Clank Log: Jake's Rough Notes
Current Status
clank-lz kits in the wild
Software Bugs
Since software for this 'roll' is all over the place... known issues list here:
- notes in 'virtualMachine.js' on promise timeouts
- try i.e. sending a 'setcurrent' command while motion is ongoing... seems like some hangup is going on, but should be able to parallelize those
- the PWM/5V/GND label on the esc board is backwards
- setcurrent & other (?) ucbus chb transmissions appear to drop the last byte, or something like this - so i.e. remote z current resetting doesn't work
Hardware Bugs
- next time, do phenolic bed for tape stiction, or get a vacuum chuck eh
Hardware CZ Deltas
- idlers are 13.5mm tall
- some BHCS M4x25 are now x30
- motor plates 5mm -> 6mm,
Y Belt Position
- Y belt pitch line no longer 0.5mm inside of Y rails, now 2mm outside of exterior line of rail
- center of belt is 17.9mm from top edge of rail
2021 01 04
It's you! From 2021-01-04: rm'd all git history locally, to free space. TODO for you is scraping issues from gitlab, making a notes-of-how-it-went report for the future / next time you do this, and pushing this clean repo up, w/ report.
2020 11 12
Toolchanger is up now, bueno.
2020 11 11
Prints are set to actually finish a tool changing experiment, but I need to roll a controller. I'm wired up in an ad-hoc way, so can do firmware etc.
I think motion will be the same as it has been with clank... some Z mm / step calculation should happen, and the big delta will be adding a 'tool swap torque effort' code to that motor. Here's a case where some more robust bus virtual routing would be great: the b channel is actually feeling a bit broken at the moment.