Update

[Simon Engler]

Message from Collin, his email might be bouncing from the space farm google group. Could someone please add him?

According to the email below, the arm was shipped fast so there is no demo program. So likely the chip is working, we just have to connect it to the computer.

Simon

-------- Original Message --------

Subject:	RE: [HI-SEAS space farm] Re: Robot arm
Date:	Sat, 3 Aug 2013 06:16:16 -0600
From:	Collin Lewis <col...@invenscience.com>
To:	'Simon Engler' <simon....@gmail.com>, <hi-seas-s...@googlegroups.com>

Folks,

I believe the Maestro shipped separately from the ARM and would therefore not have had a program on it.

To start controlling the ARM from a PC,  you will need to load the drivers from:

 

http://www.pololu.com/catalog/product/1350/resources

 

Also grab the users guide while on that page. It will take you through the entire programming process.

 

Since you have the RC connector cable for the ARM, I would attach it to the back of the ARM and then connect the RC style connectors to the Maestro and then connect the Maestro via usb to your pc. In this configuration, the Maestro board will power from your PC. Once you have the drivers loaded and open the program utility, you will see a GUI like this:

After you connect, you will have full servo control.

Start with everything disabled and bring the gripper online first by clicking the check box. Once you are comfortable with it, bring the wrist online, etc.

-Collin

From: Simon Engler [mailto:simon....@gmail.com]
Sent: Saturday, August 03, 2013 3:14 AM
To: hi-seas-s...@googlegroups.com; col...@invenscience.com
Subject: Re: [HI-SEAS space farm] Re: Robot arm

 

Okay, something is odd.

Collin, could you provide some direction for Ileana? The robot is all set up. It won't even go through the demo movements that are supposed to be on the servo controller when the arm is powered up. Could you please help her trouble shoot?

From a previous email from Collin:

"

HI,

The simplest way to get going is to use the cable and connect it to the output channels (6) of the Maestro Servo Sequencer. You will need to connect it to 12VDC power as well.  Keep it (the maestro) external to the arm so you can plug in the usb to your pc to get it programmed. You will need to load the control software from Pololu. Look for a link for windows drivers. Here is a link to the page:

http://www.pololu.com/catalog/product/1350/resources

There is also a manual for the maestro at this link.

-Collin

"

Simon

 "On 02/08/2013 11:06 PM, Ileana Argyris wrote:

Hi Simon,

 

The pre-installed demo program is supposed to run immediately after the arm is powered with the chip installed. All the arm does when powered up with the chip installed is open its hand a little and twist to the side. 

 

Thanks,

Ileana

 

On Fri, Aug 2, 2013 at 5:19 PM, Simon Engler <simon....@gmail.com> wrote:

Hm, we have to figure out if it is a software issue or an issue with the card itself.

The card is supposed to be able to take the arm through a number of motions on its own with out being hooked up to a PC. If it can do that, then it is definitely not a card problem. Did you try to run the Pre-installed Demo program? (3.2.2.1 Pre-Installed Demo Program)

Another option is to have myself log in via teamviewer and see if I can get the robot talking to the computer, or at least see if the servo sequencer is talking.

We can also try to seek some advice from the manufacturer once we rule out a hardware/software problem.

Simon

On 02/08/2013 4:54 PM, Ileana Argyris wrote:

Hi Angelo and Simon,

I made sure to take out the chip when I was testing the arm with the manual controller.

I don't know what could be causing this problem but I will continue to research it. I'm considering getting another chip.

Best,
Ileana

On Aug 2, 2013 4:23 PM, "Angelo Vermeulen" <ang...@delaysnrf.ksc.nasa.gov> wrote:

Hi Ileana, any news on this?
A

On 8/2/2013 12:43 PM, Simon Engler wrote:

Hi Ileana,

From what I understand, the manual controller you have, and the servo chip controller are two different animals.

3.2.3 Control Signal Input

"... If the Servo Sequencer board has been installed, it will be necessary to remove it before sending command signals into the Master Control Port (MCP). For pinout of the MCP, see 4.3. Failure to do this may result in strange and unexpected operation and may damage the Sequencer and / or PC or other signal source. See section 3.2.2.1 for removal instructions.....

CAUTION: Never supply signals to the Master Control Port with the Servo Sequencer installed."

I understand this to be that you should disconnect the manual controller we sent you as they may be overlapping signals.

You certainly may have made sure to do this already, but this is the first thing that comes to my mind.

If not, anything else you can tell us that might help me understand what the issue might be?

