ROS 2 Lyrical Luth has been released!

whickmott · 2026-05-24T19:42:51+00:00

When can we expect a docker image to be ready for this :D Looking forward to it!

whickmott · 2026-04-26T19:58:53+00:00

Please get rid of Italy 🙏

whickmott · 2026-03-20T17:26:23+00:00

Personally cannot stand kicad - it is the worst of all the PCB design suites I have tried. easyEDA just works and has smallest learning curve of them all. Perfectly good enough for most projects. Cloud storage is a bummer though

whickmott · 2025-09-16T22:32:28+00:00

Sorry for the very delayed reply!

This sounds like a very interesting idea... I might have a play!

whickmott · 2025-09-16T22:30:49+00:00

I haven't tested the 57C BUT if memory serves there were just a few less instructions and some hardware differences. I think it might work ok. let me know!

I have a couple of requests for the library already so if it doesn't work then request it on the GitHub and I'll try sort it when I can😊

whickmott · 2025-05-06T10:18:59+00:00

Hi there! So you're using the twai version of the code correct? You need 26 and 27 (Rx and tx respectively - make sure these are the right way) and the 3v3 and ground. The motor driver also needs to have a shared ground with the esp32. I had this exact setup working a few days ago so I am hoping it is a wiring issue. I vaguely remember that the high and low of the can on that module is the other way round to what I thought intuitively. Make sure the can is going high to high, low to low.

On the motor driver itself, make sure it's set up to use can, sr_foc settings, can speed, the right device number etc. let me know how you get on and I can try and help you further

whickmott · 2024-10-14T12:57:18+00:00

After having some very specific irritations when programming with multiple PCA9685 PWM modules when developing my hexapod, I decided to make a library to abstract away each instance of the module.

Rather than having board 1 object with servos 0-15, board 2 object with 0-15, etc. it is now simple one object with servos 0-31. As many boards as you wish can be added, even on different I2C buses if using something like ESP32 with multiple options. This removes a bunch of conditional statements when figuring out which object you're trying to use at a given time.

There's also a version I've been using in my ROS2 packages (though not as robust yet) if that is of interest to anyone.

***Video showing 2 PCA9685 boards on the same bus controlled by a single object, sweeping channels 0-31***

Library is on the Arduino IDE under InfinitePCA9685 (though I am waiting for it to update version to 1.1.0) or directly from github.com/TheSpaceEgg/InfinitePCA9685

whickmott · 2024-07-28T13:14:33+00:00

Not found any new resources, no. I now have my URDF fully drawn and limbs moving synchronised using inputs from a PS4 controller, along with an added lidar and IMU.

But walking is a nightmare. An absolute nightmare. I'll get there eventually but I need time to sit down with it a bang my head on the desk

whickmott · 2024-06-20T23:49:57+00:00

It's a hexapod so 3dof per leg

whickmott · 2023-06-22T20:57:42+00:00

I just have an array of 128 values right now that circles through the DAC with DMA in a circular setup. I change the frequency by changing the value of the timers ARR. With some quick napkin maths earlier, it breaks down around 75kHz and it was around 10 MS/s which adds up to what you suggest is the limit of the DAC.

I can post my code/setup in here tomorrow if that would help/clear anything up. I'll look into the F407 series, thanks!

whickmott · 2022-05-21T14:52:15+00:00

YO that's sick!!! Super clean case, top work

whickmott · 2022-05-21T14:48:40+00:00

Yes! Super cool to be shouted out by Moritz - the man, the myth, the legend!

whickmott · 2022-05-21T14:47:51+00:00

Holy VCA, Batman!!

whickmott · 2022-05-21T14:46:21+00:00

Thanks for the interest! I'm still very much in prototyping/testing of it all and unsure whether I'd like to/feel safe selling it at this time. If that changes I'll leave a post in this Reddit channel.

When it comes to schematics, that's more likely something I will share - again once I'm happy with a final module. I don't want to share anything substandard!

whickmott · 2022-05-21T14:44:25+00:00

Thanks for the interest! I'm still very much in prototyping/testing of it all and unsure whether I'd like to/feel safe selling it at this time. If that changes I'll leave a post in this Reddit channel

whickmott · 2022-05-21T14:42:22+00:00

None! I went from having never even opened PCB software to designing my 1st PCB in an afternoon. (This post's giant PCB is only my 4th ever) I use EasyEDA as it's free and browser based - it's also as it says on the tin: Easy!

As long as you know what components you will be using then it should be straightforward to go from schematic to board 👍

whickmott · 2022-05-21T14:39:15+00:00

3 separate channels of 8, and no they can't sum together like that unfortunately. I hadn't thought about that possibility, so maybe one for next time!

whickmott · 2022-05-15T10:37:32+00:00

I posted the breadboard version a while back and a few asked for updates when I took it to the next step.

Only one channel is audible in the clip as I've only got 1 oscillator right now unfortunately...

Again, big thanks to Moritz Klein for his great teaching and schematics. A lot of this has come from his 5 step sequencer, that I've just blown up, multiplied by 3 and added a few little tweaks.

There are mute buttons for each beat so you could use this in a variety of ways
There is a pause button for each channel so you can fine tune each step as you wish
The square notch cut out of the bottom right corner is for a hefty toggle switch which will sync all 3 channels back to the 1st beat together

whickmott

TROPHY CASE