tempestvr
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January Release - SR6 Firmware Update
🕑 Added 2021-01-29 20:56:00 +0000 UTCThis is the v0.2 firmware, which is actually a pretty big update for the SR6 Alpha.
Last month my priority was to get out a functional early access version of the SR6. Nearly all of my energy went into the hardware design, and therefore the code I released with it was functional but primitive.
For this release I went into the mathematics in a lot more depth, and it really shows in the way the receiver moves. The computational load on the Romeo is quite significantly increased, but it can still comfortably update the servos at 100 Hz. At some point I may look at alternate microcontrollers for the SR6, especially as we are already using a power bus, but this seems to work just fine for now.
I have also added two extra features to the SR6, which we already take for granted on OSR2: support for the T-wist and the T-valve. The T-wist functions exactly as it does on the OSR2, and the servo needs two pins, so uses the two remaining digital pins (2 & 3). This was a problem, because we also need a pin to plug in the T-Valve servo. After a bit of work I realised that I could add control of the Analog pins to my custom servo library, so I am pleased to be able to say that the T-Valve on the SR6 now plugs in to the A3 pin.
I have put a lot of time and effort into this code, but I think it has definitely been worth it. Obviously the OSR2 T-Valve will work just fine with SR6. I intend to get an SR6 version of the T-wist receiver released ASAP now that it is supported in software.
Hope you guys enjoy! If you've built an SR6 do let me know how it's going. It's early days and SR6 has a long way to run, so feedback is always appreciated!
(The files are protected with the january password because of an ongoing Patreon security flaw. Check your email. As a $8 patron you should have received the password separately, but feel free to contact me if you have any trouble. The files are also available on my discord server.)
Comments
TempestVR
Yep, this is pretty much what I have tried to do with SR6. I think it works well.
geo_gan
Yes hopefully the SR6 will be much better at pitching while keeping the base at the same position - I notice on my OSR2 with the custom receiver which, because of where the mount point is, is about 1 inch up from bottom, it sticks out below the bottom about 1/2 inch so when receiver pivots on its axis this causes the actual base of receiver to move forward and back also a bit from original position - same for the roll axis. I don't know if your maths could allow the "virtual" pivot point to be moved up or down in some config setting to allow us to "freeze" a real bottom point in 3d space while pitching or rolling around this point. Do you get me? It should roll/pitch always on actual base point and not just on the axis which is connected to the arms (the screw point) ps. no I never as yet got any PM from you, but yes I can get them all from Discord
TempestVR
The SR6 main axis is now a straight line parallel to the base thanks to some brain bending maths. This is unlike the OSR2 which moves in an arc. The files password will have come to you in a Patreon PM from me, though if you get on the discord server you will be able to access the files without password protection.
geo_gan
Good stuff. So does this mean that the SR6 can actually perfectly move receiver correctly "up/down" when the up/down axis is no longer vertical? ie. can receiver now be at an angle and also still correctly move through 3d space while going up and down at this angle. I presume this was whole idea of this compared to SR2 which can only move up and down in the vertical even if receiver is angled forward or back, which is not what we want it to do. ps. which channel on Discord is the password in? I can't find it and never get any email from you here in patreon. Not that I urgently need it right now... will wait for SR6 to mature a bit before I start building that - happy enough with my own custom SR2+ with twist and heating (using different reciever as I don't like my old Fleshlight) - the twist and heating were great additions.
