Frankensteinway

Worked on the machine for a bit, mostly now I am trying to clean up some timing issues with linuxcnc. G93 sets the machine to inverse time feed mode, which should allow me to complete moves in a known time. Unfortunately at really high feed rates the machine falls behind and as a result it loses the tempo. Which is okay for single track songs like the above, but on more complex pieces I have to record the song in multiple parts and overlay the recordings. As a solution I am looking at breaking up my songs by level (so lower keys  on one track, and uppers on the next), vertical moves really slow the works down.

I  made a few changes to the robot, on the hardware side I added an HDMI screen and a USB hub so I no longer have to SSH into the box to run it. Software side I cleaned up the delay code and made the timing and tempo better. This allowed me to multi track the song so that I can play more complex melodies. 

This is the electronics bay, the stuff on top is for the 8" display. Below is the beaglebone black and my homebrew stepper breakout.

Here is a closeup of the keyboard assembly, the parts are laser cut wood and acrylic, DXF files are on my github

Getting closer, just need to fix the tempo, and that key that got broken. 

Its alive.. its alive.. ITS ALIVE!