I Want My mTV
Hey folks, just a couple of quick ones tonight.
"Life, uh, finds a way..."
Well, it happened. Control Mugsy right from your TV:
The interface is currently running over the FireTV's browser. It's exactly the same as Mugsy's in unit interface but with some updated graphics to properly scale on the larger format screen.
No brand specific apps yet, but if your streaming device or TV has a web browser on it, you can brew directly from the TV. Easy Peasy.
Making Robots Less Robotic
I have been working on some servo easing algorithms to smooth out Mugsy's water spout's servo movement. Easing helps a servo move in a much more natural and organic way, instead of the very precise and rigid movement you would expect from a standard set up. By allowing you to "ease" into and out of positions instead of simply saying "start here - end here", you can provide much more control of the position over the entire timeline.
Check out this very basic demonstration, left side is with easing and right side is without:
I stink at video but will get a better demo of this once I start running the pumps in another day or two...
Still a couple of issues to iron out as it's thrown off all my previous movement constraints, but pretty sure I have my head wrapped around it. This technique is the type of thing you would see on advanced animatronics in Disney World where realism is the goal. For coffee brewing, it will improve pour control, allowing Mugsy to simulate things like dragging and lifting while making a pour over. It also simplifies integrating the current height and angle data of the water spout into a specific pour pattern. As well as varying the water flow depending on spout position. Not where I want it yet, but very close.
Ok, thats all for tonight. I'm gonna try and stay away from my desk for the rest of the night so please email me if you need something before tomorrow.