I am working with http://www.amorphicrobotworks.org to help them move from Max/MSP on MacOS 9 to Pd on Windows so that don't need two computers for each robot. Currently the set up is two computers: one Windows PC running ShowFlow/HRBox (http://www.mediamat.com/) responding to MIDI input; and one Mac running Max/MSP to control the HRBox software using MIDI. By using PD, we can have both programs running on one computer. Also, we can save money by not having to buy Max/MSP for each robot.
So this got me thinking. The ShowFlow/HRBox software is expensive and we are basically only using the PID loop control features of it, so if I could do this in Pd, as well as the data aquisition, then I could run the whole robot using Pd alone. So I am wondering whether anyone else has tried using Pd to control robots?
.hc
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Le 20 Juin 2003 12:46, Hans-Christoph Steiner a écrit :
So this got me thinking. The ShowFlow/HRBox software is expensive and we are basically only using the PID loop control features of it, so if I could do this in Pd, as well as the data aquisition, then I could run the whole robot using Pd alone. So I am wondering whether anyone else has tried using Pd to control robots?
Please describe that "PID loop" feature and the data aquisition requirements (number of inputs, resolution, etc). There's probably dozens of possible alternatives to the HRBox.
Marc
PID stands for Proportional, Integral, Derivative. Its a standard method of controlling servos and robotics. (http://www.expertune.com/tutor.html)
For the robotic tree we just did, there were 10 pneumatic cylinders for the arms and 80 switches to control drippers. The cylinders had built-in position sensors. I believe the A-to-D was 12-bit, but it may have been 16-bit.
I found one that looks good, http://mat.sf.net but I was wondering whether it would be feasible to do this within Pd entirely.
.hc
On Fri, 20 Jun 2003, Marc Lavallée wrote:
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Le 20 Juin 2003 12:46, Hans-Christoph Steiner a écrit :
So this got me thinking. The ShowFlow/HRBox software is expensive and we are basically only using the PID loop control features of it, so if I could do this in Pd, as well as the data aquisition, then I could run the whole robot using Pd alone. So I am wondering whether anyone else has tried using Pd to control robots?
Please describe that "PID loop" feature and the data aquisition requirements (number of inputs, resolution, etc). There's probably dozens of possible alternatives to the HRBox.
Marc -----BEGIN PGP SIGNATURE----- Version: GnuPG v1.2.1 (GNU/Linux)
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Le 23 Juin 2003 00:15, Hans-Christoph Steiner a écrit :
For the robotic tree we just did, there were 10 pneumatic cylinders for the arms and 80 switches to control drippers. The cylinders had built-in position sensors. I believe the A-to-D was 12-bit, but it may have been 16-bit.
Then you need a good and fast I/O card. Industrial type.
I found one that looks good, http://mat.sf.net but I was wondering whether it would be feasible to do this within Pd entirely.
You could interface PD with a similar software. It might be easier than coding an external for an acquisition card and write fancy patches to implement programmable logic. It also depends on the complexity of your project.
Marc