https://www.swallenhardware.io/battlebots daily 0.75 2023-04-22 https://www.swallenhardware.io/battlebots/2023/7/22/magnetometers-software-implementation monthly 0.5 2023-07-22 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/b2b3e769-8f78-4af9-972b-cfbac4c732bd/meltycompass_diagram.png Battlebots - Magnetometers: Software Implementation - Make it stand out Planned software block diagram https://www.swallenhardware.io/battlebots/2023/4/20/magnetometers-way-forward monthly 0.5 2023-04-23 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/0554ce40-0b77-427b-9a36-0fdce4b47c60/Ideal_case.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Ideal field strength plot https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/75eccf11-4391-4304-b971-d523cfcaa3a0/real_field.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Simulation of motor noise https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/f82eb8a2-3e8e-4f1f-afae-85572e5abf25/full_fft.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out FFT of the noisy data https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/6d9a3409-0df6-4150-99f6-5302b877068b/actual_fft.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out More realistic FFT plot. Robot is spinning at 18Hz https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/6ebc100c-a71e-412b-a848-0d6f94acf32f/goertzel_constant.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Results of a Goertzel algorithm on simulated magnetometer data, constant speed https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1a7b1c16-f4be-4595-8899-34a7b02785f3/bad_goertzel_accel.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Results from a naive Goertzel of accelerating data https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/a4203928-da78-42e7-8074-57a6be132f5c/bad_goertzel_accel_error.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Showing phase error over time for a naive Goertzel on accelerating data. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/ae1c8f46-9273-4944-b47c-1643da041f73/actual_fft_bad_accel.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out FFT result of data with accelerating components https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/ed993b2b-e82b-45aa-8ec2-82a56a01438d/goertzel_deccel_good.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Simulation of a Goertzel’s algorithm with adaptive sample rate, in a dramatically decelerating scenario https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/0eeb7776-7a96-4e40-98c4-834f8bbf1bc6/warp_explainer.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Showing how rotation speed can be integrated to correct for acceleration in the Goertzel/FFT data https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/c9d06487-e528-4230-82d8-aa040b1da132/error_decel_good.png Battlebots - Magnetometers: a Possible Way Forward - Make it stand out Heading error of an adaptive goertzel implementation in a rapidly decelerating environment https://www.swallenhardware.io/battlebots/2023/1/20/a-magnetometer-collides-with-reality monthly 0.5 2023-04-22 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1663638933116-EUI99KXLI4E03CCK63XM/lowpass_waves.png Battlebots - A Magnetometer Collides with Reality - Make it stand out Low Pass Filter Performance https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/6e10106d-951f-4d64-9a3e-c119528f102b/magnetometer_data_BAD.png Battlebots - A Magnetometer Collides with Reality - Make it stand out Plot of raw magnetometer data https://www.swallenhardware.io/battlebots/2022/9/18/magnetometers-for-meltybrains monthly 0.5 2022-10-21 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/7bc746bd-3baf-43bf-9ae7-ea0ebfea5838/tester_cropped.png Battlebots - A Rotating Coil Magnetometer for Meltybrains - Make it stand out The test rig I used to proof the electronics https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/cfca64da-9166-46ef-9284-995f749a8dea/early_mag_test.png Battlebots - A Rotating Coil Magnetometer for Meltybrains - Make it stand out Initial magnetometer test data https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1663638933161-EBELUIX0QCAOSJA68N2A/lowpass_filter.png Battlebots - A Rotating Coil Magnetometer for Meltybrains https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1663638933116-EUI99KXLI4E03CCK63XM/lowpass_waves.png Battlebots - A Rotating Coil Magnetometer for Meltybrains https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/89875290-5935-4bfe-8fda-19395fe669ea/analog_schem.PNG Battlebots - A Rotating Coil Magnetometer for Meltybrains - Make it stand out The final analog front-end schematic. