Commit 829072e2 authored by Jake Read's avatar Jake Read

continuing

parent 632e69cc
#### Jake's Notes:
#### Circuit Assembly
- usb-program routers, steppers, modules -> barebones
- pdb sets ?
#### Doc
- this
- pgd: heat-sets, hardware? nice drawing, or CAD? how to parametric?
- pdb: doc CAD for the PSU
- check in on all circuits
- pdb: doc CAD for the PSU, pictures of PDBs, explain, ok
- use two photos, show bus -> up down, breakout, overlaid
- doc your example milling machine ... bigtime
- connecting / hooking up the whole machine
- connecting / hooking up the whole machine:
- cuttlefish GIF per action: add hunks, hook-up, etc
- add comm, add link, say hello, ok
- cf examples:
- littleRascal-complete
- png-to-path
- svg-to-path
- single-stepper-usb
# Machine Mayhem '19
......@@ -19,11 +22,13 @@ Wrangling a machine together can be arduous. You can do anything you'd like, but
## Hardware Kit
You have enough material and parts to make up to four of the: [**Platonic Gantry Designs**](https://gitlab.cba.mit.edu/jakeread/prettygood) documented at [that link](**](https://gitlab.cba.mit.edu/jakeread/prettygood). These look like this:
You have enough material and parts to make up to four of the: [**Platonic Gantry Designs**](https://gitlab.cba.mit.edu/jakeread/pgd) documented at [that link](https://gitlab.cba.mit.edu/jakeread/pgd). These look like this:
![pgd](pgd.png)
![pgd](2019-11-18_pgd-1.jpg)
Further documentation for these things is at the page [now linked thrice](third): 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.
![pgd-parts](2019-11-19_pgd-dwg.png)
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.
The collection of mechanical bits you have access to is as follows:
......@@ -35,7 +40,7 @@ Shoulder Bolts | 5x6xM4 | 45 | Bearing Shaft | McMaster | 92981A146
Bearing Shims | 5x10x0.5mm | 64 | Bearing Standoffs | McMaster | 98089A331
Heat-Set M4 Tapered Inserts | M4 | 50 | Shoulder Bolts -> 3DP Parts | McMaster | 94180A351
Heat-Set M3 Tapered Insert | M3 | 64 | Mechanical Design w/ Plastic | McMaster | 94180A331
M3 Locknuts | - | 200 | McMaster | pn ?
Nylon Locknuts | M3 | 200 | McMaster | 93625A100
M3 SHCS | 16mm Long | Beam Joinery | 200 | McMaster | 91292A115
M3 SHCS | 10mm Long | Motor Mounting | 16 | McMaster | 91292A113
M3 FHCS | 16mm Long | Carriage Joinery | 100 | McMaster | 92125A134
......@@ -45,25 +50,29 @@ M3 Washers | - | w/ all M3 SHCS | 200 | McMaster | 93475A210
## Circuit Kit
To coordinate machine control, you have a set of controllers developed as part of the [squidworks project](squids). [squidworks](again) is a protocol / tool / scheme for distributed control of modular hardwares. It nests virtual dataflow interpreters inside of genuine dataflow networks, to organize modular code inside of modular hardware. It's graphs all the way down.
To coordinate machine control, you have a set of controllers developed as part of the [squidworks project](https://gitlab.cba.mit.edu/squidworks/squidworks). [squidworks](https://gitlab.cba.mit.edu/squidworks/squidworks) is a protocol / tool / scheme for distributed control of modular hardwares. It nests virtual dataflow interpreters inside of genuine dataflow networks, to organize modular code inside of modular hardware. It's graphs all the way down.
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)
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](ponyo!) and you can see the [schematic, board and documentation here](link).
![router](2019-11-17_router.jpg)
### 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](thrice).
![router](2019-11-18_stepper.jpg)
### The Module Board (1)
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](link), 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.
![module](2019-10-30_mw-module.jpg)
### Power Distribution Knobs
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](pdbs).
![psu](2019-10-30_mw-psu.jpg)
| ### 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). |
| ![router](2019-11-17_router.jpg) |
| ### The Module Board (1) |
| --- |
| 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). |
| ![module](2019-10-30_mw-module.jpg) |
| ### 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). |
| ![stepper](2019-11-18_stepper.jpg) |
| ### Power Distribution Knobs |
| --- |
| 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). |
| ![psu](2019-10-30_mw-psu.jpg) |
## Electrical Kit
......
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