Category Archives: R2D2 – Astromech build

Beskar 2d2 project planning – check list – Things to do

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  1. HEAD
    1. Dome
      1. TOP
        1. Life Form Scanner
          1. Antenna
          2. Signal Processors
          3. Extension arm
        2. Flaps
          1. Periscope
            1. Camera
          2. Top (Pie Panels)
        3. Holographic Projector (Top)
      2. Middle
        1. Radar Eye + Primary Photo Receptor
      3. Bottom
        1. Logic Display Small Front
        2. Processor state inicator
        3. Holographic Projector (Front)
        4. Logic Display Large Rear
        5. Flaps – Sides (Dome Panels)
          1. Sensory Input Head
    2. Neck
      1. Head Rotation Ring (cover)
      2. Head Rotation – Lazy Susan
      3. Motor to spin head
      4. Split Rings
  2. BODY
    1. Chest
      1. Spacecraft linkage data slot (Large Data Port)
      2. Utility Arms – Spacefract linkage and conrol arms
    2. Body Compartments
      1. LEFT
        1. Computer Interface
          1. SCOMP
        2. Application interface
        3. Utility Saw
      2. RIGHT
        1. Grasping Arm
        2. Manipulator Arms
    3. Upper Belly
      1. Power Charge Arm Compartment
      2. Coin Slots (System Diagnostic input receptors)
      3. Torso Diagnostic input receptors
      4. Front Vents
        1. Upper ( Acoustic Signaller)
        2. Lower (System ventilation
      5. Pocket Vent
      6. Restraining Bolt
    4. Lower Belly
      1. Coin Return (Polarity Sink)
      2. Recharge Power Coupler
      3. Heat Exhaust (BTU Exhaust Wave)
      4. Interface Pulse Stabilizers
    5. BACK
      1. Recharge Power Coupler
      2. Coin Return (Polarity Sink)
      3. Interface Pulse Stabilizers
    6. Skirt

      (Durasteel Shell)

      1. Foot Lifter
  3. LEG (Left and Right)
    1. Shoulder
      1. Flange
      2. Shim (Horse Shoe)
      3. Hub
      4. Hydralics
      5. Buttons
      6. Under shoulder detail
      7. Actuating Coupler
    2. Leg
      1. Attitude Booster Turbine
      2. Booster Cover
      3. Leg Strut
    3. Ankle
      1. Bracelet
      2. Wedge
      3. Cylinder
    4. Battery Box
      1. Enclosure
      2. Harnessses
      3. Power bus cables (Hoses)
    5. Foot
      1. Skeleton
      2. Wheel
      3. Half Moon
      4. Front Strip
        1. knurled Hose Fitting
  4. Center Foot

    (Third Tread)

    Retractable

    1. Lifter
    2. Leg
    3. Ankle
      1. Cylinder
    4. Foot
      1. Skeleton
      2. Wheel
      3. Half Moon

 

