Forum Comments

Using OpenSCAD to 3D print customizable parts - a very brief tutorial
In Hardware
Is it possible to add a Raspberry Pi later after building Nybble with only the Nyboard? Or should I go ahead and install it during the build
In Basic Assembly and Setup
Nybble Gets A Training Safety Harness
In Showcase
Tom Swann
Jul 07, 2020
Great point!
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Specific case of an erratic behavior problem with a diagnosis and solution.
In Clinic
New NyBoard Prototype
In Hardware
请问这些skills是啥缩写?
In Software
How to speed up Kitty
In Software
Tom Swann
Jul 04, 2020
Thanks for that info Rz!
0
Sketch and Program Storage Space
In Software
Tom Swann
Jul 04, 2020
If you want to temporarily gain some program memory space, you can set a compile directive to not use the gyros (see below). Of course doing so effectively puts the Nybble into turbo mode since the servos get more cpu cycles. If you want to use this trick a lot, you would need to throttle back the servos by e.g.: [1] using more steps as is done in the behavior() function with speedRatio or [2] using the same number of steps but with a pause after each (new code would be needed) or [3] reduce the servo voltage (hardware fix). Of these, I am planning to use approach [1]. Update: 2020-07-05 Since the behavior() function only works for poses and the need above is to throttle back the servos in gaits, approach [1] will currently not work for this purpose. I think the simplest approach at present is to turn on the compile directive "#define SKIP 1" in Nybble.ino. See @Rongzhong Li's comment here. Of course, this doesn't provide fine speed control nor can you change the speed in real time (though the latter could be handled with some code changes, e.g. approach [2] above). BTW, changing SKIP to higher integer values will further slow the gait speed which can be handy for study of each frame in a gait! Code Snip: #ifdef USE_GYROS // set our DMP Ready flag so the main loop() function knows it's okay to use it PTLF("DMP ready!"); dmpReady = true; //TS dmpReady = false will disable the checkBodyMotion() function so the gyros will not be used and speed increases to turbo. Program memory consumption drops to 89% in my case. #endif
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New sensors for the NyBoard
In Hardware
New sensors for the NyBoard
In Hardware
Tom Swann
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