tag:blogger.com,1999:blog-61893665543960154782024-03-18T19:49:24.749-07:00Booms and BotsVehicles, Robots, Unconventional Weapons and Other Thingsfifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.comBlogger73125tag:blogger.com,1999:blog-6189366554396015478.post-50214805113702700532020-10-30T21:20:00.000-07:002020-10-30T21:20:00.886-07:00Deathwagon<p></p><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: left;"> This is Deathwagon. She used to be a 1998 Honda Civic. This is how I like to drive her. No doors, no windows aside from from the windshield, and no hood. <br /></div><div class="separator" style="clear: both; text-align: center;"><br /></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"><img border="0" data-original-height="1512" data-original-width="2016" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh0iZNaaZx2ABiX7h55ofEPtQhK8JDp42NXgfRza47_ajU51gNKqk8lauvzSTTJ-86Bg8lISScGP00t4SsWThvhNhLdm8BxvWgpZ7nvraF3ZRsijCWC4qNpt50dnZj6c4DGOF71J7T6eoc/w320-h240/IMG_7893%25281%2529.JPG" width="320" /></div><p><br /></p><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj2EnA2yplavFRu74TQn9BTMTYWi7zQuAdEgIXOP1MKE-5t7V7b_dSdh5YxHEkT79BKXR_jKnXPAaaXAthYkbcZk1HgNUnK9o4AfDpL-__4ZjRJJ8ko5kebvXcrpgeUNi-N78aHgmZpL9Q/s2048/IMG_7894.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj2EnA2yplavFRu74TQn9BTMTYWi7zQuAdEgIXOP1MKE-5t7V7b_dSdh5YxHEkT79BKXR_jKnXPAaaXAthYkbcZk1HgNUnK9o4AfDpL-__4ZjRJJ8ko5kebvXcrpgeUNi-N78aHgmZpL9Q/s320/IMG_7894.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgBVemAhXls6uFBsTgpOrAn0-3ff5RpR2vhTR07WdAgNGTbxTCE74eDqXk09W6ZdxcFFOnnV8rZxNu045EaCjwF829HuUzHJ-cMlYdgpncLE8DoDDp9-fTK0rGg68uvbBigrfS8YPiTalg/s2048/IMG_7896+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgBVemAhXls6uFBsTgpOrAn0-3ff5RpR2vhTR07WdAgNGTbxTCE74eDqXk09W6ZdxcFFOnnV8rZxNu045EaCjwF829HuUzHJ-cMlYdgpncLE8DoDDp9-fTK0rGg68uvbBigrfS8YPiTalg/s320/IMG_7896+%25281%2529.JPG" width="320" /></a></div>I'll try and disclose as many problems as I can think of. I did cut the rear wheel wells out at one point, and so the inner wheel well and the outer skin became no longer attached. However on the passenger side at least, I reconnected the metal with some new sheet metal. The drivers side could be done in like fashion if needed.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjWIc-EZqTYV0d0IF8269q0XQZF5vSV5KmpazXAFrTUBQYU4zxdyK3OXCO8ldTc2_uDvU2t6YbaUIIpuRCDtDwzHD-tiauHQ3Oj_B9OrdzQH3zfH-kH4GzjcZWvTmLF66o086OSkMRmmZo/s2048/IMG_7945+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjWIc-EZqTYV0d0IF8269q0XQZF5vSV5KmpazXAFrTUBQYU4zxdyK3OXCO8ldTc2_uDvU2t6YbaUIIpuRCDtDwzHD-tiauHQ3Oj_B9OrdzQH3zfH-kH4GzjcZWvTmLF66o086OSkMRmmZo/s320/IMG_7945+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvLrnPE9qqxJkVlUI__p_1t7hKk6LrRwpV1X86QxSiiayfSzFLaeOrBCAg5UbLLbBZDPv105NTgZBhIXVnavWRoaeGPJMJekaaDQjmP2Rjhz1b4r4hDrOD4RHbyg34gFq1GyPQ2GFhjdY/s2048/IMG_7946.