Simon

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[Angelo Vermeulen]

Ileana, please let us know when you have a chance to follow up on this!

Cheers,
Angelo

[Ileana Argyris]

Hi Angelo,
I'm at the ranch right now. I'm working on the arm as we speak. I'll have news soon!

Best,
Ileana

[Ileana Argyris]

Good news!! The chip works. (:

[Simon Engler]

Beautiful!! I will try to log into teamviewer now.


On 03/08/2013 4:39 PM, Ileana Argyris wrote:
> !! The chip works. (:

[Ileana Argyris]

Hi Angelo!

Here's some pictures of the plants that started growing in the first tray of plants, the second tray of plants that need to be transplanted soon and some plants in the baskets. 

Thanks,

Ileana

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[Angelo Vermeulen]

Hi Ileana,

Thanks for the photos! Can give me some more info about the plants in the photos: (1) which species are these, and (2) how old are they (especially the plants in the aquaponics system).

Cheers,
Angelo

On 8/4/2013 12:48 PM, Ileana Argyris wrote:

Hi Angelo!

Here's some pictures of the plants that started growing in the first tray of plants, the second tray of plants that need to be transplanted soon and some plants in the baskets. 

Thanks,

Ileana

On Sat, Aug 3, 2013 at 5:02 PM, Simon Engler <simon....@gmail.com> wrote:

Beautiful!!  I will try to log into teamviewer now.


On 03/08/2013 4:39 PM, Ileana Argyris wrote:

!! The chip works. (:

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[Ileana Argyris]

Hi Angelo,

The plants in the second tray are listed on the plant inventory spreadsheet. These plants range from two - three weeks old.

The two plants that started growing from the first tray are both Swiss Chard. They are one week old.

The three plants in the hydroponics system are:

• Arugula, cinder: 1 month
  
• Arugula, hydrocorn: 1 month
  
• Black Seeded Simpson Lettuce, hydrocorn: 1 month 
  

Thanks,

Ileana

[Ileana Argyris]

Some more observations:

• 1D (Nevada Lettuce) was completely eaten by some bug. (The leaf, not the leaf stalk) :( But it's slowly growing back its leaves. 
  
• Other plants are getting nibbled on by bugs.
  
• Spiders are spinning webs on empty baskets.
• It's hard to grab baskets remotely because you can't really tell where the claw hand is (maybe we should find a different placing for the camera on the arm or color it somehow? It's black on black)
  

Thanks,

Ileana

[Angelo Vermeulen]

Hi Ileana,

Indeed, it seems like we still have to go through some more problem solving. Did you already get a chance to talk with Michael, Henk's son? He built his own aquaponics system on the ranch and those plants looked small but mostly healthy.

The plant (in the hydroponics system) don't really look in very good shape. It's hard to judge what the problem is, but after one month they should look more advanced. I've asked Jean Hunter for advice. How much nutrients do you provide?

Once plants are more healthy, pests should be less of a problem.

And yes, at this point we cannot properly navigate the gripper since we can't see what's happening. Anything to improve this situation would be more than welcome.

Cheers,
Angelo

On 8/4/2013 4:21 PM, Ileana Argyris wrote:

[Ileana Argyris]

Hi Angelo,

I think I found the problem. After reviewing the data from the growtronix system, I realized that the policies were not working like they were supposed to. I edited them and they seem to be working correctly now. 

I put 1 tsp of maxigrow for every gallon of water in the reservoir as stated in the instructions.

To fix the problem with the gripper I attached a piece of wood to bring the camera up higher. I also wrapped some white tape around the claw for better visibility. Please see the pictures attached.  

I hope to test the arm with you and Simon around 3 tomorrow. I will send an email when I am at the ranch.

Thanks,

Ileana

[Angelo Vermeulen]

Terrific ideas Ileana! We'll be in standby tomorrow for a new test!

I think the light is way too low for the plants. Not sure how to address this. Maybe we should move all the lights together over one quarter of the spiral and only have plants there. Lowering the lights is not an option I guess. How is the root development of the plants? Can you please make a photo of that. Try to get a hold of Michael when he's at the ranch. He might be a good resource.

Cheers and thanks!
Angelo

[Angelo Vermeulen]

Ileana, I forgot to ask: could you reposition the other two webcams please? One at the ceiling so we have an overview of the whole setup (you might need a USB extension cord), and one sideways showing the entire arm. This will make it way easier for us to navigate the arm.

Cheers,
Angelo