nyboard v0

my board

Hi, I created this scheme to facilitate the recognition of the servants on the cat, in red (in the squares) are the servos to indicate in the software, while in green (outside) is the pin number of the pca9685 where the servos are to be inserted.

I hope to be clear.

See photo

Giuseppe

That makes sense! Thank you! Here is a pic of beautiful Bella :)

Thanks again for your time! German cat (her name is Bella) responds now, walks and does the poses.

She moves much slower than the catmini-Version, Is that the normal behavior?

Wow, that was a fast response! - thank you :) I will try it later, our german cat is close as it already reacts to the commands (but slowly because of the "FIFO overflow! Using last reading!").

MPU calibration only has to be done once. You can recalibrate by restarting the sketch.

The 229 in last lines is a battery voltage check. If it's too low the cat will keep meowing and refuse to move. The wiring on NyBoard is between A0 of Arduino and the battery, through two resistors as a voltage divider. You can comment out the section (at the beginning of the loop).

  float voltage = analogRead(BATT);
  if (voltage <
#ifdef NyBoard_V0_1
      740
#else
      300
#endif
     ) { //give the cat a break when voltage drops after sprint
      //adjust the thresholds according to your batteries' voltage
	//if set too high, Nybble will keep crying. 
	//If too low, Nybble may faint due to temporary voltage drop
    PTL(voltage);//relative voltage
    meow();
  }
  else {

I have other models sharing the same code. #define NYBBLE will set the right parameters.

Well, after adding the changes you mentioned and adding in opencat.h #define WALKING_DOF 8 writeinstinct.ino tells me:

calibration stuff... then

Finished!

Calibrate MPU? (Y/n)

Gotcha!

Its not possible to recalibrate the MPU.

Uploading the nybble.ino ends up with:

* Starting *

Initializing I2C

Connecting MPU6050...

Testing connections...

MPU successful

Initializing DMP...

1482 65 200 40

Enabling DMP...

Enabling interrupt detection

DMP ready!

* Assigning 10 skill addresses...

0

and so on..

9

Finished!

FIFO overflow! Using last reading!

FIFO overflow! Using last reading!

299.00

FIFO overflow! Using last reading!

299.00

I guess I have missed something important :) How has the

#define NYBBLE to be treated and what about the absent NyBoard?

Any hint?

Thank you in advance

Steffen

Hi, thank you for sharing your knowledge and outstanding project. I just proudly solved my Cat-Mini :) Next step is the use of your nybble-code. With your expaintations above it should be doable.

Hi, the motion is performed similar to animation. Think Nybble as a posture player, you can design individual postures by changing the angle array defined in Instinct.h, then play them one by one using the

void transform( char * target,  float speedRatio = 1, byte offset = 0)

function in OpenCat.h. Sequential motion can also form a behavior.

void behavior(int n, char** skill, float *speedRatio,int *pause) 

There are several examples in Nybble.ino showing how they are used.

To start with, you can use command "midx angle" to move a single indexed joint to certain angle. For example

m0 30

moves joint 0 (head panning) to 30 degrees.

Hi, thanks for making the software and instructions available to build this beautiful kitten, I made my cat in PVC and electronics and cheap servants but with a good final result, now I would like to add other movements I ask you how and what software you used for simulation, thanks again.

I apologize for the translation.

Giuseppe

Thanks for the advice, I am waiting for new servants (sg92r) as soon as they arrive I will post the photo of my quadruped, congratulations for the new updates please publish new photos of the kitten. Thanks again for your availability .

Giuseppe

Thanks for answering, I made custom catmini but I would have liked to have the new kitty with a more advanced software, I wanted to order a nyboard but it takes too long to receive it (April) in Italy thanks for the availability and courtesy.

I apologize for the trduction.

Giuseppe Nerone

The Nybble kit including NyBoard is available on Indiegogo. The hardware design file is not public for now.

I have a fully DIYable version, CatMini on GitHub. It was used for teaching my previous class. The circuit board can be made by wiring some popular boards. But the servos are connected directly to the batteries without regulator. Thus it's more powerful but will also reduce the lifespan of servos.