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvLrnPE9qqxJkVlUI__p_1t7hKk6LrRwpV1X86QxSiiayfSzFLaeOrBCAg5UbLLbBZDPv105NTgZBhIXVnavWRoaeGPJMJekaaDQjmP2Rjhz1b4r4hDrOD4RHbyg34gFq1GyPQ2GFhjdY/s320/IMG_7946.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiEj57KahWHHxK-hW950gfa-VDsIdrY-EAfYDEQYmrBvs1CFVjIL0UEht-3e3zshraXbhJwgJgAhANr9AmlfVHrQuolbGPmwz_oynYxMZQsBRj6_DNTAGQpozoLPeZZmmY2pI6YaI9IBJ0/s2048/IMG_7947+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiEj57KahWHHxK-hW950gfa-VDsIdrY-EAfYDEQYmrBvs1CFVjIL0UEht-3e3zshraXbhJwgJgAhANr9AmlfVHrQuolbGPmwz_oynYxMZQsBRj6_DNTAGQpozoLPeZZmmY2pI6YaI9IBJ0/s320/IMG_7947+%25281%2529.JPG" width="320" /></a></div>Somebody mentioned that you need doors. This is the door that I currently have on the driver's side. Its been gutted and I screwed sheet metal over the opening (I obviously know that would not be allowed, but perhaps if I were to get rid of the sheet metal and put some flexible clear industrial plastic over instead?) The latch still works as it should and the door bars, outer skin and frame are intact.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhlBHXmeO9yX5Wl6QqPk8cUZZkMj9QbO7wi5fKIIl2L7iaz4gWgP-v6sxzyGaXmX8Md5e1PU5bi-_rGA9lW2hQA797eBJ_r7mXcRU8gloYjoAT2UGykI6t-Qf9meHzfWIiC6uygjYPoAtE/s2048/IMG_7961.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhlBHXmeO9yX5Wl6QqPk8cUZZkMj9QbO7wi5fKIIl2L7iaz4gWgP-v6sxzyGaXmX8Md5e1PU5bi-_rGA9lW2hQA797eBJ_r7mXcRU8gloYjoAT2UGykI6t-Qf9meHzfWIiC6uygjYPoAtE/s320/IMG_7961.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIOqgFZ0phH_qaV3O0txbUwxgXNdnNqy1wE6hNq3gFBwNgA1w6kaPI265Cqhj2wgnN9yDg-sNwHHy9Pn9THhvfXoaDtkY-AdHb2fxetJh36HAXEdrF_6blxxDo5gB7dxcUZtC-tRgk-uY/s2048/IMG_7962.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIOqgFZ0phH_qaV3O0txbUwxgXNdnNqy1wE6hNq3gFBwNgA1w6kaPI265Cqhj2wgnN9yDg-sNwHHy9Pn9THhvfXoaDtkY-AdHb2fxetJh36HAXEdrF_6blxxDo5gB7dxcUZtC-tRgk-uY/s320/IMG_7962.JPG" width="320" /></a></div>On the passenger side, the door is just a half door with no upper frame, and the latch does not work, in place of it, a U bolt goes through the striker and through two holes in the door bar. Does the passenger door need to open, or can it be a permanent fixture, provided I drive alone? Again with some industrial plastic screwed over the opening. <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxAa0WVyKlxqHngv4rGyMGmNIba3Q_5h0BUMolM_-76R-sf41ni-AWLSYV1A-QUfq5Z8F3W2sCz6thRaBkpNgjwdmutFMgQyLVra73meQ_Us1LJABn97K0h4aRzYcRkyRnQvLBIH9iSfA/s2048/IMG_7963+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxAa0WVyKlxqHngv4rGyMGmNIba3Q_5h0BUMolM_-76R-sf41ni-AWLSYV1A-QUfq5Z8F3W2sCz6thRaBkpNgjwdmutFMgQyLVra73meQ_Us1LJABn97K0h4aRzYcRkyRnQvLBIH9iSfA/s320/IMG_7963+%25281%2529.JPG" width="320" /></a></div>The interior has been stripped completely, I have 2 bucket seats and 5 point harnesses.