[WIP] MSI's Infernal Robotics - Model Rework (v02 Pre-Release Beta)

[AntiMatter001]

That's interesting because that's the completely opposite scale direction I was expecting you to ask for

oh! goodness no! not bigger! smaller! XD

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here's a test flight of the small utility rover using these mods:

IR-MR: (for the arm)

Kerbal Foundries: for the wheels.

KAS: for the cargo boxes

LLL: for the cockpit and cargobay

Nova punch: various batteries and stuff.

so yes i would LOVE smaller parts (not bigger.) so if you don't mind it i'm going to edit all the .cfgs so i can get smaller parts.

EDIT: I'VE GONE TOO FAR!! i tested the scaling and have made a small IR robot that's as small as a kerbal it was impossible to put together so i scaled it up first then back down and now i'm deleteing the edited .cfgs and starting over because i messed up somewhere and crashed the game lol

EDIT2: also if your intrested a fully robotic staffed hotel in japan; http://indianexpress.com/article/world/asia/worlds-first-robot-staffed-hotel-to-open-in-japan/

Edited February 8, 2015 by AntiMatter001

[riocrokite]

I neeeeeeeeeeeeeeeeeeeeeed those wheels :D awesome \o/

[ZodiusInfuser]

I neeeeeeeeeeeeeeeeeeeeeed those wheels :D awesome \o/

They're going to be a long time coming unfortunately. The stock wheel module doesn't fully understand their orientation, so you have to press backward to move forward, and invert some of the steering to actually get it to turn correctly. Changing the orientation of the model in unity isn't an option due to the way KSP handles attachment nodes with mirror symmetry. In fact I could write a whole blog post about how many wheels (including stock) are oriented wrong for node attachment, as I explained at length to Lo-Fi .

Because of this I'm looking into using other plugins, but its quite likely that I'll have to create my own (or fork an existing mod) to get the functionality I want to see these wheels have, and honestly this is something I don't have the time or energy for. Basically what I'm saying is that the wheels may never reach a point where I'll be happy to release them. I guess time will tell.

--------------------------------------------------

oh! goodness no! not bigger! smaller! XD

...

here's a test flight of the small utility rover using these mods:

See to me that part doesn't look right at that scale. It seems like a simpler design with a bigger head would be more practical to lift that container (could well be the perspective though)

so yes i would LOVE smaller parts (not bigger.) so if you don't mind it i'm going to edit all the .cfgs so i can get smaller parts.

Oh I don't mind at all. Whatever you do with your own install is your own business

Edited February 9, 2015 by ZodiusInfuser

[AntiMatter001]

Oh I don't mind at all. Whatever you do with your own install is your own business

oh cool didn't know i could do that. i always considered it a taboo to mess with someone elses work without permission so thanks for telling me i can do that \o/

i know it looks silly but i was 4 hours into the design and didn't want to scrap it for something else.

[Tidus Klein]

Can I get that vtol hinge thing, O kinda need it to make a F 32.....like thing

[Talavar]

Edit: is anyone interested in doing a logo for infernal robotics?.

lol.. went and made one not realizing you already had one.. lol O well..

Check it out anyway... lol

Edited February 10, 2015 by Talavar

[riocrokite]

lol.. went and made one not realizing you already had one.. lol O well..

Check it out anyway... lol https://fbcdn-sphotos-h-a.akamaihd.net/hphotos-ak-xpf1/v/t1.0-9/10405646_10205975459414960_8322306937393972349_n.jpg?oh=84ab75d77c5e04ed6b0cb11b7e32df1d&oe=55656953&__gda__=1430962220_5fe44fc89249c1aa1828829ed600c88b

looks good, Zodius can always swap them if he's too bored with the current one

[inigma]

Tweakscale owner and developer Biotronic says Tweakscale is no longer supported unless another mod maker takes up the torch. What does this mean for the future of IR? Will IR take the Tweakscale torch, or will IR's dependency on Tweakscale be its downfall?

http://forum.kerbalspaceprogram.com/threads/80234-0-90-TweakScale-Rescale-Everything!-%28v1-50-2014-12-24-10-40-UTC%29?p=1723237&viewfull=1#post1723237

Thought I'd sound the alarm here.

[Master Tao]

@inigma:

That would be a good question to ask in the Infernal Robotics thread, though I'd also suggest reading the last couple of pages:

I'll see about implementing my own custom TweakScale style feature to IR. All I need is the size and translations to change. I hope it will be an easy fix.

