Lidar - 1st pass, and improvements

The print came out great, for such a complicated shape. Part of this exercise is to push the limits of the printer, and the other part of this exercise is to design it better for printing based on what is discovered in the process.

Problem spots which were noted at time of beginning to print:

1. The mask for the encoder emitter detector sensor makes printing this structure with the modern support structures almost impossible because of the density of small features in the model. The durability of the mask is compromised by the proximity to support material.
2. The manufacturability of this object is much lower than it could be. The issue is that the assembly is not that modular for repairing the unavoidable wear and tear on a spinning part.

Ways to improve design:

• Create large printable planes and minimize support material needed to improve structural integrity of part. The easiest way to to this is raise the interior of the top of the encoder wheel.

• Separating the gear component into its own part will ease repair of the component by adding accessibility. Likely, I will take this idea further and replace the the plastic pins with bores for some pins. And these pins will be threaded from either side of the pulley bores by a threaded inset. The pins will sandwich the pulley and the encoder between the laser mount bracket and the slipring.

Lessons learned should never be passed over too quickly:

From experience, while working on robots from the field for a few years... The repair of the robot is unavoidable, just as your car will not run forever without maintenance. Making that repair process easier or more difficult - is up to the designer and the manufacturer.

Note, I needed to add some relief into the bottom of the encoder sensor cover. This also looks much easier to assemble. The previous concern was for upward light into the detector, but the new shelf adds the needed emitter/detector isolation.

Future improvements:

• threaded pins inserts 
• bore holes through pulley with threaded inset mates for pins 
• add cable management into the base and encoder cap

Lidar - Increased Resolution

Originally, I had designed the encoder every 4 degrees, meaning that the overlapping encoder tick on the inside track would trigger every 2 degrees. I doubled the number of holes and halved the ~4mm to ~2mm.

Since the sensor is only about 1mm wide, I think this will work as the lidar will likely not be spinning more than a few Hertz. I am planning on running this on an ARM and I do not know what the pulse/interrupt rate looks like yet for the optical interrupter.

I think that increasing the resolution to 1 degree per encoding seems like a good idea. Luckily if it doesn't work out, changing the model is really simple - since it's just a few constraints on a circular pattern to tweak the model.

Lidar Rethinking...

I could hear the voice of the Camp Peavy in the back of my mind, as I was finishing up the assembly, saying, "You're doin' it all wrong!" I thought I would get clever and put the pulley teeth on the bottom... but this has it's own issues.

And Camp would have been correct too. I thought I was basically assembling the part upside down... turns out I wasn't but now I need to hybrid the two ideas. The problem with the pulley teeth on the bottom is that the encoder is too high and interferes with the sender/receiver.

Clearly I was on the right track the first time. All I really needed to do was lower the slip ring under the gear (as I did in the first time I heard Camp's voice in my head). The second time I heard "you're doin' it all wrong!" was because I missed the measurement on the optical interrupter cover.

Oh well... As Marvin the Martian says, "well... back to the drawing board." Hey, it's Monday, so my notion that I would be 3D printing today - was not an incorrect assumption!

Lidar Encoder Pulley

Showing off the encoder pulley I just modeled. I've still got some sizing estimates to deal with, but it's getting pretty close. There's probably not enough clearance on the inside still for wiring, screw mount and top of arm enclosure.

I need to build the design the lower mount and encoder sensor arm. I decided to go with the standard H21A1, just like how some older smoke alarms work. I added a channel to mask the led and sensor of the other optical interrupter.

Lidar, revisited...

Pulsed Light has been selling a fairly low-cost, long range lidar. I just got around to doing something with the one in the mail today. I also got a 6-wire slip ring... uhh huh... that's right.

What did you think was going to happen? I mean, it's just begging to spin...

So, I picked 100XL timing belt, since it's stock in 1/4" width.

And the Lidar mount was quite possibly the most cumbersome thing to design since airplane parts in a past life.

I think it should work just fine... I'll start 3D printing before Monday, likely.

Beaglebone Black - Eclipse Remote Debugging, Ubuntu

I recently had to get my remote debugger working for a beaglebone black. Contrary to my post on MacOSX cross compile toolchain - I decided to use Ubuntu.

Beast visual servoing on Youtube

I shared a video for Homebrew Robotics Club last week - where, Henry was the only member of the team to attend. 

Enjoy beast visual servoing and acquiring a sample - fully autonomously - while I log the data in a tethered fashion. Wifi also works really well for logging, but by this point we were prepped for the field day at WPI.  So, we had removed the wifi access point.