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhCxgtwOEHnmNCXyAXoJ9I2LtI-HzGaF4GC2bGtCdEK0Dsg7i6zPElj8Xo7RqDaNsJ5_FgFBT4KoT6uA1B0oy1dsqWMtwL8zxYMxBLYkMLLGxpZlsSHEMTTTH4hSkXK6I7ROng0Ki_IZg/s2048/IMG_8034+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhCxgtwOEHnmNCXyAXoJ9I2LtI-HzGaF4GC2bGtCdEK0Dsg7i6zPElj8Xo7RqDaNsJ5_FgFBT4KoT6uA1B0oy1dsqWMtwL8zxYMxBLYkMLLGxpZlsSHEMTTTH4hSkXK6I7ROng0Ki_IZg/s320/IMG_8034+%25281%2529.JPG" width="320" /></a></div>I do also have the hood for it though I prefer to drive without it. <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj2Ab6sFpIkgTpsVax0n0Ifjv_LDaF5FURrtHkYWevrzPII8lBAzuZge2jcA3N4Gq3pBEYR6Oh8cQxVZ67r2WV0SWyCWWKTUbjDl0wqGbnGomP-zqIvghKW3Vu7rCSPWkA2Aeypnah98n8/s2048/IMG_8035.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj2Ab6sFpIkgTpsVax0n0Ifjv_LDaF5FURrtHkYWevrzPII8lBAzuZge2jcA3N4Gq3pBEYR6Oh8cQxVZ67r2WV0SWyCWWKTUbjDl0wqGbnGomP-zqIvghKW3Vu7rCSPWkA2Aeypnah98n8/s320/IMG_8035.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYhIHjy34lK5RvSmpwx6nrebUZBnzHO21TUim3xl84DVs15n-pG1FlQAkEHQmPm43OHE8xQIY2uS0fmiYS7HhSquCeNFa-GIWizoVCzjIEyb75ivS1RXHbMx1eDeYaElENVlb3I6daAM4/s2048/IMG_8036+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYhIHjy34lK5RvSmpwx6nrebUZBnzHO21TUim3xl84DVs15n-pG1FlQAkEHQmPm43OHE8xQIY2uS0fmiYS7HhSquCeNFa-GIWizoVCzjIEyb75ivS1RXHbMx1eDeYaElENVlb3I6daAM4/s320/IMG_8036+%25281%2529.JPG" width="320" /></a></div>Same goes for the hatch.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNdRfrfMLrCWQ5KPNX8rLnjt8qEIygaIMlo9FebAFoZSkO1gOZ5kNLNmv5HbsCo5FmNRgPemIsMJ4sARyBcyeD8erU1MPvnoTYsXASP8bOnHg8MLaCTfUTtm413m5RYzVdA2DoQL5Waas/s2048/IMG_8037+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNdRfrfMLrCWQ5KPNX8rLnjt8qEIygaIMlo9FebAFoZSkO1gOZ5kNLNmv5HbsCo5FmNRgPemIsMJ4sARyBcyeD8erU1MPvnoTYsXASP8bOnHg8MLaCTfUTtm413m5RYzVdA2DoQL5Waas/s320/IMG_8037+%25281%2529.JPG" width="320" /></a></div>As you can see, my exhaust very much does not meet spec for the competition, I have no cat and no muffler, what you see is what you get. Is it possible that might be ignored?<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiEhOnOYFLOn9p-761W9oKbykLeULmysgoZnVtIoY8YnISNCQlGQzvzkibdkp655Ckn6UUhfUosfZN5td6xwklexnI-7YCht_c9LxyRghmt18ihExArq812TboHKZnUp4kGs9ax0_SZOBA/s2048/IMG_8786+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiEhOnOYFLOn9p-761W9oKbykLeULmysgoZnVtIoY8YnISNCQlGQzvzkibdkp655Ckn6UUhfUosfZN5td6xwklexnI-7YCht_c9LxyRghmt18ihExArq812TboHKZnUp4kGs9ax0_SZOBA/s320/IMG_8786+%25281%2529.JPG" width="320" /></a></div>These are the tires I currently run. They are 26" ATV quad tires on 14" passenger car rims. I don't know if its legal to run non passenger vehicle tires.