Looks like sirkut is thinking about integrating parts of TweakScale into IR.

[ZodiusInfuser]

So, wheels now work

It turns out that if I use the stock wheel module and specify "controlAxisType = Right" the control issues I was having get fixed, and to get crab steering I turned the wheels into IR parts. Surprisingly IR and ModuleWheel work together absolutely fine! It does require a bit of inventiveness on the part of the player, but for the time being its a good solution . Note that this isn't the final solution I want, but to get that I'd need to spend months just on coding, which I don't have the time or knowledge for atm.

Once I'm able to figure out why the suspension immediately bottoms out, then I'll get a version out of the three wheels for people to try.

[RainDreamer]

WOOOT! Awesome wheels are in! I eagerly await for them! Don't worry about inventiveness. We IR players are pretty inventive, just look at all the amazing things people did.

[Darren9]

Folding robot wheeled spider things I want one!

[ZodiusInfuser]

Well I managed to get the suspension behaving, so here you all go

https://www.cubbyusercontent.com/pli/IR_MobilityPack_Beta.zip/_115177c102bc45b9b5f6d396f2d85c73

Note that these are a lot more WIP than my previous "beta" parts, but they're in a usable enough state for people to begin testing and giving feedback. I'd avoid using them for any important missions though, at least for the time being.

And here's a pic of another rover I was using for tests

[Darren9]

This testing just became my most important mission, thanks Zodius

[Ziw]

Zodius, I LOVE this wheels.

See what a cute little manned science rover i made for my Duna mission.

Folded

Top view folded

Side view folded

Bonus - IVA

[ZodiusInfuser]

Zodius, I LOVE this wheels.

...

Folded

http://i.imgur.com/fp2JJja.jpg

Um, those wheels are massively over compressed. Is that just how you've fit them in? because I didn't see that behavior on my test craft, and they're not set to go that far anyway, so I'm a bit confused.

Edit: looks like your foldatrons are assembled wrong

Edited February 15, 2015 by ZodiusInfuser

[Ziw]

Um, those wheels are massively over compressed. Is that just how you've fit them in? because I didn't see that behavior on my test craft, and they're not set to go that far anyway, so I'm a bit confused.

Edit: looks like your foldatrons are assembled wrong

See this picture from VAB - they are fine in editor, but as soon as I launch they are overly compressed.

I'll check my foldatron assembly in a bit, maybe you are correct.

[CaptainKipard]

I haven't had a lot of time to play lately. Are those wheels automatically aligning when deployed?

[ZodiusInfuser]

See this picture from VAB - they are fine in editor, but as soon as I launch they are overly compressed.

That happens with all wheels. Once you enter flight the physics of the wheel module kicks in, and should cause the piston to extend. Since it's not, I suspect something invisble collision is getting in the way. I don't understand why they get compressed that much though.

I'll check my foldatron assembly in a bit, maybe you are correct.

To me it looks like the offset foldatron isn't node attached to the wide-angle one (or maybe you used the new editor widgets). Also the lighting on the wide-angle foldatrons is very odd (almost like there's two on top of each other.

--------------------------------------------------

I haven't had a lot of time to play lately. Are those wheels automatically aligning when deployed?

Unfortunately not, but they're IR joints so its easy enough to set them yourself (and then switch them to crab steering).

[Starwhip]

In the OP I see Mecanum wheels. Do they actually work?

If they do that is freakishly cool!

[Ziw]

To me it looks like the offset foldatron isn't node attached to the wide-angle one (or maybe you used the new editor widgets). Also the lighting on the wide-angle foldatrons is very odd (almost like there's two on top of each other.

I've fixed it by recreating the folding wheel from scratch. It is this annoying bug with editor when you rotate the part, some times it misaligns the attachment point and only way to fix this is to ditch the part and grab a fresh one.

[riocrokite]

Great wheels Zodius, keep up good work

[ZodiusInfuser]

In the OP I see Mecanum wheels. Do they actually work?

If they do that is freakishly cool!

They don't with stock, but with tweaks to lo-fi's plugin and some IR they do

I've fixed it by recreating the folding wheel from scratch. It is this annoying bug with editor when you rotate the part, some times it misaligns the attachment point and only way to fix this is to ditch the part and grab a fresh one.

