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Inqling Junior - Robot Mapping, Vision, Autonomy

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Inq
 Inq
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Posted by: @robotbuilder

@inqΒ 

I don't think anything you have done so far is trivial, indeed it is complicated from my perspective, just not relevant to mapping, vision and autonomous behaviors or how you are going to make use of the TOF data πŸ™‚

Β 

I think I can... I think I can...Β  😊Β 

I don't know... that ray tracing example you wrapped in a game seemed way impressive to me!

Β 

3 lines of code = InqPortal = Complete IoT, App, Web Server w/ GUI Admin Client, Access Point Manager, Drag & Drop File Manager, OTA, Performance Metrics, Web Socket Comms, Easy App API, All running on ESP8266...
Even usable on ESP-01S - Quickest Start Guide


   
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Inq
 Inq
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UPDATE

Procrastinated long enough on the motherboard...

I'll recap the changes from the Mk1 version of Inqling Jr.Β  I'll be segregating the compute power.Β  The lower unit will be in charge of motion and in the future, it'll also handle balancing when we take the training wheel off.Β  The upper unit will be plug-n-play.Β  Neither will be dependent on the other.Β  Here is the motherboard for the lower unit.

Prepopulated

PrePop
  • The little sub-board in the center is the DC-to-DC converter taking the 4 x 18650 voltage that ranges from 16.8V coming off the charger to 10 V when time to put back on the charger.Β Β 
  • The two capacitors are for (I really don't know exactly) smoothing the voltage coming into the A4988 to supply the steppers.Β  Someone hardware oriented can explain what they do better than I.Β  I just do it because Bill's video says I should.
  • The resistors (totaling 1.344 M ohm) is to voltage divide the 18650 voltages so we can monitor our available power.Β Β 

The Rat's Nest

PigSty

Self explanatory!Β  🤣Β 

The Incoming Red/Black wires are for the main power supply.Β  The purple/green wires are connected to the TX/RX pins and will be available for communication with the upper CPU if/when I decide to use them.Β  I'm really getting too old to even see to solder these things.Β  I always double check all circuits with the volt meter for continuity and to make sure I didn't connect two that shouldn't.

Dry Fit

DryFit

Here's trying it out in the chassis with all the sub-boards loaded including:

  • WeMos ESP8266
  • A4988 Stepper motor drivers
  • GY-89 10 DOF sensor board (Accelerometer, Gyroscope, Magnetometer, Barometer, Temperature)
  • Nema 17 Stepper motors

VBR,

Inq

P.S.Β  I was going to make a Fritzing of this, but its even uglier than the picture.Β  If someone is remotely interested in copyingΒ Inqling Jr or even part of it, let me know and I'll try to put something together to allow you to wire it.

Β 

3 lines of code = InqPortal = Complete IoT, App, Web Server w/ GUI Admin Client, Access Point Manager, Drag & Drop File Manager, OTA, Performance Metrics, Web Socket Comms, Easy App API, All running on ESP8266...
Even usable on ESP-01S - Quickest Start Guide


   
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robotBuilder
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@inqΒ 

I was going to make this a PM but wasn't sure how to go about it and didn't want it going to the last PM I had received!

Found this while searching ideas on SLAM and was taken by the simplicity of the code.Β  Perhaps not all that useful with your 8x8 resolution VL53L5CX Time of Flight sensor which would have to move about to generate any sort of 3d image but thought you or others might be interested anyway.

https://www.qcontinuum.org/lidar-scanner

Β 


   
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ron bentley
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@inq

A very impressive set of ambitions there, and I look forward to reading inqling jnr's progress!

You say "How do you eat an elephant... one byte at a time." But don't forget that there are smaller steps - one 'nibble' at a time (1 x byte = 2 x nibbles)!! 😊Β 

Ron B

Ron Bentley
Creativity is an input to innovation and change is the output from innovation. Braden Kelley
A computer is a machine for constructing mappings from input to output. Michael Kirby
Through great input you get great output. RZA
Gauss is great but Euler rocks!!


   
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Inq
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Posted by: @ronbentley1

A very impressive set of ambitions there, and I look forward to reading inqling jnr's progress!

Keeps me from street walking... and getting ignored. 😆Β 

3 lines of code = InqPortal = Complete IoT, App, Web Server w/ GUI Admin Client, Access Point Manager, Drag & Drop File Manager, OTA, Performance Metrics, Web Socket Comms, Easy App API, All running on ESP8266...
Even usable on ESP-01S - Quickest Start Guide


   
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Ron
 Ron
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@ronbentley1 Did you mean nybbles, as in one byte has 2 nybbles or did you mean a bite has 2 nibbles?