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjfrGsBvBIiVnOZLOOUaZIC-8AgME6Apbza3RwWxt1XJAMbCXr_rdrQSYtajHstH2Byy2NlsTbfVbP8gHRLnLL0fy4RvphsYvKlKgKt1kdcIDN-7I6xuwK2exXuGiiUiyp89s2bNTqHSto/s1334/IMG_8838+%25281%2529.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1334" data-original-width="750" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjfrGsBvBIiVnOZLOOUaZIC-8AgME6Apbza3RwWxt1XJAMbCXr_rdrQSYtajHstH2Byy2NlsTbfVbP8gHRLnLL0fy4RvphsYvKlKgKt1kdcIDN-7I6xuwK2exXuGiiUiyp89s2bNTqHSto/s320/IMG_8838+%25281%2529.PNG" /></a></div><br />Here is a quick clip of me hitting the rev limiter constantly with this exhaust, to give you an idea of the noise level.<br /><p></p><div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dyjKg8YIa_4mzBNhxDhoHNQ7ONidstX0Qtn8nbKtwZk7pXherg0mdF2CNm9qp3BZnFlPRJsSXPd8V1yXOXtIw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div>And here is a walkaround before all the wiring was completely done and the tires got mounted.<br /><div class="separator" style="clear: both; text-align: center;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dxBoXh0fdNeVVSHmj6YrMCrH0tf8gdx13DCrEI2b-ROe7twpZuruc8xKkTXyvfuhdmjsO-158-HnaXBOPg1lQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><div class="separator" style="clear: both; text-align: center;"><br /></div><br />fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-19213011402065463912020-09-28T19:10:00.003-07:002020-09-28T19:10:33.139-07:00Monster Civic<p></p><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: left;">Wow, it has been A HOT MINUTE since I made a post here. Since 2016 when I last posted, many things have changed, and I build fewer robots, and more cars now. Still in the flamethrower game, just posting them elsewhere on the net. So anyhoo, around this time last year I turned my 1990 honda civic into a bit of a beast. There is over a hundred pics, so buckle up. I ain't narrating every pic, but I'll try to do sections.</div><div class="separator" style="clear: both; text-align: left;"> </div><div class="separator" style="clear: both; text-align: left;">Ol' reliable before I started on him. I... I used him pretty hard.<br /></div><div class="separator" style="clear: both; text-align: center;"> </div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"><img border="0" data-original-height="540" data-original-width="720" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjp5oBMqKTnbO42Y3CtWSuQuNXPiDjpx2oFdojRF38xdJ_30baoGtoYfBUBl0udDr9TSKJA2z6_LyVSclBPWUKqvkTvgsDr2MoCqB9CgWSQmIb12hQOJJcY6IOKlSI8lW4WCIOXGr803sg/s320/FB_IMG_1597245730298.jpg" width="320" /></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTbbSZsUtT-f9ElpW36qhDgmI96aQ2nTkO_Jh7AkncCb53quAoK8h_VWAhkV3LjUT5M94S7FTgOWROt0FoPEJ6KgM1HzcOeWKC0on3vlIaCKlziKejCSTy1MAqRq_-tXRO-5McaVhnSqI/s2048/IMG_5864+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTbbSZsUtT-f9ElpW36qhDgmI96aQ2nTkO_Jh7AkncCb53quAoK8h_VWAhkV3LjUT5M94S7FTgOWROt0FoPEJ6KgM1HzcOeWKC0on3vlIaCKlziKejCSTy1MAqRq_-tXRO-5McaVhnSqI/s320/IMG_5864+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjS3jIOkFhjWrvEnULT0vYUSdehPZ4wkK8dhZc0JCI4xxf0uKtFkOmfiY7FMkDw1hzV0csIDtf4cK0hykiNtEBeKHIBbh6_FaIeVtX4V9Pu_KRWk0BmnEphJvKEVMkX6zM_8qyDmySZzAI/s2048/IMG_5882+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjS3jIOkFhjWrvEnULT0vYUSdehPZ4wkK8dhZc0JCI4xxf0uKtFkOmfiY7FMkDw1hzV0csIDtf4cK0hykiNtEBeKHIBbh6_FaIeVtX4V9Pu_KRWk0BmnEphJvKEVMkX6zM_8qyDmySZzAI/s320/IMG_5882+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj6coW7fyCz51J1wGp1NNI87bVKt_9oEpB1z9r1a5exIZkOKkpe6xpkibsm-6l15SCuEN1ojmrmzdR9ug4x3leyoPQb_rvrQ3sHMYcugg01o1qtPPieP4f_olcUwHmQM5HeaE1B0Wp_7aw/s2048/IMG_5868+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; 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text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiJ83GnDjXZnGki8rwUluWeJl3HcTDG7SzFkNJaYmXzS72yzi26VzZKe3ahvto5lzd0Lj3vLS7cFREsxm_kZHWBtp3XUWk_7jSXcQ5sG34GeGR20-uQiEQ1ypemI6HkU8-l060UAKktOxY/s960/IMG_8202+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="720" data-original-width="960" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiJ83GnDjXZnGki8rwUluWeJl3HcTDG7SzFkNJaYmXzS72yzi26VzZKe3ahvto5lzd0Lj3vLS7cFREsxm_kZHWBtp3XUWk_7jSXcQ5sG34GeGR20-uQiEQ1ypemI6HkU8-l060UAKktOxY/s320/IMG_8202+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgzoeE4fu2JNWmBGVbAkXkbL_71o6f9Kz0xSHEUwTd-R-LDKaMmIZYioXFJAn_724uVqbfgnSFNQyALc-ofgIjGaqPZpqYXjiwnSJvENfYATsAPWopK9rsph3q5WDnXTmiPXnGoQ0uOK84/s720/Screenshot_20200826-222247.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="522" data-original-width="720" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgzoeE4fu2JNWmBGVbAkXkbL_71o6f9Kz0xSHEUwTd-R-LDKaMmIZYioXFJAn_724uVqbfgnSFNQyALc-ofgIjGaqPZpqYXjiwnSJvENfYATsAPWopK9rsph3q5WDnXTmiPXnGoQ0uOK84/s320/Screenshot_20200826-222247.png" width="320" /></a></div>I blew up two Single Jingles, the stock D16A6 and a D16Y7 that I swapped in after the first engine blew. With that done, I set my sights on greater things and swapped in a B16A with its matching close geared trans.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi7Z0ipuRfuKVoq2OdXqGLcXaJcoQVbYJzJJwu4Y1434f-L9i6XhOiyUWn4QFQw6eym1A4ViiqQZb_n2_lhpDU2u9fNK7Mi7M8TXUc4efTMSmYpuseYHEcQwJAGi-xDnrhZouIEmme4eE4/s2048/IMG_3754+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi7Z0ipuRfuKVoq2OdXqGLcXaJcoQVbYJzJJwu4Y1434f-L9i6XhOiyUWn4QFQw6eym1A4ViiqQZb_n2_lhpDU2u9fNK7Mi7M8TXUc4efTMSmYpuseYHEcQwJAGi-xDnrhZouIEmme4eE4/s320/IMG_3754+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5U3JB4EFhGoloYdrdrEcNQGBtgY0qg8n9a_ND2Gj6HdG9YpI-Yovg5TmrnwiSLNDxqtBD4lCHbPU38ilBoH3Vq4-kPdlDrz6UKDKB5NWYb178bflXkhpWxEjawG4HsxtAjnks0kOvU8o/s750/IMG_5766%25281%2529.