttons: legs 
 +    for(int i=0; i<4; i++){ 
 +        list_button_legs.append(new QPushButton("Up")); 
 +        list_button_legs.append(new QPushButton("Down")); 
 +        list_button_legs.append(new QPushButton("Forward")); 
 +        list_button_legs.append(new QPushButton("Backward")); 
 +    } 
 + 
 +    //  Buttons: movements 
 +    list_button_movements.append(new QPushButton("Move\nForward")); 
 +    list_button_movements.append(new QPushButton("Turn\nLeft")); 
 +    list_button_movements.append(new QPushButton("Turn\nRight")); 
 +    list_button_movements.append(new QPushButton("Stop")); 
 + 
 +    //  Horizontal layout: movements' buttons 
 +    //  Fixed size: movements' buttons 
 +    //  Connection: movements' buttons and movement_buttons_push() 
 +    for(int i=0; i<list_button_movements.size(); i++){ 
 +        h_layout_buttons->addWidget(list_button_movements.at(i)); 
 +        list_button_movements.at(i)->setFixedSize(100, 50); 
 +        connect(list_button_movements.at(i), SIGNAL(pressed()), this, SLOT(movement_buttons_push())); 
 +    } 
 + 
 +    // Connection: legs' buttons and legs_buttons_push() 
 +    for(int i=0; i<list_button_legs.size(); i++){ 
 +        connect(list_button_legs.at(i), SIGNAL(pressed()), this, SLOT(legs_buttons_push())); 
 +    } 
 + 
 +    //  Horizontal layouts: legs' buttons 
 +    for(int i=0; i<4; i++){ 
 +        list_hLayout_buttons.append(new QHBoxLayout); 
 +        for(int k=i*4; k<4*i+4; k++){ 
 +            list_hLayout_buttons.at(i)->addWidget(list_button_legs.at(k)); 
 +        } 
 +    } 
 + 
 +    //  Open serial ports 
 +    //  Horizontal layoyt: ports 
 +    int usb_ports=16; 
 +    for(int i=0; i<4; i++){ 
 +        if(OpenComport(usb_ports, 9600)==0){ 
 +            QString str; 
 +            str.sprintf("Port %i", i); 
 +            list_radio_button_ports.append(new QRadioButton(str)); 
 +            h_layout_ports->addWidget(list_radio_button_ports.at(i)); 
 +            usb_ports++; 
 +        } 
 +        else break; 
 +    } 
 + 
 +    //  Grid layout 
 +    g_layout->addLayout(h_layout_ports, 0, 0); 
 +    g_layout->addLayout(h_layout_buttons, 1, 0); 
 +    for(int i=0; i<list_hLayout_buttons.size(); i++){ 
 +        g_layout->addWidget(list_label_legs.at(i), (i+2)*2, 0); 
 +        g_layout->addLayout(list_hLayout_buttons.at(i), (i+2)*2+1, 0); 
 +    } 
 +    g_layout->addWidget(textEdit_log, 12, 0); 
 + 
 +    //  Set layout of main window 
 +    setLayout(g_layout); 
 +} 
 + 
 +MainWindow::~MainWindow() 
 +{ 
 + 
 +} 
 +void MainWindow::legs_buttons_push(){ 
 +    for(int i=0; i<list_button_legs.size(); i++){ 
 +        if(list_button_legs.at(i)->isDown()){ 
 +            for(int k=0; k<list_radio_button_ports.size(); k++){ 
 +                if(list_radio_button_ports.at(k)->isChecked()){ 
 +                    SendByte(16+k, list_char_commands_legs.at(i)); 
 +                } 
 +            } 
 +        } 
 +        else{ 
 +            for(int k=0; k<list_radio_button_ports.size(); k++){ 
 +                if(list_radio_button_ports.at(k)->isChecked()){ 
 +                    SendByte(16+k, '.'); 
 +                } 
 +            } 
 +        } 
 +    } 
 +} 
 +void MainWindow::movement_buttons_push(){ 
 +    for(int i=0; i<list_button_movements.size(); i++){ 
 +        if(list_button_movements.at(i)->isDown()){ 
 +            for(int k=0; k<list_radio_button_ports.size(); k++){ 
 +                if(list_radio_button_ports.at(k)->isChecked()){ 
 +                    SendByte(16+k, list_char_commands_movements.at(i)); 
 +                } 
 +            } 
 +        } 
 +    } 
 +} 
 +</code> 
 +<code c> 
 +#ifndef MAINWINDOW_H 
 +#define MAINWINDOW_H 
 + 
 +#include <QtGui> 
 + 
 +class MainWindow : public QWidget 
 +{ 
 +    Q_OBJECT 
 + 
 +public: 
 +    MainWindow(QWidget *parent = 0); 
 +    ~MainWindow(); 
 +public slots: 
 +    void movement_buttons_push(); 
 +    void legs_buttons_push(); 
 +private: 
 +    QGridLayout *g_layout; 
 +    QHBoxLayout *h_layout_ports, *h_layout_buttons; 
 +    QList<QRadioButton *> list_radio_button_ports; 
 +    QList<QLabel *> list_label_legs; 
 +    QList<QPushButton *> list_button_legs; 
 +    QList<QPushButton *> list_button_movements; 
 +    QList<QHBoxLayout *> list_hLayout_buttons; 
 +    QList<char> list_char_commands_legs, list_char_commands_movements; 
 +    QTextEdit *textEdit_log; 
 +}; 
 + 
 +#endif // MAINWINDOW_H 
 +</code> 
 + 
 +  *{{http://home.fill.ee/~rda/meh_proekt_gui/mehProekt_kaugjuhitavSpy_mc.c}} 
 + 
 +  *{{http://home.fill.ee/~rda/meh_proekt_gui/main.cpp}} 
 + 
 +  *{{http://home.fill.ee/~rda/meh_proekt_gui/mainwindow.cpp}} 
 + 
 +  *{{http://home.fill.ee/~rda/meh_proekt_gui/mainwindow.h}} 
 + 
 +====6.4. Construction.==== 
 + 
 +During the last part of the development we were given access to tools to make parts for our robot. At first we decided it would be best to make the robot out of aluminium for its good characteristics, but after we tried to make the first leg it was decided that plastic would suit best with its lighter possibilities for remodelling and sculpting.
 The Picture 4 Spider leg  shows a built leg of our robot. The horizontal part is referred to as “base part” the second half of the leg is referred to as “joint part”.  The Picture 4 Spider leg  shows a built leg of our robot. The horizontal part is referred to as “base part” the second half of the leg is referred to as “joint part”. 
 In both joint and base part a holes of 2,5 mm were made for attachment of servo motors. In the base part is also a cut was made to fit and attach a servo motor. A similar cut were made in the platform to fit the four servos that move the base parts. There are four 3mm holes that attach the servo motor in its place on the base and on the platform. The platform is fit with 4 holes of 4mm on the axes to hold an upper platform for controller and driver mounting. In both joint and base part a holes of 2,5 mm were made for attachment of servo motors. In the base part is also a cut was made to fit and attach a servo motor. A similar cut were made in the platform to fit the four servos that move the base parts. There are four 3mm holes that attach the servo motor in its place on the base and on the platform. The platform is fit with 4 holes of 4mm on the axes to hold an upper platform for controller and driver mounting.
 +
 +{{http://static1.fotoalbum.ee/fotoalbum/332/152/083076275dfe38.jpg}}
 +{{http://static1.fotoalbum.ee/fotoalbum/332/152/0830762777f11d.jpg}}
 +
 +Picture 6 Detail drawings
  
