Over the next few weeks I will be working on the creation of an organization known as Sight Studios. Sight will be a creative engineering and design firm both for hire and for fun. I am starting Sight so that people can come to me with projects and together we can build or design…well, just about anything. Stay tuned for more updates as I already have a few projects in the works.
I finally had some time to sit down and finish the code for my DIY Segway or “ChadWay” as it has been named around the Invention Studio. This code is developed for an Arduino Uno and uses the servo library to send motor drive commands to a Sabertooth 2×25 motor controller. I commented almost every line so it should be pretty easy to understand. If you have any questions, feel free to ask!
-Chad
#include <Servo.h> //includes the servo library in the code #include <Wire.h> //includes the servo library in the code #include <FreeSixIMU.h> //includes the servo library in the code #include <FIMU_ADXL345.h> //includes the servo library in the code #include <FIMU_ITG3200.h> //includes the servo library in the code #define KP 0.5 // proportional controller gain const int leftButtonPin = 2; //tells the arduino where the left steering button is const int rightButtonPin = 3; //tells the arduino where the right steering button is int leftButtonState = 0; //creates a variable for the left switch's state to be stored to int rightButtonState= 0; //creates a variables for the right switch's state to be stored to Servo leftMotor; //creates a servo instance for the left motor Servo rightMotor; //creates a servo instance for the left motor float angles[3]; //creates an array for the sensor data to go in FreeSixIMU sixDOF = FreeSixIMU(); void setup() { digitalWrite(10,LOW); //sets the pin to off digitalWrite(11,LOW); //sets the pin to off Serial.begin(9600); // sets the serial BAUD rate delay(5); sixDOF.init(); //initializes the sensor delay(5); pinMode(leftButtonPin, INPUT); //sets the port the button is plugged into as an input port pinMode(rightButtonPin, INPUT); //sets the port the button is plugged into as an input port Wire.begin(); //begins all the wire library stuff leftMotor.attach(10); rightMotor.attach(11); digitalWrite(10,LOW); //sets the pin to off digitalWrite(11,LOW); //sets the pin to off } void loop() { float corrected_angles = 0.00; float output = 0.00; signed int motorL = 0; signed int motorR = 0; sixDOF.getEuler(angles); //Gets the angles array from the sensors corrected_angles=(angles[1]); //The angle component from the array corrected_angles=corrected_angles-3; //Adjusts the value to compensate for the sensor being mounted nonlevel output=corrected_angles*KP; //Proportional control loop output=output-.20; //Cleaning things up abit (a gain adjust) motorL=map(output,-30,30,150,30); //Maps sensor values to motor outputs motorR=map(output,-30,30,150,30); //Maps sensor values to motor outputs leftBuuttonState = digitalRead(leftButtonPin); //Reads the state of the left steering button rightButtonState = digitalRead(rightButtonPin); //Reads the state of the right steering button if(leftButtonState == HIGH) { //If the state of the left steering button is high then tell motorL to go faster motorL=motorL+10; } if(rightButtonState == HIGH) { //If the state of the left steering button is high then tell motorR to go faster motorR=motorR+10; } leftMotor.write(motorL); //Writes speed value to the left motor rightMotor.write(motorR); //Writes speed value to the right motor }
Today I discovered laser cut living hinges. For some reason the first thing I thought upon this discovery was “hmm.. this would make for an awesome chair. this awesome chair shall be called ‘das laser chair’.”
Anyways, if you have never seen or heard of living hinges (specifically the laser cut type) here are some of the links that got me started:
http://blog.makezine.com/2011/10/25/plywood-living-hinge-technique-for-laser-cutters/
On to das laser chair!
I whipped up this design in SolidWorks. The chair is still in progress; I need to smooth out the lumbar support, add the living hinges, and bolt the bottom legs together to hold everything together.
The living hinges will go where each of the bends are currently located.
As always, make sure to check back soon. I’ll keep you posted with any and all updates. Expect .dxf’s once I have the hinges in so you can make your own!
-Chad
I have spent some more time in Solidworks working on the Chadway model. I am focusing on anchoring the wheel mounts so they won’t wobble or give in under the pressure of a rider on the platform. Each wheel mount has four braces attached to it plus an anchor point on the side of the platform.
Here are some pictures:
The goals of this version will be to have a direct gear drive from the motors to the wheels and elevating the centers of the wheels above the rider platform.
Here are some features from solidworks drawing so far…
Expect more updates in the near future
-Chad
Lately, while running the reactor I’ve had to be incredibly careful while controlling the pressure of the chamber in order to keep the plasma ignited. If the pressure goes too low, there aren’t enough ions in the chamber to sustain the plasma or the fusion reaction. In order to remedy this, I have been working on throwing together a dirt simple/dirt cheap ion source.
Its loosely based off of the magnetron source designs used by Tyler Christensen and Robert Tubbs. In theory its really just an electrode surrounded by an electromagnet.
I started with a 2.75″ conflat flange with some small high voltage ceramic feedthroughs:
Then made a small filament out of stainless steel wire and attached it with some crimp connectors:
For a power supply I rectified a 9Kv NST with some 1Kv diodes that I wired up and then submerged in mineral oil to prevent arching:
Here is a picture of the whole setup mounted onto the chamber. You can kind of see the magnet coil wound around the chamber:
Finally a nice ion beam! You can see the filament over to the left:
Make sure to check back tomorrow afternoon, I’ll be posting on several new additions to the reactor setup.
-Chad Ramey
If you don’t keep up with sci-fi/fantasy/geek-culture/pop-culture conventions you’ve probably never heard of Dragon*Con, in which case you should immediately go to there website and check it out. If you have heard of Dragon*Con, you are probably aware that it is arguably the largest multimedia (movies, comics, games, etc..)/pop-culture convention on the face of our great planet.
It has been a desire of mine to attend the Con for several years now and never really had the chance until……..
Dru Meyers (the awesome guy who runs the science track at the con) invited me to attend and participate in a number of science track activities!
So, needless to say I accepted his invite and will be attending Dragon*Con as a professional next weekend (the convention is from September 2-5).
In addition to participating on several discussion panels (Evil geniuses for a better tomorrow, hacking 101, and 201), I will be presenting a talk titled “Neighborhood Nukes: DIY Nuclear Fusion Reactors” and demoing my reactor on Saturday night!
It is truly going to be an epic weekend! if you are going to the convention make sure to come find me and if you aren’t, you should definitely consider attending.
In the meantime I will be preparing the reactor for Dragon*Con so check back regularly and see what I’m up to!
-Chad Ramey
