@@ -28,7 +28,7 @@ You have enough material and parts to make up to four of the: [**Platonic Gantry
Further documentation for these things is at the page [now linked thrice](https://gitlab.cba.mit.edu/jakeread/pgd): they are parametric - can be fabricated at a handful of lengths and widths - and some collection of them can be cobbled together (with well-designed mechanical appendages, or duct tape - all valid answers) to make multi-degree-of-freedom machines.
Further documentation for these things is at the page [here](https://gitlab.cba.mit.edu/jakeread/pgd): they are parametric - can be fabricated at a handful of lengths and widths - and some collection of them can be cobbled together (with well-designed mechanical appendages, or duct tape - all valid answers) to make multi-degree-of-freedom machines.
The collection of mechanical bits you have access to is as follows:
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@@ -54,27 +54,26 @@ To coordinate machine control, you have a set of controllers developed as part o
The circuits you have here are already bootloader'd and code-loaded: routers will boot to USB, and should be accessible to cuttlefish once you're running it - and steppers have a stepper-motor build already running onboard: you should be set to connect them, power them up, and set up a control network.
| ### The Router (1) |
| **The Router (1)** |
| --- |
| A message passing device, this thing hooks 6 of the ATSAMD51's SERCOM USARTS up to RS-485 Differential Driver and then hooks those up to RJ10 connectors (read: phone handset jacks). It runs [ponyo](https://gitlab.cba.mit.edu/squidworks/ponyo) and you can see the [schematic, board and documentation here](https://gitlab.cba.mit.edu/squidworks/routerboard-atsamd51). |
|  |
| ### The Module Board (1) |
| **The Module Board** |
| --- |
| A do-what-you-will-with-it device, this thing breaks all of the ATSAMD51's pins out to fab-lab-friendly sized castellated pins, so that you can solder it to some-circuit-of-your-design. The thing is ready to run [ponyo](https://gitlab.cba.mit.edu/squidworks/ponyo), and invites you to, indeed, write some CPP and integrate some new devices onto the network that it will happily join over that RS-485 link. [Schematic, board and documentation here](https://gitlab.cba.mit.edu/squidworks/moduleboard-atsamd51). |
|  |
| ### The Steppers (4) |
| **The Steppers (4)** |
| --- |
| A motor-turning device, this thing is one of the aforementioned module-boards, soldered to a heavy duty, motor-wrastling, no-amps-barred TMC262 stepper driver which *itself* slices and dices 24v of *power* with the help of four (4!) PN-Pair mosfets (that's two whole h-bridges baby) to drive (probably) NEMA17 stepper motors, to which these things will be attached when you get them. This also runs [ponyo](https://gitlab.cba.mit.edu/squidworks/ponyo) and you can see the [schematic, board and documentation here](https://gitlab.cba.mit.edu/squidworks/moduledaughter-stepper). |
|  |
| ### Power Distribution Knobs |
| **Power Distribution Bits** |
| --- |
| These are tiny bus-bar type devices, that should make power routing a little bit easier. Included in the kit of them are (1) bypass capacitors for spare charge (these are actually important for the stepper motors to work properly), (2) TVS Diodes and Bleeders, (3) 5V Regulators (also necessary) and (4) routing blocks. These are all documented and explained in [the PDB repo](https://gitlab.cba.mit.edu/squidworks/powerdistribution). |
| These are tiny bus-bar type devices, that should make power routing a little bit easier. Included in the kit are (1) bypass capacitors for spare charge (these are actually important for the stepper motors to work properly), (2) TVS Diodes and Bleeders, (3) 5V Regulators (also necessary) and (4) routing blocks. These are all documented and explained in [this power distribution repo](https://gitlab.cba.mit.edu/squidworks/powerdistribution). |
|  |
## Electrical Kit
Circuits need power, and networks need wires. To hook it all up, you also have this list of parts in the kit:
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@@ -94,10 +93,22 @@ Power Entry Fuse | 1 | *Danger* Barrier (already installed in the above) | Digik
## Developing Controllers
### Squidworks
Since you have the circuits, you are free to implement a [squidworks](https://gitlab.cba.mit.edu/squidworks/squidworks) controller. These are controllers whose whole operation spans more than one computing ~ d o m a i n ~ -> the squidworks project is an attempt to develop a protocol and serialization scheme that makes it easier to see what these controllers are doing, to add new hardware and software resources to them, and operate them.
!TODO: image of LR controller, ft. path planning, execution.
![image]()
!TODO: video of the same. copy of squidworks repo toplevel
For documentation of the squidworks project, [hit this link](https://gitlab.cba.mit.edu/squidworks/squidworks).
Working examples for complete machines (from CAM to Control) will be up and running. [cuttlefish](https://gitlab.cba.mit.edu/squidworks/cuttlefish) is an environment for the browser: writing new JavaScript, testing, debugging it, is as easy as web programming. [ponyo](https://gitlab.cba.mit.edu/squidworks/ponyo) is the same in spirit, and builds / loads using a USB bootloader on commonly available IDEs and toolchains, but might require a bit more know-how to wrangle.
### Cuttlefish
[Cuttlefish](https://gitlab.cba.mit.edu/squidworks/cuttlefish) is the in-browser virtual dataflow environment and scope.
### Ponyo
[Ponyo](https://gitlab.cba.mit.edu/squidworks/ponyo) is the embedded virtual dataflow environment.