I've just had a go recreating the rover and encountered the same issue. I think that's the plugin causing it? On an unrelated note, that rover design works great as a self-righting mechanism

[Starwhip]

They don't with stock, but with tweaks to lo-fi's plugin and some IR they do

I've just had a go recreating the rover and encountered the same issue. I think that's the plugin causing it? On an unrelated note, that rover design works great as a self-righting mechanism

I wonder if with kOS I could actually get them to work with a control scheme...

I.E. Another use for this behemoth.

#include "WPILib.h"
#include <thread>
/*
 These are pre-processing directives, the compiler will find
 in your code all these names, and replace them with the numbers
 listed beside them.
 */

#define frontLeftChannel  0         //the port for the front left drive motor
#define frontRightChannel 1         //the port for the front right drive motor
#define rearLeftChannel   2         //the port for the back left drive motor
#define rearRightChannel  3         //the port for the back right drive motor
#define mainLiftChannel   4         //the port for the main lift motor
#define backupLiftChannel 5

#define joystickDriveChannel   0    //what position in the controller array is the drive controller
#define joystickArmChannel     1    //what position in the controller array is the lift controller

#define joystickThreshold 0.15      //the "dead" zone of the controller
#define joystickLimit     1.0       // % of range (1.0 = 100%, .75 = 75% etc.)

#define encFLreverse  false;        //Reverse the Front Left Encoder
#define encBLreverse  false;        //Reverse the Back Left Encoder
#define encFRreverse  false;        //Reverse the Front Right Encoder
#define encBRreverse  false;        //Reverse the Back Right Encoder

#define encoderFLchannelA 0;

#define encodingType  Encoder::k4X

//idk if this even works but ima try it

#define JOYZCAPABLE false               //are you using a z-axis capable controller (in our case the Logitech Log 3D pro)

/*____________________________________HUGE PROGRAMMING NOTE!!!_____________________________________
 * TO DEPLOY TO THE roboRIO, YOU MUST RIGHT CLICK ON THE BUILD.XML FILE,
 * AND SELECT "RUN AS ANT BUILD".
 * ECLIPSE NO LONGER GIVES THE OPTION TO DEPLOY AS C++ CODE!!!
 */

class Robot: public SampleRobot {
    RobotDrive robotDrive;      // robot drive system
    Talon liftOne;                  // the lift motor controller
    Talon liftTwo;
    Joystick driveStick;        // only joystick
    Joystick armStick;          //Not anymore, you stupid comment!
    // why are you so mean to me? -driveStick comment

    Encoder encoderFL;          //Front Left Encoder
    Encoder encoderBL;          //Back Left Encoder
    Encoder encoderFR;          //Front Right Encoder
    Encoder encoderBR;          //Back Right Encoder
    Encoder encoderLift;        //Take a wild guess

    AnalogInput bottomLimitSwitch; //limit switch for the bottom bar
    AnalogInput topLimitSwitch; //limit switch for the top bar

    int encoderPorts[10] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 };

    int thing =0;
    float driveStick_x = 0;     //the first controller x axis value
    float driveStick_y = 0;     //the first controller y axis value
    float driveStick_z = 0;     //the first controller z axis value
    float armStick_y = 0;       // the second controller y axis value
    float attackRotRate = 0.75; //This is the rotation rate when using the buttons
    float slider = 0;           // i have no clue what this is supposed to be
    float currAvgPosition;
    float startPosition;

    bool throttleEnabled = true; //True means throttle is enabled, false not...
    bool rotationLock = true; //True means that button 2 is needed for rotation.
    bool defDriveMode = true; //True defaults to analog drive

public:
    //_____________________INITIALIZATION ROUTINES__________________________
    Robot() :
        robotDrive( frontLeftChannel,
                    rearLeftChannel,
                    frontRightChannel,
                    rearRightChannel), // these must be initialized in the same order
                liftOne(mainLiftChannel),           // as they are declared above.
                liftTwo(backupLiftChannel),
                driveStick(joystickDriveChannel),
                armStick(joystickArmChannel),
                encoderFL(encoderPorts[0],encoderPorts[1], false, encodingType),
                encoderBL(encoderPorts[2], encoderPorts[3], false, encodingType),
                encoderFR(encoderPorts[4], encoderPorts[5], false, encodingType),
                encoderBR(encoderPorts[6], encoderPorts[7], false, encodingType),
                encoderLift(encoderPorts[8], encoderPorts[9], false, encodingType),
                bottomLimitSwitch(1),
                topLimitSwitch(0)