BESKAR2D2 – test board with RJ45

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#include <ReefwingSBUS.h>
#define MIN_LEFT_ROLL    -255
#define MAX_LEFT_ROLL     255
#define MIN_LEFT_PITCH    -255
#define MAX_LEFT_PITCH     255
#define MIN_RIGHT_ROLL   -255
#define MAX_RIGHT_ROLL    255
#define MIN_RIGHT_PITCH   -255
#define MAX_LEFT_PITCH    255
#define MIN_SBUS          200
#define MAX_SBUS          1800
//#define SWITCH_ON         991
SBUS RX_from_RADIOLINK(Serial3);
uint16_t channels[16];
uint16_t lostFrameCtr = 0;
uint16_t sbusChannel6 = 0, sbusChannel7 = 0, sbusChannel8 = 0, sbusChannel5 = 0, rxMode = 0;
int16_t sbusChannel1 = 0, sbusChannel2 = 0, sbusChannel3 = 0, sbusChannel4 = 0;
bool failSafe;
bool lostFrame;
bool armed = false;
void setup() {
  //  Start Serial and wait for connection from computer
  Serial.begin(115200);
  while (!Serial);
  RX_from_RADIOLINK.begin();
//BLUE RJ45 WIRE A
  pinMode(26, OUTPUT);
  pinMode(27, OUTPUT);
  pinMode(28, OUTPUT);
  pinMode(29, OUTPUT);
//wHITE WIRE  RJ45 WIRE b
  pinMode(30, OUTPUT);
  pinMode(31, OUTPUT);
  pinMode(32, OUTPUT);
  pinMode(33, OUTPUT);
//BLUE RJ45 WIRE B
  pinMode(34, OUTPUT);
  pinMode(35, OUTPUT);
  pinMode(36, OUTPUT);
  pinMode(37, OUTPUT);
//WHITE RJ45 WIRE B
  pinMode(38, OUTPUT);
  pinMode(39, OUTPUT);
  pinMode(40, OUTPUT);
  pinMode(41, OUTPUT);
//GREY RJ45 WIRE A
  pinMode(45, OUTPUT);//this is capable of PWM//speed
  pinMode(49, OUTPUT);//direction
  pinMode(50, OUTPUT);//BRAKE
  pinMode(51, OUTPUT);//STOP
//GREY RJ45 WIRE B
  pinMode(44, OUTPUT);//this is capable of PWM  //SPEED
  pinMode(48, OUTPUT);//DIRECTION
  pinMode(46, OUTPUT);//BRAKE
  pinMode(47, OUTPUT);//STOP
}
void loop() {
  // Check for a valid SBUS packet from the RX_from_RADIOLINK receiver
  if (RX_from_RADIOLINK.read(&channels[0], &failSafe, &lostFrame)) {
   //Scale the joysticks to the min and max
    sbusChannel1 = map(channels[0], MIN_SBUS, MAX_SBUS, MIN_LEFT_ROLL, MAX_LEFT_ROLL);
    sbusChannel2  = map(channels[1], MIN_SBUS, MAX_SBUS,  MAX_LEFT_PITCH,MIN_LEFT_PITCH);
    sbusChannel4 = map(channels[3], MIN_SBUS, MAX_SBUS, MIN_RIGHT_PITCH, MAX_LEFT_PITCH);
    sbusChannel3 = map(channels[2], MIN_SBUS, MAX_SBUS, MIN_RIGHT_ROLL, MAX_RIGHT_ROLL);
    //  AUX Channels
    sbusChannel5 = channels[4];
    sbusChannel6     = channels[5];
    sbusChannel7    = channels[6];
    sbusChannel8    = channels[7];
    rxMode   = channels[8];
    if (lostFrame) { lostFrameCtr++; }
  //LEFT SWITCH
  switch (sbusChannel7) {
    case 200:
      Serial.print(“LS”);Serial.print(“A”);Serial.print(“\t”);
                digitalWrite(31, HIGH);
                  digitalWrite(32, LOW);
                  digitalWrite(33, LOW);
            break;
    case 1000:
      Serial.print(“LS”);Serial.print(“B”);Serial.print(“\t”);
                   digitalWrite(31, LOW);
                  digitalWrite(32,HIGH);
                  digitalWrite(33, LOW);
      break;
    case 1800:
      Serial.print(“LS”);Serial.print(“C”);Serial.print(“\t”);
      digitalWrite(31, LOW);
                  digitalWrite(32, LOW);
                  digitalWrite(33, HIGH);
      break;
    default:
     Serial.println(“Invalid value”);
  }
/////////////////////////////// LEFT VOLUME
      Serial.print(“LV”);Serial.print(sbusChannel8); Serial.print(“\t”);
////LEFT X
        Serial.print(“LX”);Serial.print(sbusChannel4); Serial.print(“\t”);
      if (sbusChannel4 >= -255 && sbusChannel4 < -50) {
    // sbusChannel is within the range from -100 to -50
                  digitalWrite(38, HIGH);
                  digitalWrite(39, HIGH);
                  digitalWrite(40, LOW);
                  digitalWrite(41, LOW);
} else if (sbusChannel4 >= -50 && sbusChannel4 < -10) {
    // sbusChannel is within the range from -50 to -10
                   digitalWrite(38, HIGH);
                  digitalWrite(39, LOW);
                  digitalWrite(40, LOW);
                  digitalWrite(41, LOW);