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="550" data-original-width="750" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5U3JB4EFhGoloYdrdrEcNQGBtgY0qg8n9a_ND2Gj6HdG9YpI-Yovg5TmrnwiSLNDxqtBD4lCHbPU38ilBoH3Vq4-kPdlDrz6UKDKB5NWYb178bflXkhpWxEjawG4HsxtAjnks0kOvU8o/s320/IMG_5766%25281%2529.PNG" width="320" /></a></div>Drove it like that for a while, and then he went under the knife again, this time for a bit bigger surgery.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgirbxggfHRzBXwTu0phFbpBOlDj2CQOSSoNDAQBLA_mMFPVLbl_tHdyCrn5KC0PhTecS8G5MJrhIX_rTGJrXvjvs-GERrpLPzvPnSwVZDXTK1KSAaF0mJGDuvg5Qae8RHJmmZX2kCQXFo/s2048/59285733309__D31EB538-11C2-4CB0-84F6-63785A1BD9.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgirbxggfHRzBXwTu0phFbpBOlDj2CQOSSoNDAQBLA_mMFPVLbl_tHdyCrn5KC0PhTecS8G5MJrhIX_rTGJrXvjvs-GERrpLPzvPnSwVZDXTK1KSAaF0mJGDuvg5Qae8RHJmmZX2kCQXFo/s320/59285733309__D31EB538-11C2-4CB0-84F6-63785A1BD9.JPG" width="320" /></a></div>Started with the front end, learned my lesson from the last car and straightaway removed the front fenders.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjq005-OfhUDohWdtFehrxmTRdE2ANw5DYrqWfUvY6_PLEepInB7hAv646jdYW4BhjB9YdjiV0pI6vMCoUB3VzNNQLs7P2MLbYuyJ6eUDt0cLXiaPRHK-cCeAfAjj3p4amtzN76ghqcGls/s2048/IMG_5897.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjq005-OfhUDohWdtFehrxmTRdE2ANw5DYrqWfUvY6_PLEepInB7hAv646jdYW4BhjB9YdjiV0pI6vMCoUB3VzNNQLs7P2MLbYuyJ6eUDt0cLXiaPRHK-cCeAfAjj3p4amtzN76ghqcGls/s320/IMG_5897.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDiHNJO1v5MLRztTX9YtXdvQH305ntQ8DOSDIEU1NEq0smc26X-VaVq7tXj5pA2Wi7UrXgurYJJVRFfFOXo06VhdcgJd58kBajQqMsg_T-Zbxd9qYNiu_BzJwhWqi_14NQh3If5TS4vCs/s2048/IMG_5899.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgDiHNJO1v5MLRztTX9YtXdvQH305ntQ8DOSDIEU1NEq0smc26X-VaVq7tXj5pA2Wi7UrXgurYJJVRFfFOXo06VhdcgJd58kBajQqMsg_T-Zbxd9qYNiu_BzJwhWqi_14NQh3If5TS4vCs/s320/IMG_5899.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; 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text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQDZ284c3nnOuNnCorqGJ12dnjiFlhqVWqM-vqkI0z4STwuabRWT56eKtQYXjJUbV7Qa8QZD5GdsmCEeF3988SeBO88hETu6mDVl37Hq1a_0AfIl9EQCOQiZV0rMX2e-D6xauLQGYY8rw/s2048/IMG_5908+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQDZ284c3nnOuNnCorqGJ12dnjiFlhqVWqM-vqkI0z4STwuabRWT56eKtQYXjJUbV7Qa8QZD5GdsmCEeF3988SeBO88hETu6mDVl37Hq1a_0AfIl9EQCOQiZV0rMX2e-D6xauLQGYY8rw/s320/IMG_5908+%25281%2529.JPG" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXV3lN5XuXI4AiDOOvweFOh6SdHV0l0fS956AhEtR4iy1eQlF6ricMFDCtIulz0pkjXWjHiOzSEeGH5QdhgtLncmEQ4KsM3M24kGqQ-95BRGgniYB510w4PHZUW1aed6h6MAgLb55kwrI/s2048/IMG_5909+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXV3lN5XuXI4AiDOOvweFOh6SdHV0l0fS956AhEtR4iy1eQlF6ricMFDCtIulz0pkjXWjHiOzSEeGH5QdhgtLncmEQ4KsM3M24kGqQ-95BRGgniYB510w4PHZUW1aed6h6MAgLb55kwrI/s320/IMG_5909+%25281%2529.JPG" width="320" /></a></div>10lb sledge came in handy clearencing some things.