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 Penguin Robot
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vrossi
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Italy
1455 Posts

Posted - Nov 02 2015 :  10:44:15  Show Profile  Visit vrossi's Homepage
Startup Instructions
Instructions on how to adjust servos before power on

Penguin Center Servos

Centers the Penguin's servos

Penguin Servo Calibration v1.2

Servo calibration and gait adjustments for the Penguin

Penguin Servo Dialog v1.2

Dialog for Penguin-ServoCalibration-v1.2.bpx

Penguin automatic servo calibrator

This program calibrates Penguins' tilt and stride. It has many automatic functions which make it easy to use. The user simply makes a selection of 1 or 2, and watches the result.

Penguin calibration companion
A useful utility to determine if Penguins' memory holds safe tilt and stride values. If the values are out of range, the program will restore default values. It then homes the servos for study. This program is entirely automatic!

Penguin 7Segment LED Test

Tests the seven segments LED

Penguin Compass Test
Tests the compass

Penguin IR Test

Tests the infrared devices

Penguin Photoresistor Test

Tests the photoresistors

Penguin Speaker Test

Tests the speaker

Penguin Memory Reader
Reads upper and lower byte memory given the location (page 7).
Can read tilt and stride values in location 21 and other special stored information inside Penguin robot and display the results on the Debug screen.

Penguin Extended Memory Reader

Reads any range of memory locations, in any page, and displays it on the Debug screen.
Useful to check memory content before doing brain surgery by using the program penguin_memory_master.bpx

Penguin Extended Memory Reader Version 2.0

This new version features some relevant enhancement:
* Fixed an incorrect display of Low Byte and High Byte
* More detailed display of memory content for each Word:
- Low Byte location
- High Byte location
- Low Byte value
- High Byte value
- Word value

Penguin Memory Master
This code lets you look inside Penguins brain, in particular, the memory section. It will perform surgery into specific brain locations, correctively modifiying values as necessary, and observing locations in the brain.
This code gives a choice to read memory locations in any page, or input a value and have it written to a specified memory location.
This Penguin robot code is one in a series of programming utilities. Memory Master is excellent for checking Penguins' stored parameters. In particular, tilt and stride center calibration values can be verified in memory location 21. Numbers can be replaced by choice and overwritten or erased. This is an excellent memory utility, diagnostic, and programming supplement.
CAUTION! It's possible to overwrite some key memory locations in Penguin, such as compass calibrations, tilt stride calibrations, stored program parameters, etc.

Penguin O.S.

Penguin Robot Motion Control Operating System adds considerable functionality to Penguins. This includes motions of homing both servos, walking forwards and backwards, stomping and shuffling feet, balancing on both feet, dancing, right and left turns, kicking (i.e. a small soccer ball), toddling, and slow motion. Experiment is open for added on functions.

Penguin Motion Startup
This is the startup subroutine for motion control programs. It first queries the operator, asking if the servos are calibrated, then performs a confirming safety limit check on stored numbers in memory. If values are out of range, the name of the calibration program to run is specified and the program stops. Checks are made at memory location 21 page 7.

Penguin Tiny Motion Control System

Penguin's new simple motion control engine! Simple MCE. Finally, the minimum control engine is here! - "Making space for the rest of your code!" Simple MCE strips away the unnecessary and leaves only the essential. Smooth like you want - Code you can use - code you can understand.

Penguin Tilt Stride Reader

Penguin Tilt Stride Reader will play a startup tune, then read numeric values of tilt and stride from memory and disply the results on the Debug screen. For programs requiring calibration, or already calibrated, this is a quick way to see what's stored in memory. The program is read only and does not disturb the values already in memory, and it does not move the servos.

Penguin Plotter

The code is designed as a plotting utility. Penguin has a built in compass, with many applications typically using circle angle data. Plotting this data becomes very important. Penguin Data Plotter will plot circle angles from 0 to 360 degrees using the Debug screen. This is a single data plot. The circle is converted to a linear scale and displayed to fit on the Debug. screen. Input any circle angle from 0 to 360 and see the plotted result. Data plotter concepts can be utilized for additional plotting applications.

Penguin Realtime Data Plotter

The Penguin Real Time Data Plotter handles a a data stream and plots the most current value on the Debug screen. The data point is displayed 20 microseconds, then erased. A new data point follows.
This is useful for plotting the changing cardinal compass direction or other data, and then displaying the result in an easy to understand panel that reads numerically. It handles numbers from 0 to 360 (covering a complete circle of angles, etc. and can be scaled and expanded) and plots the incoming data point to a corresponding proportional graphics scale panel. This program is the prerequisite for programs such as Mapping, Compass Plotter and Virtual Reality Knob.

Penguin Round Number
This program takes an input number from 0 to 360, scales it by 6 division, determines the remainder, then rounds up when determined. The scale is used for plotting circle angles for compass code.

Penguin motion snapshot

Penguin Motion Snapshot will make still snapshots of any motion control sequence step by input of raw servo position values. Input the numbers and Penguin moves into position and freezes like a freeze frame.

Penguin Reset Keyboard
This is a seven function keyboard for Penguin Robot. It uses no additional parts. Only the stock Penguin is required! The trick to getting a keyboard from nothing resides in the conversion of the single button reset.


Click here to download:
www.vrconsulting.it/penguin/calibration.zip
www.vrconsulting.it/penguin/tests.zip
www.vrconsulting.it/penguin/memory.zip
www.vrconsulting.it/penguin/utilities.zip

Vittorio
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