Robot Captain Ann Droid

Please delete repeat post

Update on Captain Ann Droid, I fabricated arms using aluminum plate, standard EZ Robot servos from my 3 kits, and 1/4 scale servos in the shoulders that purchased 10 years ago. My plans are to fabricate simple hands to complete them. The arms have 4 degrees of freedom. I also want to make partial covers for the arms, similar to the neck/shoulder cover, but something much lighter. The arms are only temporary affixed to inside supports using plastic tie straps. The arms will be more stable after they are better secured. The 4 arm sections are 6" / 152 mm each. I am thinking of shortening each section about 3/4'. The new 4 DOF arms add much more to the robot, compared to the previous foam arms with 2 DOF. Steve S

Very good Steve! Will you be using a light plastic to "wrap" the arms? something like, from a soap/detergent jug/pop bottle! I like how Ann Droid also converted the typical inch measurement (old school, like myself) to mm's

iRobot open interface info: To start up the interface on the R2 Roombas 4XX, 4XXX, and dirt dog the command is 128. When using the Create robot, the same command 128 is also used to start the interface. And finally, the start up command for the R3 Roomba, 5XX, 6XX, 7XX, and 8XX is also 128.

I had to use opcode 130 (from the Roomba ROI) after the 128 opcode to get regular Roombas to be under user control...

Control Command opcode: 130 Number of data bytes: 0 Enables user control of Roomba. This command must be sent AFTER the start command (128) and BEFORE any control commands are sent to the ROI. The ROI must be in passive mode to accept this command. This command puts the ROI in safe mode. Serial sequence: [130]

An excerpt from the iRobot ROI document. ROI=Roomba Open Interface

update, I have modified the new arms for my robot. The new arms are slightly shorter. I had numerous (ideas and builds) possibilities, but ended up with these modifications. The bicep is slightly shorter, and arm is slightly modified. I have built the hands, but still working on the thumbs! I am happy with the overall look, close to what I was wanting to achieve, but not totally finished. Here are updated photos.

These new additions are forcing me to add external power for my new 4 DOF arms. I have been getting by with servos plugged in to EZB only powered by a 7.2 NICD. It has worked fine with 6 servos (2 are 1/4 scale shoulder). After the addition of my new arms, things started to act up! I plan to connect 2 NICD 7.2 in series (that I already have) to a voltage regulator (8-40 volt) to 5 volt. I think the EZB3 can handle the two 7.2 in series, and run the servos off the regulator, similar to what Rich posted for an external power option, connecting both grounds. I know the EZB3 has only a 3 amp capability, the new regulator has a 10 amp capability.

Thank You, Steve S www.ebay.com/itm/50W-12V-24Vdc-to-5Vdc-10A-Step-Down-Regulator-Module-Converter/200984281187?_trksid=p2047675.m2109&_trkparms=aid%3D555012%26algo%3DPW.MBE%26ao%3D1%26asc%3D389%26meid%3D4421748166902273512%26pid%3D100010%26prg%3D1076%26rk%3D1%26rkt%3D15%26sd%3D221350642721%26

Maybe I am not understanding what you are attempting, so my apologies if I get it wrong... The ezb can handle the 2 x 7.2 in series, but that won't help your servo power problem... Unless you use and external power source for the servos they will only get 5 volts no matter what you power the ezb board with. That is if they are plugged directly into the ezb3 board... You need more voltage (more amps won't help you) than 5V to the servos, so hence the external servo power mod... so give your servos direct 7.2 volts (check first if they can handle that)... don't forget to use common ground to the ezb