I got it to track with an Orange ping pong ball, it looks yellowish in the right light. Once you upload the Ball tracking it ONLY does Ball Tracking, untill you upload Opencat.ino back via Arduino IDE. Cheers

Got the Ball tracking code working Fantastic. Thank you!😀

I have plugged in the intelligent vision sensor, and loaded the MuVisionSensor3 into my Arduino library successfully. Where can I download the Ball tracking code?

I have tried again this time very carefully editing IRremote.h so that I only change the 1's to zeros. It worked! OpenCat now uploading. Thank you!

@eric.chanussot Thank you, I will try this and get back to you. Cheers Chris Gomersall

@eric.chanussot You were right my PWM ranges were initialy wrong I got them from some documentation on a site that sells the servo. But I don't trust them to be correct. It says they use standard PWM range. The Sketch program via the Arduino UNO works well and the servos moved, and responded to the inputs. After following the text prompts from the serial window, The program reported these PWM ranges for the 2 servos. As in my above post. I'm still not there, I think I have the PWM ranges correct NOW, but the Nybble moves so SLOWLY and the movements are REDUCED in there range. For example in the WAVE or HI behavior. I can see Nybble attempting to wave and his left paw moves up and down but the shoulder position is not moving far enough, and the paw is not moving up and down enough. it just wiggles up and down a small amount. It looks like I need to increase the range of movement and speed up the movement. Can I increase the amount of movement per position say in 6 degree increments instead of 5 degree? I'm not sure how to achieve this. Kind Regards Chris Gomersall

@Rongzhong Li @eric.chanussot Hi There, I used the Sketch code you provided with my Arduino UNO to get the PWM ranges of the two servos: Shouldder servos K-Power DMC809 = 283 - 2080 replaces MG92B Knee Servos Power-HD HD-1810MG = 490 - 3100 replaces MG90D Uploaded modified sketch code to cat. Then recalibrated. Cat performs all behaviors VERY SLOWLY and with LIMITED RANGE OF MOTION Should I change the constant in the code ? #define MG92B_RANGE 150 to #define MG92B_RANGE 180 #define MG90D_RANGE 150 to #define MG90D_RANGE 180 Is there a way to speed up the servo movement? at the moment it is very slow? Thanks for your support and help. Kind Regards Chris Gomersall

That is a good idea, however I still have the Original servos' for the Head pan and tilt and the Tail. I change the servos over for some testing.

I've uploaded the altered code, and the cat is performing the behaviours strangely. The movements are shortened and the limbs don't extend fully The wave for example. Nybble doesn't sit properly, and her front legs don't extend fully. Maybe I need to alter the angle range of the servo's for the shoulder and for the knees? Unfortunately I don't have any servo range testing equipment. I must admit I feel a bit out of my depth here. Any further help is appreciated. Cheers Chris G

@Rongzhong Li @eric.chanussot Ok Good news I have found Pulse width range for new servos. Shouldder servos K-Power DMC809 = 1000 - 1500 replaces MG92B Knee Servos Power-HD HD-1810MG = 750 - 2250 replaces MG90D Am I on the right track? what is KUDO what does it refer to? These are the changes I have made to the code in OpenCat.h my changes are underlined //servo constants #define DOF 16 #define PWM_FACTOR 4 #define MG92B_MIN 250*PWM_FACTOR // changed from 170 to 250 to give min of 1000 #define MG92B_MAX 375*PWM_FACTOR // changed from 550 to 375 to give max of 1500 #define MG92B_RANGE 150 #define MG90D_MIN 188*PWM_FACTOR //changed from 158 to 188 to give min of 752 #define MG90D_MAX 562*PWM_FACTOR // changed from 515 to 562 to give max 2248 #define MG90D_RANGE 150 #define KUDO_MIN 115*PWM_FACTOR // I'm not sure what KUDO refers to ? #define KUDO_MAX 621*PWM_FACTOR #define KUDO_RANGE 220 // called this way, it uses the default address 0x40 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(); // you can also call it with a different address you want //Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41); // Depending on your servo make, the pulse width min and max may vary, you // want these to be as small/large as possible without hitting the hard stop // for max range. You'll have to tweak them as necessary to match the servos you // have! #ifndef KUDO #define SERVOMIN MG92B_MIN // this is the 'minimum' pulse length count (out of 4096) #define SERVOMAX MG92B_MAX // this is the 'maximum' pulse length count (out of 4096) #define SERVO_ANG_RANGE MG92B_RANGE #else #define SERVOMIN KUDO_MIN // this is the 'minimum' pulse length count (out of 4096) #define SERVOMAX KUDO_MAX // this is the 'maximum' pulse length count (out of 4096) #define SERVO_ANG_RANGE KUDO_RANGE #endif Kind Regards Chris G