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/51020f97-7755-4cc9-a627-67a53e98619a/osc_waves.png Battlebots - A Rotating Coil Magnetometer for Meltybrains - Make it stand out Test data taken from the rig pictured at the top. Yellow is the analog signal, blue the comparator output. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/aaebbb97-942b-46da-896d-337f7137bc50/wobble_plot.png Battlebots - A Rotating Coil Magnetometer for Meltybrains - Make it stand out The output of a wobbly system https://www.swallenhardware.io/battlebots/2021/12/10/event-report-robot-ruckus-2021 monthly 0.5 2022-01-10 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/10f824e8-7268-4018-a312-7a12e87a74c3/chassis_partial.jpg Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out The Halo chassis, partially machined https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/6d3e1941-cf0f-4f35-a99e-4e60ee738cfb/machining_hitnspin.gif Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out Hit ‘N Spin chassis being machined https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/8ddc53d3-18e9-45ce-bc28-7e55e7a3fc9f/hitnspin_strike.gif Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out Hit ‘N Spin not exploding https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/bc4eea59-a8c2-4da8-a5c3-05893a0387e5/batterybox_model.png Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1639352914202-6TXKJMRNWBJ2P6A34UYM/bbox_cover.jpg Battlebots - Event Report: Robot Ruckus 2021 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1639352917285-2LCIEF7PEMSL20SGFX6O/bbox_plastic.jpg Battlebots - Event Report: Robot Ruckus 2021 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1639352920018-8UN3HE0EDARXSQM6ERRP/Halo_open.jpg Battlebots - Event Report: Robot Ruckus 2021 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/2695ed32-4b4b-47f7-bd1b-acaf70c7facc/controller.jpg Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/d44ef390-ddf4-40ac-912b-96a488892d20/backsplash.jpg Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out This is close to the floor used https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/fd5118e3-fc74-408f-b014-48c0f573bff3/bbox_damage_edited.jpg Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out Fracture points circled in red https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/19671e13-a33f-4045-b515-710ab34349a0/halo_brick_trim.gif Battlebots - Event Report: Robot Ruckus 2021 - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1641783212450-UPNDILR8RC4E61OHUVRU/bobby_trim.gif Battlebots - Event Report: Robot Ruckus 2021 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1641783289791-TEWS0T2DZY86TGQLRO8M/krawl_trim.gif Battlebots - Event Report: Robot Ruckus 2021 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1641783362993-74DFAKQCVYBIQEASGJ4E/rumble_trim.gif Battlebots - Event Report: Robot Ruckus 2021 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1641783493459-UGQZWX8EKECS637FM175/skullcruncher_trim.gif Battlebots - Event Report: Robot Ruckus 2021 https://www.swallenhardware.io/battlebots/2019/12/10/event-report-bugglebots-2019 monthly 0.5 2020-02-08 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1576117629835-E2UEVFC37JK8LRVREGRY/goodAngle.png Battlebots - Event Report: Bugglebots 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1576117634912-XG1OAIWTSXQ971QAV9XR/badAngle.png Battlebots - Event Report: Bugglebots 2019 https://www.swallenhardware.io/battlebots/2019/11/13/event-report-robot-ruckus-2019 monthly 0.5 2019-11-15 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573702714033-BZEKGRP3MCM4C0UGUL68/20191109_093841.jpg Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573702629719-02EC8CRXEG1VU9IU1MTS/IMG_0849.JPG Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573702647071-P4UEEJA5ULCYEHQ3CCAZ/20191110_103145.jpg Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573835948364-AA6XLOM8VJMJS28IVH22/image-asset.jpeg Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573835986197-G2OQIOMY755FFJ9NK8F8/20191110_112039.jpg Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573829965439-IFM4QZS8IBKLC3ZZ4P2N/20191110_150209.jpg Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573829972555-SL2M7XNYDALGMHCZBKNS/20191109_151905.jpg Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573829977895-S8O0EOSDHOKL46RNCPQE/20191109_124648.jpg