CEB 3D Printer
Concept (Illustrated Below): This idea is to develop an automated brick-laying system that can build homes from the ground up, literally. Using a combination of the CEB Press, a conveyor belt, gripper, and a common machine configuration (TBD), the machine acts like a large 3D printer which picks and places compressed bricks robotically.
Two video animations, originally made as Java applets, illustrate two such designs:
Animation (Gantry Design)
Animation (Cable Design)
High-Level Actuator Architecture:
High-Level Feedback Architecture:
Sample Source Code:
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Pseudo Code
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Arduino Code |
| DECLARE VARIABLES & FUNCTIONS Initialize Output Channels // Tell microcontroller which pins are output Initialize Input Channels // Tell microcontroller which pins are input MAIN LOOP For Motors 1 to 4: Read Encoder Values Calculate Motor Output to Achieve Desired Position Write to Motor Output Channel // Note: the motor signal is sent to a speed controller // to be amplified END FOR LOOP END MAIN LOOP |
void setup() { pinMode(2, OUTPUT); // to Base motor 1 pinMode(3, OUTPUT); // to Base motor 2 pinMode(4, OUTPUT); // to Base motor 3 pinMode(5, OUTPUT); // to Base motor 4 pinMode(6, INPUT); // from digital Encoder 1 pinMode(7, INPUT); // from digital Encoder 2 pinMode(8, INPUT); // from digital Encoder 3 pinMode(9, INPUT); // from digital Encoder 4 } void loop() { for (int motorIndex = 0; motorIndex < 3; motorIndex++) { read_encoders(); pid(); write_to_motors(); } } |
IRC Experimental Meeting Test Chart: This chart is used to display group meeting times on the OSE Internet Relay Chat (IRC) http://opensourceecology.org/wiki/Irc where groups can discuss project ideas and progress with realtime feedback. Group member names, IRC chat usernames, and status of sub-projects are listed.
| Task | Name/Pseudonym | IRC Username | Status of Project | Extra |
|---|---|---|---|---|
| Motor Testing | vc_nepo | vc_nepo | 10 % | Link |
| Encoder | User B | userBonIRC | 20 % | |
| Material Spec | User C | userConIRC | Complete |