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhuKhh_rRyZNG70qzcxv06PDiN4G-qlFCN_g2m5B9Y9dpBRB6PvsruB-XdsbNd8EobH26_XBxnqDMDqSNm8GIYPtSg9iaCCYSr72zFf4eMwR-fu1rYLZ4G2Acr4gMAEpOtELFGgzIP93Yc/s2048/IMG_5911.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhuKhh_rRyZNG70qzcxv06PDiN4G-qlFCN_g2m5B9Y9dpBRB6PvsruB-XdsbNd8EobH26_XBxnqDMDqSNm8GIYPtSg9iaCCYSr72zFf4eMwR-fu1rYLZ4G2Acr4gMAEpOtELFGgzIP93Yc/s320/IMG_5911.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhM6QFklKulA7uTBiSOkmDcxJzLaBwQRw1co4wmEnYI29XeP-s9AaFVcuqlcIKJ5m-h2qFPl068WbhRYNRQK7ZTLCFjAXKve5Rw3txk8mpPduNd0HEtCsjPGZMOagRYC_toL1gYd_dmN5c/s2048/IMG_5912+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhM6QFklKulA7uTBiSOkmDcxJzLaBwQRw1co4wmEnYI29XeP-s9AaFVcuqlcIKJ5m-h2qFPl068WbhRYNRQK7ZTLCFjAXKve5Rw3txk8mpPduNd0HEtCsjPGZMOagRYC_toL1gYd_dmN5c/s320/IMG_5912+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMwxJEwMizkf0pmcmCf4UPalspFuehlsAMyjOgXxUJfY08b9ybpIjwgO2RiXO9hL8ialE_A9JAkdD-SqeqirU59nUjDfS_USaSujz_xRiATKkJbGDe3R7APut9eDNvEMbWoq5r1UaGPnw/s2048/IMG_5914.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMwxJEwMizkf0pmcmCf4UPalspFuehlsAMyjOgXxUJfY08b9ybpIjwgO2RiXO9hL8ialE_A9JAkdD-SqeqirU59nUjDfS_USaSujz_xRiATKkJbGDe3R7APut9eDNvEMbWoq5r1UaGPnw/s320/IMG_5914.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdvh4yw4FKDspVC_3OSvYRKN2GbYDBjTYvmr08GAzxaOwyHbbJSuJ657JKUn_lh25kDq_jOC-Jl_FFeJsQIuLLtCzqNuMOKs9PzPXtT4WXzwqEg0lplCQXtqOyCpEuj6-m8B1gERDmFQM/s2048/IMG_5916.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdvh4yw4FKDspVC_3OSvYRKN2GbYDBjTYvmr08GAzxaOwyHbbJSuJ657JKUn_lh25kDq_jOC-Jl_FFeJsQIuLLtCzqNuMOKs9PzPXtT4WXzwqEg0lplCQXtqOyCpEuj6-m8B1gERDmFQM/s320/IMG_5916.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6vyxJY28RQcqk8ExJfQTStgp3UVfwi1mO5QAmmDnEwnmNHkDvcBK63UiQimgWX0SggFqvhzbQyonwtMxvPf57BOsPKXXrVt_wKK2DNJkuexLmN3IKXrFncfIoGhlJRkxL4oWP_vXot1U/s2048/IMG_5917.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg6vyxJY28RQcqk8ExJfQTStgp3UVfwi1mO5QAmmDnEwnmNHkDvcBK63UiQimgWX0SggFqvhzbQyonwtMxvPf57BOsPKXXrVt_wKK2DNJkuexLmN3IKXrFncfIoGhlJRkxL4oWP_vXot1U/s320/IMG_5917.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiDnYCdk2CCWA7yuAR49t8vWd1iMZ8WK6f3kAFbSJ6aWnNln1ximVu7LClwl3VpyWN_SrRo06ob6Na7IX8yDK0JZH04aRjRijQuRq2Cb_Q6QYqB_XxSlL0Dw7pEBWZGAPob13GukNSg42Q/s2048/IMG_5918+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiDnYCdk2CCWA7yuAR49t8vWd1iMZ8WK6f3kAFbSJ6aWnNln1ximVu7LClwl3VpyWN_SrRo06ob6Na7IX8yDK0JZH04aRjRijQuRq2Cb_Q6QYqB_XxSlL0Dw7pEBWZGAPob13GukNSg42Q/s320/IMG_5918+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhfYs6wAkEsoiq_pvp62ygM2YAN_Xfoa30zDo2C-ybhnfyvMY8pRYjTmlwx3C3bgg3ucc0ZBYPXkIfjlC5zMFXiL1P912KNOaNM7VAScR2uykXOVxLqf6zyx9ymw_nhSRWrzlo0bnGox-g/s2048/IMG_5944.