Battlebots - Event Report: Robot Ruckus 2019 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1573829857005-UITKH24R3OSJU8OOXUPX/20191110_150415.jpg Battlebots - Event Report: Robot Ruckus 2019 https://www.swallenhardware.io/battlebots/2019/10/16/hit-n-spin monthly 0.5 2019-12-12 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572648288387-LP76VWJX795ZEZO9BGV5/hitNspin_assembled.jpeg Battlebots - Hit N Spin Antweight Meltybrain! https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572652450440-CSIJTD4ME39YUS0VX4VJ/assembly.PNG Battlebots - Hit N Spin 3D model view, with center of mass overlay https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572652239854-70QRH2RQVI4C0IQ1C85M/GVRL7374.JPG Battlebots - Hit N Spin Yup. It’s titanium https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572723840820-KYMQ47HBXP9BXNDSCOTS/IMG_0805.JPG Battlebots - Hit N Spin Testing the tolerances on the part before printing the whole thing. This took a lot of trial and error. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572723851758-4B9WPDR3LNBM70TVF6GE/IMG_0806.JPG Battlebots - Hit N Spin Right after pressing the titanium onto the print https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572723860237-0S26KIJGSQY2GBP6VZG7/IMG_0807.JPG Battlebots - Hit N Spin The first layer prints pretty poorly https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572723868729-A5LQ0BY7ALA10XPVDJ0V/IMG_0808.JPG Battlebots - Hit N Spin After a couple layers it prints great https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572724660625-X8B4MVY1UZ1WOD0E7R5T/hitNSpinGuts.jpeg Battlebots - Hit N Spin The guts spilling out of an earlier version. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572727531744-ZSCXPMM1YJ6JQD4ILO59/IMG_0842.JPG Battlebots - Hit N Spin Everything jammed in https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572726077533-BB1UD0YK0FVITLGBF3X9/image-asset.png Battlebots - Hit N Spin Done in KiCad 5.0 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1572726381774-ZZ2KXDUC8SUB1KOWA2WF/Figure_1.png Battlebots - Hit N Spin Calibration data and best-fit https://www.swallenhardware.io/battlebots/2019/5/10/halo-pt-12-gen-2-electronics monthly 0.5 2019-07-26 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1559505265586-2AEWHKQYI6JLOIUW08V1/IMG_0615.JPG Battlebots - Halo Pt. 12: Gen 2 Electronics https://www.swallenhardware.io/battlebots/2019/4/20/a-developers-guide-to-dshot-escs monthly 0.5 2019-04-21 https://www.swallenhardware.io/battlebots/2019/3/31/halo-pt-11-mechanics-of-a-good-impactor monthly 0.5 2019-04-01 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554061184887-GH5YIW7Y9E4LHQIWABV8/Halo+Ring+Cracking Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] The ring at the base of the impactor showing deflection and cracking https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554061770012-E331RBOI00IZJ470EN6W/Halo+Original+Tooth+FEA+Setup.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Simplified FEA Model for the First Impactor https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554062051790-XUOFC4VU26F8C6VX0MOJ/Halo+Original+Tooth+FEA+VonMises.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Original Tooth FEA with Von Mises Stress https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554062838559-MX8BW6DH99YNNNRBXLLO/Halo+Original+Tooth+FEA+FOS+Front.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] FEA FOS Plot for the Original Tooth Showing the Front. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554063289581-N8T3V35VH8LLY8P5GUVF/image-asset.png Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Original Tooth FEA FOS showing the Back of the Ring https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554064078964-UO3IMI6TD8CS430W98XY/Halo+First+Iteration+Thin+Tooth.