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Clinic
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Bittle X falls under its own mass
Hello,
In the context of a school project I want to integrate more AI to the bittle X, I added a raspberry Pi 4 (for running ros) using the printable pi standoffs and also created a support (replacing the head) for an oak-d-s2 stereo camera with TPU capabilities. Under its new current load I decided to build a new battery composed of two 18650 cells. This setup adds approximately 200 grams to the robot, but the mass is pretty well balanced throughout the robot.
Recently, my robot started to loose its rigidity while in the balance state or any up position. It looks like the servos loosens after approximately 5 seconds, then usually the IMU kicks in to balance the robot back into position creating a jump or sometimes falling to its side.
I tried removing all added items but results are similar although much less severe, it readjusts more…
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Back at the Vets
Recently, I had a problem with my BittleX robot and, after reporting it here, it was diagnosed as having a power circuit failure. I then requested a replacement from support, and they sent the replacement board. (Many thanks go to the Petoi team, from top-to-bottom, for their efforts towards getting me the new board.)
Replacement Biboard installation
The installation of the board was mostly uneventful with one, minor exception. The Ultrasonic sensor that sticks out at the front of the board is unadjusted and may interfere with the movement of the robot head. You should bend the sensors downward towards the shoulder in order to prevent interfering with the head. You can test the head clearance with all power off.
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Rongzhong Li
Apr 22
The T_JOINT token only returns the previous assigned joint angle instructions. It's not reflecting the actual joint angle. What's the date mark on the bottom of your servo? For recent batches, we included the angle feedback functionality. It needs to be called by token 'f'. It will return the list of the actual angles. 'f JointIdx' will return the single angle. For example, "f8".
Testbench: Servo current measurement
The purpose of the test is to measure the amount of current drawn by the P1L servo. For current measurement background see How to Measure Current with a Multimeter (youtube.com)
Equipment
Multimeter
1 P1L servo
2 breadboards (830 tie points each)
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Hello, Thanks for the interest ! I've added the subtitles to the video, you should be able to translate directly via youtube. If interested, here are all the parts we used on the robot: https://youtu.be/FMRfr2KGF78 Don't hesitate to come back to us if needed !