My friend Hao of Dorabot wrote me an email that clarifies what we can
expect from the robot. Of course this assumes no hacking, and we can
hack.
one thing I was interested in was "remote" mode through the serial port.
I believe that it can be set to be controlled by commands like "let me
send you this job" "start that job" which would allow us to effectively
control it in real time.
but that will take some reading of manuals and experimenting. As for the
latter, i have connected the robot's serial port to the desktop computer
we use for 3d printing, and I can provide logins for that machine to
anyone who wants to experiment. I confirmed that with the null-modem
adaptor (thanks Somebody!) it does communicate, although i haven't had any
meaningful conversations with it.
of course there is always the radical alternative - the entire YASNAC
control system could be replaced with a homebrew solution that allows us
to do whatever we want. The problem is that it would take a bit of
programming to drive the axes at speed without overshoot, and there's
dynamic gravity and inertia dependant on the posture of the thing and the
mass of whatever it's holding.. could be a lot of math to get it perfect.
however, if someone were to create a control program for it, a lot of
people around the world might like to use it. Hell, people would probably
pay for it since it would easily replace an entire YASNAC ERC unit.
the motor controllers we have are the CACR series as described here:
http://spaz.org/~jake/robot/CACR-SR-servopinouts.pdf
and they are pretty simple to control - you send them an analog voltage to
tell them which direction to turn, and how fast. You send an analog
voltage to say how much torque to exert (seperately for each direction),
and it sends out analog voltages telling you how fast it is going, and how
much torque it's exerting. And of course the encoders are always telling
you the actual position for all the axes so you can decide whether to make
changes to get what you want.
in the meantime though, we should keep playing with it as-is and see if we
can "hack" to get control of it without anything as radical as a
replacement controller.
-jake
---------- Forwarded message ----------
There are several models of MOTOMAN robot that can be controlled over
serial port, and some even supported by ROS Industrial community. If your
Robot controller is DX100, then you are very lucky.
However I think your robot is super old so probably not supported by ROS
Industrial. You can check it out here:
http://wiki.ros.org/Industrial/supported_hardware
Anyway, usually an industrial robot can be used in following ways:
Teach & Replay by teach panel
offline programming (generate a tool path offline and upload it, like 3D printer)
modern robot can be used in these ways, in addition to previous ones:
online program uploading (you generate end-effector/tool path and upload
to the robot control box via serial port/ethernet, and the robot executed
it right after it receives the path.
very few robot support this: real-time control of the robot joint,
including position, velocity, acceleration and so on. As far as I know,
only Universal Robot and maybe Baxter support this. Kuka/DLR's LBR(Light
Weight Robot) might support it too, but it's not for sale to general
public.
On Mon, Sep 8, 2014 at 9:06 AM, Andrew Lowe <andrew(a)lostways.com> wrote:
> I did not attend this event, but I have attended ONL events before. ONL is a
> talk show, I'm not sure why not being political enough makes them
> "offensive". I mean I will let them speak for them selves, but they are an
> entertainment show, why would you expect a "debate" at a talk show?
>
> Anyway, just standing up for this show even if it isn't really my cup of tea
> all the time, I think what ONL has been able to do with it is pretty
> amazing, and to force them out because their show isn't radical enough in
> the ways you want it to be would be a shame.
Sorry to beat a dead horse here, but just for the record ...
1) To bill Saturday's show as apolitical "entertainment" would be
disingenuous. They did not invite Dan Siegel the private citizen to
chat with him about his hobbies. They invited three candidates for an
upcoming election to air campaign commercials, give stump speeches and
answer token questions about their political platform. Exactly that,
no more, no less.
2) Absolutely nothing in my critique was "radical". It was barely even
liberal. Asking for substantive debate is about the most centrist
position you could possibly imagine. Has our overton window really
shifted this much?
I invite all who care about the future of Oakland, the vitality of the local people of Oakland as well as the future of our movements toward a more equitable and resilient community of partners to attend this meeting with me
- Troy M.
" You are the source of Freedom.
The price of freedom is awareness and action."
Join Phat Beets Produce for this world cafe-style workshop that explores how tree plantings in Oakland, Detroit, and Occupied Palestine function to displace low-income people of color and marginalized groups from their neighborhoods and land for the purposes of development and profit-making. We will explore the commonalities of the techniques and methods used by WOGI (West OaklandGreening Initiative), Hantz Farms in Detroit (largest proposed urban tree farm in the US), and the Jewish National Fund's "Plant a Tree in Israel" campaign to understand how non-profit organizations, private companies and local governments use greenwashing as a tool for displacement and gentrification.
-----Original Message-----
From: "max cadji max(a)phatbeetsproduce.org [EBSocForum]" <EBSocForum(a)yahoogroups.com>
Sent: 9/9/2014 2:04 PM
Subject: [EBSocForum] : " Exploring Greenwashing and Gentrification fromOakland to Palestine"(Workshop Oakland)
Come check out the Food N’ Justice Workshop series. Always free at the Saturday Feel the Beet! Farmers Market North Oakland Farmers’ Market, 11-1pm. Our workshop series is located at:
Grace Ave @Lowell St. (Next to Destiny Arts at 970 Grace Ave, Oakland 94608)
www.phatbeetsproduce.org/events
September 13, 2014
"Greenwashing and Gentrification from Oakland to Palestine"
Description:
Join Phat Beets Produce for this world cafe-style workshop that explores how tree plantings in Oakland, Detroit, and Occupied Palestine function to displace low-income people of color and marginalized groups from their neighborhoods and land for the purposes of redevelopment and profit-making. We will explore the commonalities of the techniques and methods used by WOGI (West OaklandGreening Initiative), Hantz Farms in Detroit (largest proposed urban tree farm in the US), and the Jewish National Fund's "Plant a Tree in Israel" campaign to understand how non-profit organizations, private companies and local governments use greenwashing as a tool for displacement and gentrification.