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] 1st Iteration: The Thin Tooth https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554064792957-2AR8OVSLGXXGMBOPBM03/image-asset.png Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Iteration 2: The Hollow Tooth https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554065261385-X54UT90HDBLISOTW43D3/image-asset.png Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Third Iteration: Hollow and Flipped Bolt Hole https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554065660018-ZCC4MXSGFCEPYVQ0PL2Y/image-asset.png Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Third Iteration FEA Showing a Gap between the tooth and the root. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554066106937-HA6ZS45RD80O1BCB9FN5/Halo+Third+Iteration+FEA+FOS.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Third Iteration FEA FOS https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554066990409-0ZDNYPNQZ4CMTMTZC479/Halo+Third+Iterations.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] Halo Third Tooth Iterations https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554067162525-TZ0HS987RJANZWIIUX6D/Halo+Third+Iteration+FEA+Large+Tooth.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1554067838186-XB4CHK0L2LEDWYSCBTHT/Halo+Third+Iteration+Large+Tooth+Assembly.PNG Battlebots - Halo Pt. 11: Mechanics of a Good Impactor [Guest Starring] https://www.swallenhardware.io/battlebots/2018/11/17/halo-pt-10-after-event-report monthly 0.5 2018-11-17 https://www.swallenhardware.io/battlebots/2018/8/12/halo-pt-9-accelerometer-calibration monthly 0.5 2019-11-15 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1534093469116-GNRRBI06XZK8GU5Y62SW/code_new.PNG Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1534094156920-5GQK3Y8JP8RP2QZE3BGW/data_send.PNG Battlebots - Halo Pt. 9: Accelerometer Calibration robotPeriod in this case represents our raw accelerometer measurement https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1534094342584-BCW6JXT2LYWX0LM47KRU/data_receive.PNG Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1534098376334-9D6M26NHO188BN6ZTQ31/writeToFile.PNG Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537672488009-E3J0TTKOSJLWPKRKKX1H/dataplot.png Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537672762404-4OP51WCHGMYQ1Q2DF0ZE/dataplot_artifacts1.png Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537674106977-HSJ5XAE4CYB05LAD0XOF/image-asset.png Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537674521469-OML4883GCPYU62MYRY99/dataplot_final.png Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537675986048-1WWBWSITER7XPHDS4VPY/curve_fit.PNG Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537674860229-Q4I8FADTI51PK3Y6LZLS/finalplot.png Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537675947778-FRPDS3F963LGNNULI9J0/coefficients.PNG Battlebots - Halo Pt. 9: Accelerometer Calibration https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1537676031676-AZAX23UN5YJ3OYHVLPPU/equation.PNG Battlebots - Halo Pt. 9: Accelerometer Calibration https://www.swallenhardware.io/battlebots/2018/6/30/halo-pt-8-improved-accelerometer-algorithm monthly 0.5 2021-10-30 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530419403243-NRQUR3A67SBMM7ARGXMD/steadyState.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530419044897-NB1NAXPNX6K32WPMIEU2/linearAlgorithm.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530420535742-P2NO4I1WIAE8YYJAUW9D/accelerating.png Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530471701512-BRYI4WLCJBM8MYBKNGIK/acceleratingBlocks.png Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530454379383-K80DN0KZ4TEPN6GE7H90/trapezoidBase.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530472419899-YGAD434SKD4ZONHVE2AY/Trapezoid.png Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530455087193-09N753IPQMUK450ZZPMQ/trapezoidalMelty.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530455630248-9U3ODI9278ZGNZI35KKX/linearExtrapolation.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530456112961-IVIOZA85VTPENBUSXUCR/trapezoidalPredicted.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1534305665838-CLHZK1LPRCIHXW0MSH0N/invertedOmega.