Author Archives: peter

Fast Analog Read on Arduino

The Arduino AnalogRead(pin) function is simple to use, but can’t be called faster than about 10 kHz. Audio needs sample rates closer to 40 kHz. This post will be a notepad of resources and notes related to high speed analog … Continue reading

Posted in Programming, Projects | Tagged | Leave a comment

NFC v3 Reader with Arduino

Turns out there are playing cards available with NFC capability embedded in them. I’m helping a friend make an automated bridge table. The step I’m helping with in particular is reading the card inputs and pushing the information on to … Continue reading

Posted in Programming, Toys | Leave a comment

Three-Robot Formation Localization

Visualizations of three-robot formation localizing using only range-only and range-bearing. I have recorded screencasts from Autodesk Fusion 360’s sketch view to help visualize the limits of the constraints. In the videos, the Hexagon represents a robot fixed at the origin … Continue reading

Posted in CAD, Projects, Robotics | Leave a comment

Manual Exposure Control of OpenCV Video

My experiments robot localization have been frustrated by blurry images. Blurry images have been making estimating the position of Aruco tag boards difficult with OpenCV. In my case, the camera is mounted to a moving robot that is photographing tags … Continue reading

Posted in Projects, Robotics | Tagged , , , , | Leave a comment

Raspberry Pi Cheatsheet

Follows is a list of tips for Raspberry Pi setup and use. Direct Ethernet Connect Setup * Turn on my Mac’s Internet Sharing for the Thunderbolt Ethernet adapter. The self-assigned IP on Thunderbolt Ethernet is fine. Use arp -n -i … Continue reading

Posted in Projects, Robotics, Toys | Tagged , , | Leave a comment

Book Binding Cradle

Last week my friend Amanda (Hi!) showed me how to bind a book! We used her book-binding cradle to hold folded-gathered sheets while we poked holes in the creases.¬†Wanting one for myself, and not seeing designs in the usual places, … Continue reading

Posted in Projects | Tagged , , , | Leave a comment

IR Serial Communication with Pololu Zumo

Inter-robot communication may facilitate interesting cooperative behaviors. The Pololu Zumo robot platform has no inter-robot communication facility as-designed. ¬†I am interested in repurposing the IR proximity sensors and the IR illuminators to receive and send serial data. The following are … Continue reading

Posted in Robotics, Uncategorized | Leave a comment

Three-Dimensional Aruco Boards

I am using Aruco tags to locate mobile robots relative to one another. I have mounted tags on the robots using cubes so that at least one tag will be visible from every side of the robot. In the picture … Continue reading

Posted in MOBOT, Programming, Robotics, Toys, Uncategorized | Leave a comment

OpenCV Charuco-Board Pose Estimation

The OpenCV Charuco-board pose estimation tools can provide localization estimation relative to your camera. The red-green-and blue axes drawn at the upper-right of the charuco-board taped to my wall indicates the pose estimate. These instructions are not particularly user-friendly, but … Continue reading

Posted in MOBOT, Projects | Leave a comment

OpenCV Charuco Camera-Calibration

OpenCV is an amazing tool that can provide accurate pose information in real-time, but first you have to provide it with a model of your camera. The opencv_interactive-calibraiton tool nominally provides that capability. Follows is a record of how I … Continue reading

Posted in MOBOT, Projects, Toys | Leave a comment