Hi Guys, Members of our hackerspace Workshop 88 <http://www.workshop88.com/> have acquired 3 Scorbot Er-3 with controllers. We've tested them out and the bot's who we've named Huey, Dewey and Louie all seem to be working well.
We'd like to use Ros on those bots, but the issue is how to get there. I was reading Alex Rössler post about machinekit and Ros at https://machinekoder.com/machinekit-ros-open-source-robots/ and it seems like this might be an approach worth trying. Seb Kuzminsky used linuxcnc on a scorbot Er-3 with the existing control https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/user_comps/scorbot-er-3.py https://github.com/LinuxCNC/linuxcnc/tree/master/configs/by_machine/scorbot-er-3 I've been corresponding with him on this and he said that this approach resulted in jerky motion since linuxcnc was communicating of a 9600 baud serial line. He wound up replacing the control and creating a new controller with Mesa 7i43 (EPP Hostmot2 card), a Mesa 7i54 (Six channel 3A 40V Servo interface), We've been toying with a couple approaches: One approach would be to replace the controller and build a servo interphase using arduino nano's and a L298 motor drivers: https://www.youtube.com/watch?v=vHufLMh4xEI and either use a pc or bbb to handle the motion planning. We've been studying the Scorbot controller and it is well made and fully socketed. We were thinking that we could lobotimizing the control by yanking the 8031 control. 15 pins basically access everything on the board. It would be sort of cool, if we could create a cape and socket adapter and just plug in a bbb to the control and get it to run. We're still in the process of figuring out the motor drivers and the encoders. Have people done this sort of thing is a dumb idea? Is machinekit via a BBB able to handle this type of multiplexing out of the box or with minor modification or would this be a major modification and a cludge not worth doing? If there is a project that's done this already, could someone point me to a project that I could template from? Any thoughts on this would be appreciated, Thanks, Tom -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/2b219361-5664-4576-8e81-08c055309bb2%40googlegroups.com.