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1534305629427-27JS1VCZYU77DVAJD70P/finalInverted.PNG Battlebots - Halo Pt. 8: Improved Accelerometer Algorithm https://www.swallenhardware.io/battlebots/2018/6/7/halo-pt-7-improved-algorithms monthly 0.5 2021-10-30 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528432130868-0FU3OGC5DWFTQFXRA98N/linearBeaconProblem.png Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528569746544-NTWZWG4L72F9COAL544I/parabolic1.png Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528570050508-D3I8AFNO5JQ3G5FMBSZY/parabola.PNG Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528571018739-KDQJ3AIKQ8NIDN34PMW8/parabolaEquations.PNG Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528571326534-6P118XPD4Y9KSXYJMH6X/parabolicMatrix.PNG Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528572543225-ZUUMERLATZRHDI7VBHB7/solvedPArabolic.PNG Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530416688663-MOORK7MSGHG1YKCKIV6O/simplifiedParabolic.PNG Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528578105517-UXEPF8V5X5N3TC5SDVSE/finalParabolic.PNG Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528579352307-SA9KXO451GFE6JID1IH6/parabolic2.png Battlebots - Halo Pt. 7: Improved Beacon Algorithm https://www.swallenhardware.io/battlebots/2018/5/23/halo-pt-6-the-code monthly 0.5 2021-10-30 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528338598143-IYDSPI0OJ0YBJFPJA3YQ/testSetup.JPG Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1527130243050-G8JB0HZ5CHBVHOOM2TVP/codeBlockDiagram.png Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528340427723-RC5YTCZUO6WIKOBL7S06/linear1.png Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528340440623-86K3BCBM10RMMUN9S2T4/linear2.png Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528340791218-HIHE1ISGVB4YHVS4CK1T/linear3.png Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528341225450-B156YARJYP70ZZDFAG70/linearExtrapolation.PNG Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528341896044-31F3NY3QDP6FUU8LGX4E/linearExtrapolation2.PNG Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530494026975-CRYWSP60HUNHKM4NP9SY/linearCode.PNG Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528566292607-MO66RFDNBHFPZWX8C3KE/centrepitalAcceleration2.PNG Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528343152268-U96P9AQWP8PG8Y5EBPUW/rotationalCalculus.PNG Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528344289992-S2SULAH622T276MCOA41/integralSimplified.PNG Battlebots - Halo Pt. 6: The Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1530494013100-TQ30CXUZEW4S3DPM2SWK/linearAccelCode.PNG Battlebots - Halo Pt. 6: The Code https://www.swallenhardware.io/battlebots/2018/5/23/halo-pt-5-the-software monthly 0.5 2018-07-01 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1527125022848-Q3VOQ7VULDU42M67FRWU/synchronous.PNG Battlebots - Halo Pt. 5: Writing Reliable Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1527126580818-OA6CJMAD8T6QK4QPCCT3/polling.PNG Battlebots - Halo Pt. 5: Writing Reliable Code https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1527127220016-U2EYXHZ351J31Z0YW5ZQ/interrupt.PNG Battlebots - Halo Pt. 5: Writing Reliable Code https://www.swallenhardware.io/battlebots/2018/4/29/halo-pt-4-the-electronics monthly 0.5 2018-07-01 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1525138300693-6BIKWKPSFTCXU9NXME9J/Electronics.jpg Battlebots - Halo Pt. 4: The Electronics The electronics, in all their glory https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1527120726910-YSNT2FSIBW1ZFAJIW2BF/Schematic.PNG Battlebots - Halo Pt. 4: The Electronics Small mistake here, U11 pin 4 should be connected to GND https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1528338269781-WYJUFURM33QY7FYV1MX6/MeltyController.PNG Battlebots - Halo Pt. 4: The Electronics https://www.swallenhardware.io/battlebots/2018/4/29/halo-pt-3-the-big-idea monthly 0.5 2018-10-12 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1539386340193-7VVHTMJ4M84PC55AZOP6/DSC00208.JPG Battlebots - Halo Pt. 3: The Big Idea https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1525048796131-9RPA524XH6BF4G0IOGD2/RotationalInertiaRing.PNG Battlebots - Halo Pt. 3: The Big Idea Rotational inertia of a ring https://www.swallenhardware.io/battlebots/2018/4/29/halo-pt2-meltybrain monthly 0.5 2018-07-01 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1525019923052-DK4EE0DI21AWGTURAIJ3/SpinEnergy.PNG Battlebots - Halo Pt.2: Meltybrain Where I is rotational inertia, and ω is rotational velocity