} else if (sbusChannel4 >= -10 && sbusChannel4 < 10) {
    // sbusChannel is within the range from -10 to 10
                  digitalWrite(38, LOW);
                  digitalWrite(39, LOW);
                  digitalWrite(40, LOW);
                  digitalWrite(41, LOW);
} else if (sbusChannel4 >= 10 && sbusChannel4 < 50) {
    // sbusChannel is within the range from 10 to 50
                  digitalWrite(38, LOW);
                  digitalWrite(39, LOW);
                  digitalWrite(40, LOW);
                  digitalWrite(41, HIGH);
} else if (sbusChannel4 >= 50 && sbusChannel4 <= 255) {
    // sbusChannel is within the range from 50 to 100
                  digitalWrite(38, LOW);
                  digitalWrite(39, LOW);
                  digitalWrite(40, HIGH);
                  digitalWrite(41, HIGH);
} else {
    // sbusChannel is outside of all of the specified ranges
}
//////////////////////LEFT Y AXIS
    Serial.print(“LY”);Serial.print(sbusChannel3); Serial.print(“\t”);
      if (sbusChannel3 >= -255 && sbusChannel3 < -50) {
    // sbusChannel is within the range from -100 to -50
                  analogWrite(45,fabs(sbusChannel3) );//speed
                  digitalWrite(49, LOW);//direction
                  digitalWrite(50, LOW);//BRAKE
                  digitalWrite(51, LOW);//STOP//
Serial.print(“RF”);
} else if (sbusChannel3 >= -50 && sbusChannel3 < -10) {
    // sbusChannel is within the range from -50 to -10
                  analogWrite(45,fabs(sbusChannel1) );//speed
                  digitalWrite(49, LOW);//direction
                  digitalWrite(50, HIGH);//BRAKE
                  digitalWrite(51, LOW);//STOP//
Serial.print(“RS”);
} else if (sbusChannel3 >= -10 && sbusChannel3 < 10) {
    // sbusChannel is within the range from -10 to 10
                   analogWrite(45,fabs(sbusChannel3) );//speed
                  digitalWrite(49, LOW);//direction
                  digitalWrite(50, HIGH);//BRAKE
                  digitalWrite(51, HIGH);//STOP//
Serial.print(“SS”);
} else if (sbusChannel3 >= 10 && sbusChannel3 < 50) {
    // sbusChannel is within the range from 10 to 50
                  analogWrite(45,fabs(sbusChannel3) );//speed
                  digitalWrite(49, HIGH);//direction
                  digitalWrite(50, HIGH);//BRAKE
                  digitalWrite(51, LOW);//STOP//
Serial.print(“FS”);
} else if (sbusChannel3 >= 50 && sbusChannel3 <= 255) {
    // sbusChannel is within the range from 50 to 100
                  analogWrite(45,fabs(sbusChannel3) );//speed
                  digitalWrite(49, HIGH);//direction
                  digitalWrite(50, LOW);//BRAKE
                  digitalWrite(51, LOW);//STOP//
Serial.print(“FF”);
} else {
    // sbusChannel is outside of all of the specified ranges
}
 Serial.print(“\t”);
 Serial.print(“\t”);
 Serial.print(“\t”);
//////////////////////////////
//RIGHT SIDE OF CONTROLLER
/////////////////////////////
////////////////////////////////
    Serial.print(“RX”);Serial.print(sbusChannel1); Serial.print(“\t”);
      if (sbusChannel1 >= -255 && sbusChannel1 < -50) {
    // sbusChannel is within the range from -100 to -50
                  digitalWrite(34, HIGH);
                  digitalWrite(35, HIGH);
                  digitalWrite(36, LOW);
                  digitalWrite(37, LOW);
} else if (sbusChannel1 >= -50 && sbusChannel1 < -10) {
    // sbusChannel is within the range from -50 to -10
                   digitalWrite(34, HIGH);
                  digitalWrite(35, LOW);
                  digitalWrite(36, LOW);
                  digitalWrite(37, LOW);
} else if (sbusChannel1 >= -10 && sbusChannel1 < 10) {
    // sbusChannel is within the range from -10 to 10
digitalWrite(34, LOW);
                  digitalWrite(35, LOW);
                  digitalWrite(36, LOW);
                  digitalWrite(37, LOW);
} else if (sbusChannel1 >= 10 && sbusChannel1 < 50) {
    // sbusChannel is within the range from 10 to 50
    digitalWrite(34, LOW);
                  digitalWrite(35, LOW);