{
        robotDrive.SetExpiration(0.1);
        robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, false);// do not invert the left side motors
        robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, false);
        robotDrive.SetInvertedMotor(RobotDrive::kFrontRightMotor, true);// invert the right side motors
        robotDrive.SetInvertedMotor(RobotDrive::kRearRightMotor, true);// you may need to change or remove this to match your robot
}

    float map(float x, float in_min, float in_max, float out_min, float out_max)//*Dalek Voice* EXPLAIIIIIIIIIIN
    {
        //_____________________FLOAT MAPPING__________________________
        return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;//*Dalek Voice* EXPLAIIIIIIIIIIIIIIIIIIIIIIN
        //Takes in a variable, and variable range, spits out new value
    }

    void RoboInit()
    {
        float disPerTick = 0.013004; //Inches (I's small)
        //not compared to the size of an electron

        //Encoder encoderList = {encoderFL, encoderBL, encoderFR, encoderBR}; //at least we tried
    }

    void precisionDrive() {
        //_______________________________PRECISION DRIVE MODE_____________________________
        if (driveStick.GetPOV(1)) { //Forward
            driveStick_x = 0;
            driveStick_y = 1;
        } else if (driveStick.GetPOV(2)) { //Right Forward
            driveStick_x = 1;
            driveStick_y = 1;
        } else if (driveStick.GetPOV(3)) { //Right
            driveStick_x = 1;
            driveStick_y = 0;
        } else if (driveStick.GetPOV(4)) { //Right Backward
            driveStick_x = 1;
            driveStick_y = -1;
        } else if (driveStick.GetPOV(5)) { //Backward
            driveStick_x = 0;
            driveStick_y = -1;
        } else if (driveStick.GetPOV(6)) { //Left Backward
            driveStick_x = -1;
            driveStick_y = -1;
        } else if (driveStick.GetPOV(7)) { //Left
            driveStick_x = -1;
            driveStick_y = 0;
        } else if (driveStick.GetPOV(8)) { //Left Forward
            driveStick_x = -1;
            driveStick_y = 1;
        } else {
            driveStick_x = 0;
            driveStick_y = 0;
        }

        //CODE FOR PRECISION ROTATION
        // I couldn't re-do this one into a switch because of the way GetRawButton works
        if (driveStick.GetRawButton(3)) { //Left Rotation
            driveStick_z = -1;
        } else if (driveStick.GetRawButton(4)) { //Right Rotation
            driveStick_z = 1;
        } else { //No Rotation
            driveStick_z = 0;
        }
    }

    void analogDrive() {
        //_____________________________________NORMAL DRIVE MODE (ANALOG)_______________________________
        //Get Joystick Raw Values
        driveStick_x = driveStick.GetX();
        driveStick_y = driveStick.GetY();

        //Written to account for lack of Logitec 3DPro joystick (Z-axis rotation of joystick)
        //could be redone so that it takes into account any z-axis capable joystick (rename the declaration more or less)
        if (JOYZCAPABLE) {
            if (throttleEnabled) { //CUSTOM CONFIG If enabled: throttle is usable
                slider = map(driveStick.GetRawAxis(3), -1, 1, 1, 0);// how is the out min bigger than the out max?
            } else { //Locks throttle to 100%
                slider = 1;
            }

            driveStick_z = driveStick.GetZ(); //map(x, in_min, in_max, out_min, out_max)
            if (fabs(driveStick_z) < joystickThreshold
                    || (!driveStick.GetRawButton(2) && rotationLock)
                    || driveStick.GetRawButton(1)) { //why are we checking for button 1? Accidental turning?? if so then the check for 2 is redundant
                driveStick_z = 0;
            }
        }

        else { //we might want to redo all of this so that the button input is saved in a var that way we can use controllers other than ours
            if (driveStick.GetRawButton(4)) { //if button 4 is pressed (left?) turn (left?)
                driveStick_z = -attackRotRate;
            } else if (driveStick.GetRawButton(5)) { //if button 5 is pressed (right?) turn (right?)
                driveStick_z = attackRotRate;
            } else {
                driveStick_z = 0;       //you press nothing... NATHING!
            }
            slider = map(driveStick.GetRawAxis(2), -1, 1, 1, 0); //wat? i is confuzed by slider
        }