https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1525025915916-2LJC26L4CK4EBWLFF08P/RotationalInertiaDisk.PNG Battlebots - Halo Pt.2: Meltybrain Where m is mass and r is radius https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1525027721856-HSJA7XEE9QUO3E1YC02D/centrepitalAcceleration.PNG Battlebots - Halo Pt.2: Meltybrain https://www.swallenhardware.io/battlebots/2018/4/28/halo-a-first-adventure-in-combat-robotics-overview monthly 0.5 2018-04-29 https://www.swallenhardware.io/battlebots/category/Meltybrain monthly 0.5 https://www.swallenhardware.io/battlebots/category/Meltybrain%5C monthly 0.5 https://www.swallenhardware.io/battlebots/category/Battlebots monthly 0.5 https://www.swallenhardware.io/sundry daily 0.75 2020-05-08 https://www.swallenhardware.io/sundry/2018/5/18/giant-audio-equalizer monthly 0.5 2020-05-10 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526701754719-EPJPXD6WAHH5Q7ZLCHPS/equalizer+image.JPG Sundry - Giant Audio Equalizer Weller for scale https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526705614749-1OXCQRMXJ5ZKEPDMXWA7/equalizer_board.JPG Sundry - Giant Audio Equalizer https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526706185698-PI1IS8YGHGGOD2VRKEEJ/equilizer_tone.JPG Sundry - Giant Audio Equalizer https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526710803828-AZG1J9GFLN48JOU5NP9P/equilizer_noise.JPG Sundry - Giant Audio Equalizer https://www.swallenhardware.io/sundry/2018/5/16/telescope-robotics-conversion-part-2-the-mechanics monthly 0.5 2020-05-10 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526687057624-L838SUZR6RKDPEY9ATIE/model.PNG Sundry - Telescope Robotics Conversion Part 2: The Mechanics The 3D model, as rendered by OpenScad. https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526691664658-2VQJ0SJ23QS9DJZL9SWH/disassembled.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics The telescope gimbal, mostly disassembled https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526692267430-PZ493084GVQ2IX0BY9WH/ledge.PNG Sundry - Telescope Robotics Conversion Part 2: The Mechanics https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526692269476-8L07QMRG8RWGQ0D3RHHW/ridge.PNG Sundry - Telescope Robotics Conversion Part 2: The Mechanics https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526692959702-PJ7R6G7M4M6B164N4SYY/azmiuth_gears.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics A close up on the azimuth gear assembly https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526693966928-NWJIBQHCD7QLIPZ6EK2P/support_arms.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics A closer view of the support arms https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526695534308-ISLB1IXQN2DEOU12E3Y8/zenith_bevels.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526695642606-EP72Y434MVUZYM4J9JIW/zenith_mount.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526696116068-2AEP9W14NKRDAZCD24BS/zenith_gears.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics The entire gear assembly for zenith motion https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526697299333-KOPFWVZGZQZKITLNXU4N/electronics_+band.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526697299188-KW3TNX1QKM3YHRI60D9I/electronics_band_assembled.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526698301247-ZCNJZLU6KN6N7U06J1ZI/Full_Assembly.JPG Sundry - Telescope Robotics Conversion Part 2: The Mechanics https://www.swallenhardware.io/sundry/2018/5/16/telescope-robotics-conversion-part-1-intro monthly 0.5 2020-05-10 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526525126713-HDZ46UIQGJ0V2M263H5F/old_assembled.JPG Sundry - Telescope Robotics Conversion Part 1: Intro https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1526525676130-22H296PGI8EFIZL182YW/athena.JPG Sundry - Telescope Robotics Conversion Part 1: Intro https://www.swallenhardware.io/sundry/category/Sundry monthly 0.5 https://www.swallenhardware.io/sundry/category/Astronomy monthly 0.5 https://www.swallenhardware.io/sundry/category/LED+Displays monthly 0.5 https://www.swallenhardware.io/about daily 1.0 2018-08-03 https://images.squarespace-cdn.com/content/v1/5ae4f2b70dbda3399e6f2e70/1525143583619-B27WO7OLFNMH27Y7ZA2E/IMG_0054.jpg About https://www.swallenhardware.io/contact-me daily 0.75 2018-07-01