[Angel LM]

Welcome to the Thor community!

Yes, as you say it would be nice to have a way to program the motion in a easier way (probably just giving the XYZ cordinates and the rotation matrix elements). If I’m not wrong I think that Danny is developing a visual tool that makes that, but I don’t really know the state of it. Check his hackaday projects 😉
Also, the Inverse Kinematic equations are available and ready to implement in a program. (It is in my buffer of thing to do, but I don’t know when I’ll have the time…)

Hope it helps… at least a bit 😛

[Angel LM]

Looks pretty nice!
Thanks for sharing! 🙂

[Angel LM]

Hi Antonio, I can send you PCB+Mats for 30€+Shipping or the already assembled and tested PCB for 60€+Shipping.
Note: I’m not a professional solder, it takes me about 2 hours of work and the results are not like wave soldering (industrial).

In both cases the mats include:

• PCB
• All male pins
• All female pins
• All resistors
• All leds
• All capacitors
• All terminal blocks
• The diode
• The fuse

And it does not include:

• Arduino Mega
• Drivers
• Wires
• Motors
• Fans
• Sensors

I prefeer the first option, just because I don’t have much spare time but the assembled is offered anyway! 😉

[Angel LM]

FAQ has been moved to FAQ Wiki Page.

[Angel LM]

Hi Thomas,

In this right moment I’m not sure if anyone did a software for Thor that could perform a task like that one.
In the other hand, I’m afraid of the accuracy and precision that those pieces could need. In my Thor (which has no feedback sensors) I have at least 0.5 degrees of error in each articulation…
I use to be optimist with Thor, but I think that maybe this kind of task is too much for the current state of Thor.
Anyway, maybe with the feedback sensors and a nice control software it could be done!

Hope it helps!

[Angel LM]

Hi again!

I just did a clearer electronic schematic that you can see here.
The references can be checked in the Component List wiki page.

Hope it helps!

[Angel LM]

Hi Triumph! You can check the KiCad files uploaded to the repository. But you are right, I’ll make and upload a clearer diagram as soon as possible!

Best regards!

[Angel LM]

Hi Antonio, I have several ControlPCB V1.0 and mats for assembly them.
What are you looking for? Only the PCB? The PCB+Mats or an already assembled PCB? I’m from Spain, and I think that the shipping cost to Italy is about 5€ (not really sure about this).

[Angel LM]

Hi guys!

After several of days thinking about this and evaluating many possibilities, I think I have a conclusion.

I made a wiki inside the GitHub repository, and it can be edit by anyone. I have migrated the “Component list”, “Thor Builders” & “FAQ” info to the wiki.

In this way, everyone can access to the wiki and edit it. Also, there is a register of changes, so it can be restored in case of “vandalism” or something like that.

This wiki is very easy to edit, enter to the wiki clicking in the “wiki” tab in the repository and edit the page you want just clicking in the “edit” button inside that page. Easy.
If you want to create a new page click on “New Page” button. That’s it. The only thing you have to know is the Markdown format, I suggest you to visit this page where it is explained very well.

What do you think?

Best regards,
Ángel

[Angel LM]

No problem 😉

BTW, I have enhanced the Wiring Diagram of the Control PCB, now is easier to see how the Arduino is connected with the Control PCB 😉

Best regards!

[Angel LM]

Hi guys! I just finished the wire diagram of the ControlPCB v1.0: https://raw.githubusercontent.com/AngelLM/Thor/developer/electronics/ControlPCB/WireDiagram-v1_0.png

Tell me if you see any error or you have any questions about the connections.

Hope it helps!

[Angel LM]

Hi all!

;currently tested (little by little
because I didn’t have much spare time right now…) and I have found at
least 3 bugs in the current design of the ControlPCB.
These bugs are easy to fix, but I’ll update the electronic design in order to have a bug-free PCB.

The bugs I have seen so far are:

1. Solder
   pads for the Power and Switch terminal blocks are in the incorrect
   side. Quick fix: Solder it through the hole or applying some solder
   paste in the solder pad before introducing the terminal block.
2. The
   Tool control pin is currently connected to the Mega’s pin 40 which is
   not a PWM pin. Quick fix: separate the Tool wire from the ribbon cable
   and connect it to a free PWM pin (for example: pin 7).
3. LEDs are
   too bright. I have to check the values of the resistors since the leds
   are so bright that them can hurt the eyes. Specially the USB one. Quick
   fix: Probably a higher value of the led resistors will solve this minor
   bug.

Except for that bugs, the PCB works well.

I will upload soon the fixes, the grbl version for this board aaaaaand a diagram of the PCB connections.

Best regards!

[Angel LM]

Yeah! It seems pretty good!
Make a pull request to the main repo if you want to! ;

[Angel LM]

I’ll check it out!
Thanks

[Angel LM]

Hi Triumph!

What steppers did you buy? Can you link a datasheet or a link to the shop?

Anyway, if the only diference is that your shafts are a little bit larger I guess you can make the slots larger without problems, I don’t think it will affect the structure.

Hope it helps!

[Author]

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