There's a lot of things that need to get done in order to make this work. I've been putting a list together for myself but figured I'd share and see if people had suggestions for things that might be more critical than I have been thinking.
My objective is to complete a functional version of the build before I worry about testing, optimizing, and beautifying. So I'm not bothering to include later steps like, "sharks with freaking laser beams".
- Layout a proto-board including the bluetooth and micro-sd modules. This step is required because my breadboard doesn't have room for these modules (and because I have concerns about the breadboard holding together). (Note: setting up a custom PCB board falls under the optimization and beautification section)
- Add code to the project to interface the ATMEL chip with the micro-sd and then with the bluetooth. Micro-sd is necessary to record data (unless it is streamed to another device which can have connectivity issues) and I haven't added any physical controls to the project so I need the bluetooth as a controller. (This will be from public libraries)
- Store data in spherical csv format and find a suitable converter.
- Add the magnet and the hall effect switch to the gimbal so that the pitch can be set. Due to start-up jitter of the steppers, I can't predict where they will be pointed after start-up. Currently I have to physically overpower the stepper and move the pitch carriage into position by hand. This seems likely to wear out my plastic connectors.
- Add a physical connector for the SF30-B to the pitch carriage. I've ordered an aluminum connector, but it is set to connect the device at 90 degrees to the direction of the laser. Due to the center of rotation on my current carriage I will need to make adjustments.
- Modify available SF30-B code to work in this application.
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Interesting article. It's a bit much for my current project goals. But once I get a more finalized design I hope other people will be involved and forking the project for their own uses.
I've also looked at mechaduino and want to add that to the next version of the gimbal if I can. But I started with different motors because I was worried about delivery timelines. So this time I'm using a $1 magnet and a $5 hall effect to set the start point. Next time it will be awesome to upgrade to mechaduino.
I'm wiring the thing for a standard 9dof module that uses the sda/scl pins on the arduino. 6dof sensors should work just fine too. But I'm taking this in baby steps. I don't need a 6dof sensor to capture a lidar image at all. So I'm not working on it until I figure out the quality of the lidar image and fix any issues. I'm more worried about stepper jitter right now than I am about which direction the device is facing.
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https://arxiv.org/pdf/1511.06434.pdf This might help applied with the LIDAR output. (Matching architectural components to ImageNet that is) Are you intending on keeping 100% Faro compatibility i.e. SCENE etc ? For smooth movement - http://hackaday.com/2016/06/01/mechaduino-closed-loop-stepper-servos-for-everyone/ I've never used Faro but it seems frigging cool. I know a bit about optics (and micropositioning in 2-axis as well as a bit of structural e, mech e, compe, and ee [just a lot of knowledge without very much depth haha!] so if you have any questions publicly ask them! I.e., https://en.wikipedia.org/wiki/Stewart_platform is 6 DOF -- easy to build, probably fairly easy to buy on ebay (labs that need seismic insulation for instrumentation often build platforms based on that architecture - when they upgrade, metrology grade equipment goes for pennies on the dollar)
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