                  digitalWrite(36, LOW);
                  digitalWrite(37, HIGH);
} else if (sbusChannel1 >= 50 && sbusChannel1 <= 255) {
    // sbusChannel is within the range from 50 to 100
    digitalWrite(34, LOW);
                  digitalWrite(35, LOW);
                  digitalWrite(36, HIGH);
                  digitalWrite(37, HIGH);
} else {
    // sbusChannel is outside of all of the specified ranges
}
///////////////////////////////////////RIGHT Y
    Serial.print(“RY”);Serial.print(sbusChannel2); Serial.print(“\t”);
      if (sbusChannel2 >= -255 && sbusChannel2 < -50) {
    // sbusChannel is within the range from -100 to -50
                  analogWrite(44,fabs(sbusChannel2) );//speed
                  digitalWrite(48, LOW);//direction
                  digitalWrite(46, LOW);//BRAKE
                  digitalWrite(47, LOW);//STOP
Serial.print(“RF”);
} else if (sbusChannel2 >= -50 && sbusChannel2 < -10) {
    // sbusChannel is within the range from -50 to -10
                   analogWrite(44,fabs(sbusChannel2) );//speed
                  digitalWrite(48, LOW);//direction
                  digitalWrite(46, HIGH);//BRAKE
                  digitalWrite(47, LOW);//STOP
Serial.print(“RS”);
} else if (sbusChannel2 >= -10 && sbusChannel2 < 10) {
    // sbusChannel is within the range from -10 to 10
                  analogWrite(44,fabs(sbusChannel2) );//speed
                  digitalWrite(48, LOW);//direction
                  digitalWrite(46, HIGH);//BRAKE
                  digitalWrite(47, HIGH);//STOP
Serial.print(“ST”);
} else if (sbusChannel2 >= 10 && sbusChannel2 < 50) {
    // sbusChannel is within the range from 10 to 50
                  analogWrite(44,fabs(sbusChannel2) );//speed
                  digitalWrite(48, HIGH);//direction
                  digitalWrite(46, LOW);//BRAKE
                  digitalWrite(47, LOW);//STOP
                Serial.print(“FS”);
} else if (sbusChannel2 >= 50 && sbusChannel2 <= 255) {
    // sbusChannel is within the range from 50 to 100
                  analogWrite(44,fabs(sbusChannel2) );//speed
                  digitalWrite(48, HIGH);//direction
                  digitalWrite(46, LOW);//BRAKE
                  digitalWrite(47, LOW);//STOP
                  Serial.print(“FF”);
} else {
    // sbusChannel is outside of all of the specified ranges
}
Serial.print(“\t”);
     //Serial.print(“RB”);Serial.print(sbusChannel6); Serial.print(“\t”);
switch (sbusChannel6) {
    case 200:
      Serial.print(“RB”);Serial.print(“O”);Serial.print(“\t”);
                  digitalWrite(26, LOW);
                  digitalWrite(30, LOW);
            break;
    case 1800:
    Serial.print(“RB”);  Serial.print(“P”);Serial.print(“\t”);
                  digitalWrite(26, HIGH);
                      digitalWrite(30, HIGH);
      break;
    default:
      Serial.print(“RB”);Serial.print(“Invalid value”);Serial.print(“\t”);
      digitalWrite(26, LOW);
      digitalWrite(30, LOW);
      break;
  }
;
  switch (sbusChannel5) {
    case 200:
      Serial.print(“RS”);Serial.print(“A”);Serial.print(“\t”);
                  digitalWrite(27, HIGH);
                  digitalWrite(28, LOW);
                  digitalWrite(29, LOW);
                  break;
    case 1000:
      Serial.print(“RS”);Serial.print(“B”);Serial.print(“\t”);
                  digitalWrite(27, LOW);
                  digitalWrite(28,HIGH);
                  digitalWrite(29, LOW);
                  break;
    case 1800:
    Serial.print(“RS”);  Serial.print(“C”);Serial.print(“\t”);
                  digitalWrite(27, LOW);
                  digitalWrite(28, LOW);
                  digitalWrite(29, HIGH);
      break;
    default:
      Serial.print(“RS”);Serial.print(“Invalid value”);Serial.print(“\t”);
                        digitalWrite(27, LOW);
                  digitalWrite(28, LOW);
                  digitalWrite(29, LOW);
  }
;
Serial.print(“\t”);
       Serial.println(rxMode);
  }
  delay(10);
}