I2C thoughts...

Question

...from the newbie... Can each digital port send I2C? Because I saw some I2C servo controllers that handle multiple servos. Could this expand the number of servos (or H-bridges) controlled?

DJ Sures · Answer

I2C allows chaining (a network) of devices. You only need one I2C interface to control 112 devices per bus. That is why the EZ-B has only one I2C interface

Troy · Answer

Im determined to get a cybie to work with EZ-B. Somehow. hmmmm maybe I will think of something....Ive got a good feeling on this. It just wont be a level 1 project i think but I just KNOW this could be awesome if I can control it wireless with LAPTOP brains and new sensors. But alas...mobility first....

DJ Sures · Answer

Man I hope you take a lot of pics of the Cybie What kind of servos are you thinking of using?

Troy · Answer

LOL there will be no evidence of the failures. Actually I bought 2 cybies. One to totally autopsy and practice on and if all goes well I would make an instructible. (Crediting DJ Sures EZ-B) IDK about the servos. Id love to see the insides and replace those noisy gears and motors. Even if it was only a little quieter. Looking at pix on the internet I may have to keep the gear set up and put quieter motors in. Soooo...there will still be the problem of too many digital signals gobbled up for that many H-Bridges. Im still wondering if there is a ready interface solution to using a servo control pulse to create the needed HL LH LL for the H-bridge. Like ... pulses high...rotate clockwise (HL)...pulses low...rotate counter clockwise (LH)....no pulses...stop(LL).. That way only one servo port needed to control one H-Bridge. Thoughts?

DJ Sures · Answer

How many hbridges are on the i cybie? There are 20 i/o on the ez-b... Each motor would take 2 i/o of the ez-b (for your hh, hl, lh, ll) You "could" look into which hbridges are ALWAYS going to be on at the same time and double up the connections, but i don't know how much that is worth to you? It'd be a lot of work to save only a few i/o If you used 20 i/o, you deserve some sort of magical prize because that's the most anyone has used on an ez-b. i've never come close

Troy · Answer

There are 16 Half H bridges. For 16 motors but only 12 are for the legs. Im trying to find what that Half H circuit looks like. lol I have NO idea what Im getting into. Prize for 20 IO? Not if its ALL H bridges because that means i really moved 10 motors and no DI/O for other stuff! -Troy

Troy · Answer

I found a tiny bit more data here. Not easy to find but OH so VERY interesting! Glikityclik

Troy · Answer

After I got some sleep and took a step back I thought about it more simply. Why not take a cheap servo apart for the circuitry and reassemble its controllers and potentiometers in the robot. Option 1 keep the same motors already there. Option 2 shop around for internal servo motors that just might be quieter and can use ez-b power source. and guess what....sigh....after a few hours more digging through the internet there is a picture of EXACTLY what Im talking about. Glikityclik

DJ Sures · Answer

Whoa, if you're willing to do that! Hats off to you It will take some real cool engineering to mount the pot and motor shaft, etc. But when you get it going, I bet it will be awesome. I'm constantly impressed of the engineering that you guys are all doing. I know I "hack" things together pretty quickly. But nothing I do is very complicated (except maybe making the ez-b haha). My mechanics are hot glue gun and screws and a dremel. Hats off to your confidence!

Troy · Answer

I think its better than Aibo because its large enough to add other stuff in. Id love to have Aibo but is running $800 minimum right now. its gonna be a fun project. Reading up on MS RDS now

CochranRobotics · Answer

I know, "holy dig up old thread, Batman!" I was just wondering if DJ, Troy or anyone else has tackled this project? Do you think that the V4 would offer better possibilities? I am seriously thinking about tackling this project. I would replace all of these leg and neck motors with servos. It could get pretty costly. Programming this guy could be "fun".

Troy · Answer

OH GEEZ! 2011?! I had more drive back then. I did give up on that one because even if I took apart some servos for the boards and used the potentiometers in the joints that are already there I would still run into space issues. There doesnt seem to be enough room for the EZB and extra boards. If you think about the cost of servos and an ez-b you might as well purchase an older Aibo. If cost is no object, why not build your own 4 legged bot so you are guaranteed to have room for all the gear you want. Darpa little dog

CochranRobotics · Answer

I found the models to 3d print the i-cybie. It would allow me to provide more room I think. The cost of the servos is going to be pretty high. I count 16 of them. Then there are 5 ir emitters, 2 buttons, a camera, photo sensor and an ir receiver. Add in a tilt sensor, sonar, 2 LEDs and compass... I don't think there are enough ports on the V4. idk, I will probably buy one for the body and start chopping it up to see if its even possible. Thanks for replying. I may be taking on more than I can chew, but heck...thats how I learn best.

Antron007 · Answer

@Troy- Man, I just saw a brown one of these guys at a rummage sale yesterday for $2. I put it down out of ignorance, I even said screw it and was gonna buy it for parts but someone snagged it as I was on my way to get it. It didn't have any of the connectors or cords or anything. It had that chip that went into the side though. I would even give it to you now if I did just because you'll do more with it than I could. I'm super sad I missed out on this.

CochranRobotics · Answer

Ah, darn. I'm trying to find one now. Saving on initial cost would be great. There are some on eBay for about $50. I would love to start on this one. Would be interested in seeing what size servos I can fit into this guy.

Troy · Answer

@antron007 thanks but at one time I acquired a total of five at very good ebay prices. Two of which were in perfect order. After seeing those Aibo on youtube I was very disappointed in i-Cybie. lol

CochranRobotics · Answer

I agree the I-cybie is far less of a bot than the aibo. I think that rebuilding it with a EZ-B and adding the necessary sensors/camera, it could be closer to the aibo. The cost to do this project would be about the same cost as an aibo but it could be spread out over a considerable amount of time. A lot of scripting would have to go into place, but with the Auto Position panels, I think you could get it going pretty well.

I have an unopened one on the way. I figure I can give it a go and document the progress as it is made or failed. It is better than documenting the progress of yet another wall-e, which I am working on now.

Troy · Answer

Sounds like a great idea! You'd be the first here to tackle it. Best of luck to you.

Troy

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