"Don't tell people how to do things. Tell them what to do and let them surprise you with their results.” - G.S. Patton, Gen. USA
"Never wrestle with a pig....the pig loves it and you end up covered in mud..." anon


   
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Inq
 Inq
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Posted by: @robotbuilder

@inqΒ 

I was going to make this a PM but wasn't sure how to go about it and didn't want it going to the last PM I had received!

Found this while searching ideas on SLAM and was taken by the simplicity of the code.Β  Perhaps not all that useful with your 8x8 resolution VL53L5CX Time of Flight sensor which would have to move about to generate any sort of 3d image but thought you or others might be interested anyway.

https://www.qcontinuum.org/lidar-scanner

Β 

I'm glad you included it here.Β  I think it will help other people besides me.Β  It is nice and concise.Β  I've left a comment on his YouTube - it would be really nice if he would include a sample scanning data file.Β  I'm currently downloading the "Processing" but without data, it'll be a little tough to experience it.

3 lines of code = InqPortal = Complete IoT, App, Web Server w/ GUI Admin Client, Access Point Manager, Drag & Drop File Manager, OTA, Performance Metrics, Web Socket Comms, Easy App API, All running on ESP8266...
Even usable on ESP-01S - Quickest Start Guide


   
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ron bentley
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Posted by: @zander

@ronbentley1 Did you mean nybbles, as in one byte has 2 nybbles or did you mean a bite has 2 nibbles?

Hi Ron,

In my distance educational past, we used the term 'nibble' for 1/2 byte.

The term 'nybble' is often similarly used, but not by me!

Ron B

Ron Bentley
Creativity is an input to innovation and change is the output from innovation. Braden Kelley
A computer is a machine for constructing mappings from input to output. Michael Kirby
Through great input you get great output. RZA
Gauss is great but Euler rocks!!


   
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ron bentley
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Posted by: @inq
Posted by: @ronbentley1

A very impressive set of ambitions there, and I look forward to reading inqling jnr's progress!

Keeps me from street walking... and getting ignored. 😆Β 

Indeed! How can anyone ignore @inq?!! 😆Β 

Ron B

Ron Bentley
Creativity is an input to innovation and change is the output from innovation. Braden Kelley
A computer is a machine for constructing mappings from input to output. Michael Kirby
Through great input you get great output. RZA
Gauss is great but Euler rocks!!


   
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robotBuilder
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@inqΒ 

I'm currently downloading the "Processing" but without data, it'll be a little tough to experience it.

They also have a version for the Raspberry Pi.

https://pi.processing.org/

Β 


   
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Inq
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Posted by: @robotbuilder

They also have a version for the Raspberry Pi.

I only crack open and use Linux under thumb screws!

3 lines of code = InqPortal = Complete IoT, App, Web Server w/ GUI Admin Client, Access Point Manager, Drag & Drop File Manager, OTA, Performance Metrics, Web Socket Comms, Easy App API, All running on ESP8266...
Even usable on ESP-01S - Quickest Start Guide


   
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robotBuilder
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@inqΒ 

I see you can also install Windows 11 ARM on the Raspberry Pi4.

Unless you use an onboard laptop (or remote control from a PC) to do the heavy lifting your robots will be limited in what they can do with an Arduino alone.

Β 

Β 

Β 


   
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Inq
 Inq
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Posted by: @robotbuilder

@inqΒ 

I see you can also install Windows 11 ARM on the Raspberry Pi4.

Unless you use an onboard laptop (or remote control from a PC) to do the heavy lifting your robots will be limited in what they can do with an Arduino alone.Β 

https://youtube.com/clip/Ugkxa2-380sVPJNRJfz_F9A3Yty9WtBa2z8j

I think a RaspPi is perfect with Linux for the higher functions.Β  The Inqling series are going to be mostly reflex-only lower life-forms.Β  😆Β 

3 lines of code = InqPortal = Complete IoT, App, Web Server w/ GUI Admin Client, Access Point Manager, Drag & Drop File Manager, OTA, Performance Metrics, Web Socket Comms, Easy App API, All running on ESP8266...
Even usable on ESP-01S - Quickest Start Guide


   
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Ron
 Ron
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@inq Don't forget the Pi comes in some pretty small form factors like the Zero2 now with WiFi as the PiZero2W. Lot's of capability, size about the same as NODEMCU but power consumption may be an issue unless expensive wake up boards are employed.

"Don't tell people how to do things. Tell them what to do and let them surprise you with their results.” - G.S. Patton, Gen. USA
"Never wrestle with a pig....the pig loves it and you end up covered in mud..." anon


   
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frogandtoad
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@robotbuilder

Posted by: @robotbuilder

@inqΒ 

I see you can also install Windows 11 ARM on the Raspberry Pi4.

Unless you use an onboard laptop (or remote control from a PC) to do the heavy lifting your robots will be limited in what they can do with an Arduino alone.Β 

I see Chris fro Explaining Computers has recently published a video on this, but not sure it was that favorable?


   
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