 {{http://static1.fotoalbum.ee/fotoalbum/330/77/0825386775fd16.jpg?400}}  {{http://static1.fotoalbum.ee/fotoalbum/330/77/0825386775fd16.jpg?400}} 
  
-Picture 4 Spider leg+Picture 7 Spider leg 
 + 
 +{{http://static1.fotoalbum.ee/fotoalbum/332/77/08303862927a00.jpg?400}} 
 +{{http://static1.fotoalbum.ee/fotoalbum/332/77/08303863122f24.jpg?400}} 
 + 
 +Picture 8 Assembled spider 
    
 ** 7. Other spiders on the market.** ** 7. Other spiders on the market.**
Line 306: Line 585:
 {{http://www.lynxmotion.com/images/jpg/bh3r02.jpg?150}} {{http://www.lynxmotion.com/images/jpg/bh3r02.jpg?150}}
  
-The body is 18 inches wide and made of custom cut Lexan panels. The servo brackets are aluminum. The Lynxmotion BH3-R hexapod uses 18 servos to maneuver its six legs (each with three degrees of freedom) at up to a foot per second in any direction and can clear objects 4 inches high.+The body is 18 inches wide and made of custom cut Lexan panels. The servo brackets are aluminium. The Lynxmotion BH3-R hexapod uses 18 servos to manoeuvre its six legs (each with three degrees of freedom) at up to a foot per second in any direction and can clear objects 4 inches high.
 Price: $750  Price: $750 
  
et/projects/tudengid11/kaugjuhitav2.1301477395.txt.gz · Last modified: 2020/07/20 09:00 (external edit)
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