More details
September 20, 2014
Make it Fresh: Creative Storytelling for the Urban Environment
Description: Make it Fresh: Creative Storytelling for the Urban Environment
with Josh Healey
If politics is the art of what’s possible, let’s use art to expand those possibilities. Join this interactive arts and activism workshop as we write and share new poems and songs, memories and manifestos — and discover how to use your own story to change the larger narrative towards justice and ecology.
Josh Healey is an award-winning writer, performer, and creative activist. A regular performer on NPR's Snap Judgment, Healey has performed and led workshops at UC-Berkeley, Harvard, and over 200 schools and community organizations across the country. He is currently the Culture Shift Fellow with Movement Generation. Find out more at joshhealey.org.
More details
September 20, 2014
BikeMobile- FREE BIKE REPAIR!
Description: "BikeMobile will bring FREE BIKE REPAIRS at Phat Beets Produce Saturday, Sept 20th from 9:30am-1:30pm. Bring your bike. We guarantee to serve the first 20 people that sign up, after that we will fix as many bikes as we have time for. We can fix flat tires, adjust brakes and gears, and even replace broken or worn out parts like chains, grips, and tires. Bike or no bike, it can be educational for all who show up."
More details
September 27th, 2014
Introduction to Community Based Restorative JusticeJoin the North Oakland Restorative Justice Council for a youth friendly 2 hour introduction to community based Restorative Justice. According to Fania Davis of Restorative Justice For Oakland Youth restorative justice is a philosophical framework and worldview, and it is also an approach to justice that emphasizes bringing together all affected by harm to address their needs and obligations and to heal the harm as much as possible. There will also be an overview to the work of the North Oakland Restorative Justice
October 11, 2014
Decolonize Your Diet! Indigenous Peoples Day Celebration
More details
October 25, 2014
making kraut w/youth pickle co
More details
--
www.phatbeetsproduce.org
510-250-7957
...connecting small farmers to urban communities
Check out Feel the Beet! Farmers Market
www.youtube.com/watch?v=Keawnad90aQ
"...if you leave the crumbs alone and we organize, then we can take the whole loaf"
Kwame Ture aka Stokely Carmichael
--
www.phatbeetsproduce.org
510-250-7957
...connecting small farmers to urban communities
Check out Feel the Beet! Farmers Market
www.youtube.com/watch?v=Keawnad90aQ
"...if you leave the crumbs alone and we organize, then we can take the whole loaf"
Kwame Ture aka Stokely Carmichael
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On Sun, Jul 13, 2014 at 6:29 PM, yar <yardenack(a)gmail.com> wrote:
> We've still got some things strewn around the basement
A month later, this is still the case. Tomorrow (Sunday) at 6pm some
Omni folks are throwing a basement-cleaning party. Things may get
thrown out unless they are marked with a note or some blue masking
tape. They also plan to cull the book collection, creating a pile of
unwanted books to be recycled the following week. I highly recommend
Sudoers attend and help out with this. Thanks.
>> http://wiki.omni-oakland.org/w/ONL
On Sun, Sep 7, 2014 at 9:24 PM, Charley Sheets <rcsheets(a)acm.org> wrote:
> It seems like section 7 could use some additional detail. I for one
> don't know what "Saturday's 9/6 ONL event" was, or why it would be
> offensive.
They had 3 mayoral candidates in the room (parker, tuman, siegel), but
chose to interview one candidate at a time. Each candidate got an
uninterrupted stump speech, pandering questions from the hosts, then 2
ad-hoc audience questions, and that was it. One even screened a
commercial.
I was disappointed and insulted because I'd heard it was going to be a
"debate." Maybe it got distorted in the rumor-mill. But either way,
this candidate-showcasing style of engagement is something people have
fought against for ages. It's passive, undemocratic, and pointless. If
we're going to engage with electoral politics we should know this
history. Here's the League of Women Voters explaining why they stopped
hosting presidential "debates" in 1988:
http://www.lwv.org/press-releases/league-refuses-help-perpetrate-fraud
Some more history:
https://en.wikipedia.org/wiki/United_States_presidential_election_debates#D…
I think at minimum, a debate needs to:
* force candidates to interact with each other
* invite all candidates at the same time
* prioritize audience participation and engagement
We missed an opportunity - we had them on our turf and did nothing new
with them - but it's not too late. On October 11 they're hosting 3
more (schaaf, kaplan, quan). Maybe ONL will be open to input on how
they conduct next month's event! Any Sudoers who want to ask tough
questions on the record of present and future mayors on our turf,
now's your chance to get involved. :)
Cep is coming to take care of a lot of things starting Tuesday but can't do
it unless there are bodies here to help him. We need people to come
tomorrow!
He is coming at 8am starting tomorrow. We will have a car. We need AT LEAST
3 people besides me and him, but the more the merrier.
Please folks.. show up n helps?
Thx! David