Week of 04/19
This week we started to work on control systems. There were two parts to tackle. The first was the control of
two motors via Arduino for the clay pusher and the auger extruder. The second was setting up paths through
kuka PRC for the overall geometries. To control the Arduino motors we setup a processing + Arduino sketch
with the accelstepper library.
Improvements to be made: Control of two steppers with one driver. Connection through wifi or buetooth to
avoid being tethered to the moving robot. Transition to more useful metrics such as ml/min or mm/min
extrusion rates based on liquid and clay flows.
CONTROLS
Interface V1 showing Steps Per Sec
Arduino and Processing Sketches
Setup - Calibrated
Initial path tests, including straight lines (consistency) and 3D (flow control in the Z axis)