I've found in the servo specs where it says what the pulse length is in seconds, but this is probably not very precise. There is a section in testServo.ino that allows for setting the pulse lenth in seconds. Should I use this?

@Rongzhong Li Thank you for your reply, Ok ALL NEW servo's installed and calibrated. Cat's movements are strange and moving out of range for given instinct. it looks like i'll have to benchmark the min and max pulse length count. I have found the code you refered to. testServo.ino The code I have is slightly different, do i need to download the latest version of your code? Do I plug in constant values for SERVOMAX and SERVOMIN and see what happens? How do I find the correct values for these constants? Sorry for all the questions.

@Rongzhong Li @eric.chanussot New Servo's Installed! They fit well exept for a bit of filing I had to do to fit the shoulder servos in. As the wires for the new servos exit the body at the side rather than the bottom. See Before filing ( Left ) and After filing ( Right ) Photo's:- Old Servo Blue ( Left ) new servo Gold ( Right ) :- Any advice on modifications needed to code instinct.h ? or any other modifications? Shoulder servos: replacement for MG92B K-power DMC 809 Spline count 20T Speed @ 4.8v 0.08sec/60 Speed @ 6.0v 0.07sec/60 Knee servos: Replacement for MG90D Power-HD HD-1810MG Power HD 1810MG has a spline count of 21. Speed @ 4.8V: 0.16 sec / 60° at no load Speed @ 6.0V: 0.13 sec / 60° at no load

Yes I have purchased the replacement servos. Still awaiting delivery!

Thank you, that makes sense. I will do. Is there anything else I should be doing? Given there will be small differences in the replacement servos. For example the Power HD 1810MG has a spline count of 21. And the speed of the servo is slightly slower. Speed @ 4.8V: 0.16 sec / 60° at no load Speed @ 6.0V: 0.13 sec / 60° at no load

@eric.chanussot @Rongzhong Li Found a worthy Replacement for the knee Servos The problem as Rongzhong Li points out is that the original servos are shorter from the mounting point to the end of the servo block. See diagram below. This is to provide enough clearance so the servo motors don't touch the batter holder as they move. So the 2 replacement Servos are as follows:- Shoulder servos: replacement for MG92B K-power DMC 809 Knee servos: Replacement for MG90D Power-HD HD-1810MG The Knee replacement servo has a short distance between mounting and Servo Base of about 18.8mm which is about the same as the MG90D I havn't purchased these yet, but I'm willing to take the risk and see how it turns out. Finding both servos with similar specs and sizes wasn't easy! K-Power available on ebay Power-HD available on Amazon Be careful I have found that there can be slight size variations even within the same model number.

Thankyou I would have missed that. I will search for a shorter servo as a replacement for the MG90D Thanks for all your replies!

This is what I've gotten from the servo specs:- TowerPro MG92B Hi Torque used for Shoulder Servos Dimensions 22.8 x 12 x 31mm TowerPro MG90D Used for Knee, Head and tail Servos Dimensions 22.8 x 12 x 28.5mm Shorter! Possible Expensive Replacement K-Power DMC809 servo Dimensions 23 x 12 x 27mm Given that these servos are shorter 27mm Will this be Ok for the Knees, head and tail and still provide clearence for the battery holder? Cheers Chris G

@Rongzhong Li like this one with Titanium gears? Are there any specs I should be looking for to match existing servos? I think I have Voltage, Torque and dimensions lined up with the existing servos. I just want to be sure I'm not missing anything.

Thank you for the prompt reply. Do you have the model numbers for the better servos? I would like to replace the existing ones with the better ones, if it means a smoother operation. Once again I want to thank you for making this wonderful project it has been a blast constructing the Japanese puzzle pieces and working out the calibration, solving all the little issues is a challenge I enjoy. Thanks again Chris G