09. Mechanical Design & 10. Machine Design

My work was programming in this group work. So, I will explain the system of "Kaiware doodle" in my documentation. If you want to see our entire project, visit here

Programming

I edited “xy_plotter.py” under Pygestalt/example/machines/htmaa/ to control the machine. I added a function that was to import .csv file and convert them to list of python. "CSV" module of python is possible to do it. Then, I could change the movement of the motors as I overwrote an external file. I used openFrameworks that is the most familiar programming tool for me to make the program which function is to export .csv file and to set moving points. Actually, I tried to substitute pass data exported as .txt file for list of python because it is the easiest in what I thought. However, I have an error because python recognized the numerical value as character string. I explain the process of the program. First, I put dots to draw lines. Next, I pushed ‘s’ key to run save command. Finally, I got a file named ‘sum.csv’ in ./bin/data. I couldn’t aware that the movement of the motors was not recorded until running machine. So I edited the function that is to add [0,0] first and last of .csv file.

Download

Trouble about gestalt node connection

When we tried to run single_node.py prgram we ran into a trouble that the program didn’t work and not respond.

The cause of the trouble was wrong wiring on Gestalt node. The wire RS-485B didn’t connected.

Connecting error window

Trouble about stepping motors

One of our stepping motors have stuck. It did rotate.

We figured out that the cause was gestalt node.We tried to upload firmware, but it didn’t help us.

As a result, one of the gestalt nodes was broken. So we borrowed another board from FabLab Kamakura. The board from FabLab Kamakura was 2015 version and it worked.Thank you. Actually, our FabLab had four gestalt nodes. But only one board worked well.

Open the stepping motors but no difference

Other

I made a web page in team Ohashi and made a short movie that explain how to make "Kaiware Doodle".