One of my big things I love about drunktender is everything is off the shelf.  There are a few bits I’ve never really been happy with but lived with them.  I was recently told to design a better spout for the Microsoft PDC conference so this is what I came up with.  I did a quick test with what I have here and I easily put 20 1/4” tubes though the 2” pipe.  The white PVC is from the plumbing department and the grey PVC is from the electrical department.  I have an exploded and a loose connected version below...

By using some PVC, a funnel, and some Plumbing Goop, I’ve created a very nice system that all my tubes can feed into and one nice output that is tall enough for a typical glass.  I have a T PVC part that I use to mount to the table mount.  I sealed off the end that will mount to the table mount so then the the liquid will only go to the funnel.  I had to shave down the funnel slightly to fit it in but now the nice thing is I can remove the entire pour assembly...

I semi got a kick in the butt when I found out that Nick Pegg (twitter: nickpegg) at Missouri University of Science and Technology was building a bartender as well.  Looks like we’ll be doing a little challenge for who’s is better designed from hardware to software.  From the video, sounds like his runs on pumps, mine is pressure based. His bartender prototype:   My bartender prototype: Drunktender - Irish car bomb test from Clint Rutkas on Vimeo. Due...

Since my relay boards dislike high induction loads, I had to build a suppressor to reduce the shock of getting turned on.  Yup, it is just a giant capacitor. The Bluetooth board works fine but the XR expansion board disliked the spike, so these are getting added everywhere.  I have to see what is the best way to implement them so the wiring is stylish and the circuits are protected. Won’t get to test working versions until Thursday due to work.

I see now why Dean Kamen’s designed the segway with handlebars.  So tonight I finally got the balls confidence to ride the skateboard.  I have to say, is a rather scary thing since if I hurt myself, I’m semi screwed since I lack a roommate in my current apartment. By using a chair stool, I can keep myself stable enough to slide back and forth.  I haven’t tweaked the PD values enough to really feel safe enough to let go however for more than a split second.  It works though. ...

I attended a robotic user group called RoboMo in St. Louis and I showed off the skateboard.  I got a better idea for the deadman switch force sensor.  Instead of 2 strips, I’ll be using 4 sensors.  2 will be paired on either side to create a separated “super” sensor.  With the strips, I could technically be on with only 1 foot and still have it register.  I just ordered some 1.5” force sensors along with some rubber pads for grip. ...

So I fixed this I believe a month ago and ran into a massive issue of “where was that bug I fixed” since it wasn’t backed up / checked in.  I really haven’t found time to play with my skateboard so here I go. So the bug revolved around the need to have the gyro nulled out. data.GyroRawData[i] *= data.GyroVoltCorrection[i]; So by correcting for the voltage, I was altering the “raw” value.  This isn’t that big of a deal, however I use that raw value on calibrating the gyro initially.  This is something I want to get away from...

Airplanes for me are a mixed blessing when it comes to work.  Due to the fact I have no where else to go, no real distractions (aka zero access to my media server), and virtually an unlimited supply of stuff to get done, I get a massive amount done.  But for the skateboard project and another, it semi sucks.  I need access to the skateboard to test out new code segments and I need access to Twitter for the other.  While I have my IMU with me in my book bag, I can't use it on the plane for fear...

Using a PD model, with 21 and 22 values (source is on this post), check this out.  This is an oscillation in process. Nothing too crazy Looks normal.  Data looks pretty much legit   At about 275 and 550, notice some weirdness?  I DO!!!  At no point should this go past -25 to 25.   HELLO messed up angle ratings.  500 and 1000 ratings?  I'd be doing loops. An angle rating shouldn't be this crazy and I still feel like a whale is on my chest with...

Seriously, in STL, this has happened to me too many times to count. On this topic, one very interesting thing as I prep for a presentation tonight is could it be the garbage collector firing off causing my timing issues? If it is, I can do this and it should magically fix it: GCLatencyMode mode = GCSettings.LatencyMode; // entering time-critical phase GCSettings.LatencyMode = GCLatencyMode.LowLatency; // work work work work and some more work work(); // restore and play GCSettings.LatencyMode = mode;