Archive for the Prototyping Category


Posted in Processing, Prototyping on August 23, 2015 by asteriondaedalus

I have IntelliJ IDEA on my desktop, I sort of flick between it, Eclipse JDT etc.  I had actually pulled it up to use it for my Elixir and Erlang programming.

Turns out BoofCV has a Gradle build and is IDEA friendly so I thought I would poke around and make a few changes.

One thing I wanted to do was to look at integrating sarxos webcam-capture in with BoofCV and I was poking around trying to workout how to do that.  Well, turns out there is a folder in the BoofCV project in IDEA that actually already does this so I was able to run a couple of feature and object tracking examples off my Bloggie.

I did note they were using 0.3.10 versions of webcam-capture so the “get camera by name” method was missing, so I had a look at how to add it in the IntelliJ IDEA.  I will have to get a Gradle book but it looks like an xml file pulls jar base libraries into a cache.  I did the change the dirty sneaky way and I copied 0.3.11 over 0.3.10 in the cache to see if that would let be play.  It did and I modified a BoofCV class to allow for named webcams.

I will still need to read up on Gradle to work out WTFO on the URL and the URI that seems embedded in it.  Might not be straight forward as 0.3.11 does not appear in the main or tagged branches yet (you can download a jar with that version from the sarxos site however).

So, will now look at prototyping the omnivision collision detection and fuzzy steering on my PC before porting to the Processing for Android.

I am feeling it is all doable.

Robot fish

Posted in Arduino, Prototyping, Sea on September 18, 2013 by asteriondaedalus

robo fish


Go figure you don’t have a realistic “fish” thing going to build a robotic fish.

With the $10 second hand handycam dive enclosure we have a body.

sony cam


Now I was saving pennies for waterproof servos to see if they would paddle this along.

Then I noticed cheap (really cheap) camera gimbal drivers and brushless motors.  Brushless motors, in principle, can work underwater (plenty of examples on you tube) so I thought why not gimbal motors which work like servo motors.  I will have to re-code the driver but it will be to take the IMU code and replace it with sinusoidal drivers to “undulate” the tail.

gimbal driverI bought 4 $13 motors to try the idea out.


Snapping it all up

Posted in Hardware, MESH, Prototyping on August 28, 2012 by asteriondaedalus

So, a rough start to using SNAP but a good bit of understanding now.

One exciting discovery is the SNAP Connect Python code has had a change in licensing and you can use it FREE for up to 10 nodes (not including Portal or the PC root node).

I have been looking at integrating SNAP networks with ROS and ROSPy seems to be the go – but I really need to build a LINUX box so …

Along with the ROSPy there are various other libraries I have been grabbing for rpc in Python and connecting to CORBA (OmniPy for OmniORB).

The SNAP connect can be used over networks yadda so pretty cool (I am thinking of introducing my nephew to robotics and the ability for him to control things my end or me to upgrade software at his end is a great feature – we live about 1000km apart).


Now that I am flying with SNAP I am looking at a basic bit of code to run on the Flyduino to allow me to run it remotely via the SNAP Connect Python code.

Ahead of this I have been looking at the schematic and, while it allows for 12 servos to be controlled, I will limit this to 9 to give me the SPI channel.  Also wik, while the Flyduino provides 8 Analog in I will look at whether I can keep pins 27 and 28 for an I2C channel.   This will allow for some smart sensors on the Swash Bots.  This will allow for gaits to be run from the PC until they are too finely tuned.

Also 6 servos and use D8, D9 and D10 for chip selects for the SPI bus or inputs for bumpers … oh yeah, already decided on visual odometry.

The little board is actually quite flexible, below is the SNAP RF266PC1 (XBee clone) sitting in the socket.  I am looking into the simple mods to allow (perhaps) programming the Flyduino wirelessly.


Events, QP vs. Armarino(MeetAndroid)

Posted in Arduino, Prototyping on May 29, 2012 by asteriondaedalus

A little experiment with the QP event based material and then dabbling with Amarino for a couple of hours and the conclusion is simply that the Arduino side of the Armarino will go.  The MeetAndroid sketch simply builds a simple event based toy so that would be replaced with events in the QP.

Dang blasted

Posted in Prototyping, Vision on May 28, 2012 by asteriondaedalus

First test run of OpenCV on Android had mixed results.

Compiled for Android 2.2, it was a no-go on the IDEOS but ran under 4.03 on both of the ACER A500 and the Samsung Galaxy SII.

Will need some debugging on my part as it appears no one has reported a similar problem, though it is known the OpenCV camera doesn’t work on Motorola phones.  The problem, I tried two apps, one with Android Java camera and one with OpenCV camera and both terminated after displaying camera image for approx. 1 second.

In the meantime, I am trialing some of the QualCOMM libraries since the Samsung Galaxy SII has the later version of the SnapDragon processor.

Now that’s what is needed!!

Posted in Arduino, Hardware, Locomotion, Prototyping on February 18, 2012 by asteriondaedalus


So, a Usurper!  I fiddled with the Films and will find something else for them to do.

This new board from DFRobotics is PERFECT for a Swashbot project.  I have one coming along with a XBee/USB board (you can see the XBee socket underneath.

So, will need to build gaits into board and pass sensor data back to laptop for moving around room.


I will use larger servos as I am hoping the thang’ll carry a small android phone as well.  I have been playing with video streaming from android devices and so the field is open.

With 12 pwm outputs it can have a couple of extra servos with IR scanners, and with 8 analog inputs the IR scanners can be backed up with resistor whiskers for close in bumps.

There is also a prospect for some sort of animatronic bird chaser.  Pesky birds are eating the vegetables in the yard so something to flail and make noise when it detects motion close by.

Seek and you shall …

Posted in Agent, Arduino, Prototyping, Software on December 4, 2011 by asteriondaedalus

… well, find Seek.

A pivotal paper on avatar behaviors caught my attention (see here).

I started to look at pulling the basics out of the C++ templates and work it into basic behaviors for use on Arduino/Processing, then came across someone who had already “ported” it (see here).

Ideally then, ignoring the graphics and using “real” sensor input (rather than simulated) one should have a basic set of vehicular behaviors (running, say, on the Romeo) with the Jason app, running on the Android phone, selecting behaviors.

Work to go but things falling into one’s lap to spur one on what!