        //Threshold Value Setting
        if (fabs(driveStick_x) < joystickThreshold
                || driveStick.GetRawButton(1)) { // if the x value is inside of the "dead" zone or you are holding the trigger set the x value to 0
            driveStick_x = 0;
        }
        if (fabs(driveStick_y) < joystickThreshold
                || driveStick.GetRawButton(1)) { // if the y value is inside of the "dead" zone or you are holding the trigger se thte y value to 0
            driveStick_y = 0;
        }
    }

    void joySettings() {
        if (driveStick.GetRawButton(7)) { //Enables analog default drive
            defDriveMode = true;
        } else if (driveStick.GetRawButton(8)) { //Enables precision drive
            defDriveMode = false;
        }

        if (driveStick.GetRawButton(9)) { //Enables Rotation Lock Mode
            rotationLock = true;
        } else if (driveStick.GetRawButton(10)) { //Disables rotation lock
            rotationLock = false;
        }

        if (driveStick.GetRawButton(11)) { //Enables throttle
            throttleEnabled = true;
        } else if (driveStick.GetRawButton(12)) { //Disables Throttle (100%)
            throttleEnabled = false;
        }
    }

    void driveEncoders(float distance, float rotation)
    {

    }

    void driveEncoders(float distance) {

    }

    void logOutput() {
        //outputs to the smart dashboard so we can see real-time values.

        SmartDashboard::PutNumber("Joystick X ", double(driveStick_x));
        SmartDashboard::PutNumber("Joystick Y ", double(driveStick_y));
        SmartDashboard::PutNumber("Joystick Z ", double(driveStick_z));
        SmartDashboard::PutNumber("Throttle ", double(slider));
        //SmartDashboard::PutNumber("Top Limit ", double(topLimitSwitch.GetValue()));
        //SmartDashboard::PutNumber("Bottom Limit", double(bottomLimitSwitch->Get()));
    }

    void liftControl() {
        //__________________________LIFT_SECTION_OF_MAIN_LOOP______________________
        armStick_y = armStick.GetY();//set the arm raising thing

        if (fabs(armStick_y) < joystickThreshold){// ||
                //(armStick_y < 0 && (topLimitSwitch.GetValue()) > 2058) ||
                //(armStick_y > 0 && (bottomLimitSwitch.GetValue() > 2058))){
            // if armStick_y is in the dead zone or if you reached the top limit
            //or if you set the bottom limit set arm movement to 0
            armStick_y = 0;
        }

        liftOne.SetSpeed(armStick_y); // THEN THE CODE SAID LET THERE BE LIFT!!!! maybe..
        liftTwo.SetSpeed(armStick_y);// THEN THE CODE SAID LET THERE BE LIFT!!!! maybe.. AGAIN!
    }

    void driveModeSelect() {
        //___________________________DRIVE_SECTION_OF_MAIN_LOOP_______________________
        //if you are holding the trigger use precision drive, else use regular drive
        // Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
        // This sample does not use field-oriented drive, so the gyro input is set to zero.

        if (defDriveMode) { //Analog Drive is Default
            if (!driveStick.GetRawButton(1)) { //"Button 1" is the trigger.
                analogDrive();//Button 2 is for Z-Rotation Lock... And think about it:
                // How do you hit the thumb button if you're using your thumb on the hat switch?
            } else {
                precisionDrive();
            }
        } else {
            if (!driveStick.GetRawButton(1)) {
                precisionDrive();
            } else {
                analogDrive();
            }
        }
        robotDrive.MecanumDrive_Cartesian(driveStick_x * joystickLimit * slider,
                driveStick_y * joystickLimit * slider,
                driveStick_z * joystickLimit * slider); //Actually do the moving stuff
    }

    void OperatorControl() {

        robotDrive.SetSafetyEnabled(false);     //no safety for you

        while (IsOperatorControl() && IsEnabled()) {
            joySettings();
            driveModeSelect();
            liftControl();
            logOutput();
            Wait(0.005); // wait 5ms to avoid hogging CPU cycles
        }
    }

    /*void Autonomous()
             {
             while(IsAutonomous() && IsEnabled())
             {
             if(AutonChoice == 1)
             {

             }
             }
             }*/

};

START_ROBOT_CLASS(Robot); //Initializes the class so the robot actually does stuff

[Ziw]

They don't with stock, but with tweaks to lo-fi's plugin and some IR they do

I've just had a go recreating the rover and encountered the same issue. I think that's the plugin causing it? On an unrelated note, that rover design works great as a self-righting mechanism

I've only encountered it when the foldatron part is angled (other than 90 degrees) and I re-attach a another part to it. It never happens with freshly grabbed parts. I'm not sure it is a plugin bug, seems like more of an editor bug. I also use Editor Extension, it may interfere with nodes attachment as I frequently turn the surface attachment on and off.