No Arduino code provided

[colorado1876]

Thank-you for sharing your project. I would like to build something similar. When I downloaded the project file, I noticed there is not any code for the Arduino, only photos and .stl files. Are planning to post the code?

[Tek-User]

I think I listed where the source code is.I would need to check, but I think it is on GITHUB.Sent from my 1837 Babbage Analytical EngineOn Feb 6, 2025, at 2:46 PM, colorado1876 ***@***.***> wrote: Thank-you for sharing your project. I would like to build something similar. When I downloaded the project file, I noticed there is not any code for the Arduino, only photos and .stl files. Are planning to post the code? —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[Tek-User]

I will track down the code and send it to you and will also post it on GitHubSent from my 1837 Babbage Analytical EngineOn Feb 6, 2025, at 2:46 PM, colorado1876 ***@***.***> wrote: Thank-you for sharing your project. I would like to build something similar. When I downloaded the project file, I noticed there is not any code for the Arduino, only photos and .stl files. Are planning to post the code? —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[kroesi]

Hello, I'm also very interested in the Arduino code. And I also would like to know, how you calibrated the arm (how to set it to a known point with known angles).
Thank you for the nice design!
Sebastian

[Tek-User]

I will try to find that code.  ThoughThe code is a definite first stab at the solution.  Not polished.  It functions adequately.The “calibration” of the arm is done by putting the joints in known, reproducible positions.   The lengths of the arm sections are constants.I would love to have all variables (the pivot positions and arm lengths) able to be determined by placing the pointer in known positions in 3 dimensional space, snd determine the values of the variables from there.And in many locations in 3D space the joints can be in several different positions and still point to the same location.  I think that by using these different solutions to the same X-Y-Z point then by some form of simultaneous equations the variables can be solved.I found that using constants for the armSection lengths gave better results than having them be variables that need to be solved-for.I bet that my complex math skills are the limiting factor!!! -TonySent from my 1837 Babbage Analytical EngineOn Mar 12, 2025, at 11:30 AM, kroesi ***@***.***> wrote: Hello, I'm also very interested in the Arduino code. And I also would like to know, how you calibrated the arm (how to set it to a known point with known angles). Thank you for the nice design! Sebastian—Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you commented.Message ID: ***@***.***> kroesi left a comment (Tek-User/CMM-Arm#2) Hello, I'm also very interested in the Arduino code. And I also would like to know, how you calibrated the arm (how to set it to a known point with known angles). Thank you for the nice design! Sebastian —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you commented.Message ID: ***@***.***>

[kroesi]

Hi, thank you for your response. I think I'm capable to do the code myself, I thought you had it at hand, never mind.
I already thought about to do my own design of the arms (though I like your design and everything fits together very well). I want to add some bolts (just for calibration) to lock the arms in known angles and then press a button which is connected to the Arduino to signal that the arm is in the known position. After that I would remove the bolts and start measuring. As soon I have time I will give it a try...
Best regards
Sebastian

[Tek-User]

That’s great. There is nothing particularly unique about my code. Working out an efficient means to read the quadrature transitions is a little tricky. I used interrupts and tried to spread them out over different ports because I needed to use pin change interrupts which just alert to which PORT had the change, not the individual pin. And the interrupts need to be handled fast since there can be a flurry of pin changes when the arm Is being moved into a new position. Fortunately the encoders are optical and do not have bounce the way mechanical encoders would. I do not think you need to put bolts Into the arms to hole the joints in a k own position. I simply position one joint at a time and read one position then reposition it to another known position (in relation to the adjoining arm) and register that position. Two positions for each joint except the pivot which I did not need to calibrate. It simply starts at zero. Though you can zero it to new position if you want. I have the Arduino send the code xyz coordinates over the serial port to a computer recording text over the serial port. Then I import that data to whatever program needs it.

…

-Tony