blossom build
This Wiki should get you up and running from the mechatronics perspective.
Vyo reference: https://docs.google.com/document/d/1y1HZu1D3vB3zkabMPM_WKXCjGNUwU_DcMiqBjjEJEH0/edit#heading=h.d74n7oc4u4w9
| Part | Supplier | SKU |
|---|---|---|
| Raspberry Pi with WiFi | ||
| 12V / 5A Power supply | Adafruit | 352 |
| Stripboard | ||
| DC 2.1mm jack to screw terminal block | Adafruit | 368 |
| SR05S7V2 Linear Regulator DC DC Converter 9V - 34V to 7.2V 500mA | ||
| UBEC DC/DC 5V Step Down (Buck) Converter | Adafruit | 1385 |
| Dynamixel Wires | ||
| Jumper Wires |
- Assemble the clip gear by snapping the clip into the gear
- Attach the clip gear to the spire with M2x16 bolts, with an extra nut threaded to the end to act as a spacer
- Attach 100mm cables to the left ports of the MX-28s
- Sandwich the motor wheels (outer-inner-outer) and fasten onto the MX-28s with
- Fix the motors onto the spire with M2.5x30 bolts
First, ensure that the motors are properly oriented; the string should loop through the channel counter-clockwise (in the direction of the green arrow). If it loops through the opposite direction (in the direction of the red arrow), the motor will spool incorrectly and the direction of the head will be reversed. If this occurs at any point, it's easiest to turn off the motors (remove power) and manually rotate the wheels to the correct orientation.
Connect to the robot and begin the command line utility.
cd RMS
sudo java -jar javaExt-all-1.0-SNAPSHOT.jar blossom cli
Then command the robot to the reset position by typing reset.
Take the top part (with the platform attached, suspended by double-looped rubber bands) and place it on the bottom part, aligning the front attachment point (opposite of the motor) with the string channel of the first motor, threading the cable for the XL-320 motor on the top through the center.
For each string from the bottom part, thread it through the holes directly in front of the inverted bolts on the top plate. NOTE: the rubber band is only removed here so as to not obscure the attachment point. Keep it looped through the "hook" in the plate.
Loop the string clockwise around the bolt, between the two nuts, and tighten the top nut. Looping the string clockwise will further secure the string as the nut is tightened. With the robot at the reset position, the height of the plate should be approximately even with the seam between the top and bottom parts of the spine (second photo).