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhfYs6wAkEsoiq_pvp62ygM2YAN_Xfoa30zDo2C-ybhnfyvMY8pRYjTmlwx3C3bgg3ucc0ZBYPXkIfjlC5zMFXiL1P912KNOaNM7VAScR2uykXOVxLqf6zyx9ymw_nhSRWrzlo0bnGox-g/s320/IMG_5944.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhp7Zqx1i-v7btA0NGCZF_WUzgn9mgZ8rbfoanJj4LagJHqU1-sYU0lxHa9zK-53YIL2ws0UB5k0dmIKNmFjcr6lM-JjS0rTBZJJv4OkZdjWgolO9Su4PQlKBWEYebTsAGhtIvMAwJeU1I/s2048/IMG_5945.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhp7Zqx1i-v7btA0NGCZF_WUzgn9mgZ8rbfoanJj4LagJHqU1-sYU0lxHa9zK-53YIL2ws0UB5k0dmIKNmFjcr6lM-JjS0rTBZJJv4OkZdjWgolO9Su4PQlKBWEYebTsAGhtIvMAwJeU1I/s320/IMG_5945.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdmbzvOEgy2Im7oPM5V9upO0XTkX2NFVyWAuOmWlbDG53hwjEBJ3-F2Gm21X2fjtxtSBkdlk33fKT_j05QDjYg2BcG1qdEVW6Hyc4xtceOOvUhwK1J4p9rNhgXQd4QeaaUdQ12tMzMOtk/s2048/IMG_5957.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdmbzvOEgy2Im7oPM5V9upO0XTkX2NFVyWAuOmWlbDG53hwjEBJ3-F2Gm21X2fjtxtSBkdlk33fKT_j05QDjYg2BcG1qdEVW6Hyc4xtceOOvUhwK1J4p9rNhgXQd4QeaaUdQ12tMzMOtk/s320/IMG_5957.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjm4tRn56K-FfwQrHCx5KQ3seyt67h89dgs97E33m5ov6gg_Ccjf_lETxEIPumKTy0Zi5E5zG2c_L_i66cu7iVPN93kvF2GfYij8-hi1VJZgCd8oVYomp1zy2hmtZqMkjnlq4pHOJQ6WFk/s2048/IMG_5959+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjm4tRn56K-FfwQrHCx5KQ3seyt67h89dgs97E33m5ov6gg_Ccjf_lETxEIPumKTy0Zi5E5zG2c_L_i66cu7iVPN93kvF2GfYij8-hi1VJZgCd8oVYomp1zy2hmtZqMkjnlq4pHOJQ6WFk/s320/IMG_5959+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCOQvOZCCtFjMzSaslkn2vMS1ioZiDXer38hB55F6NSuuPHqxM-53lXlyeK-zE2LgfChTm55sAE6WMGwWmPfRFAHngF7V6px_u8S-ZO_awCGcbEmnkZ-vzrvz3WZAnEvM3_SC9G-pCkwU/s2048/IMG_5980.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCOQvOZCCtFjMzSaslkn2vMS1ioZiDXer38hB55F6NSuuPHqxM-53lXlyeK-zE2LgfChTm55sAE6WMGwWmPfRFAHngF7V6px_u8S-ZO_awCGcbEmnkZ-vzrvz3WZAnEvM3_SC9G-pCkwU/s320/IMG_5980.JPG" width="320" /></a></div>Drew up a pic showing my front UCA drop. A lot of people either don't do this, or if they do, they space on the knuckle, which is not the proper way.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiwNAoaO7i4C5IItrlIAVREyif8Jyd1KRxOzwRPE0VkFaPQ1Txo4tNELMRbOmuXyXonHs-LyZRHDBh4PX_IsRBydODo7sy6OXwj_Bo30F2sJRDcGApiZly7aOxGtWx5LZsCzNLrvx6hEpI/s1334/86BB0D1B-F2DA-476D-84C6-79439CE63E74+%25281%2529.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1334" data-original-width="750" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiwNAoaO7i4C5IItrlIAVREyif8Jyd1KRxOzwRPE0VkFaPQ1Txo4tNELMRbOmuXyXonHs-LyZRHDBh4PX_IsRBydODo7sy6OXwj_Bo30F2sJRDcGApiZly7aOxGtWx5LZsCzNLrvx6hEpI/s320/86BB0D1B-F2DA-476D-84C6-79439CE63E74+%25281%2529.jpg" /></a></div>Here they are installed with the strut and everything in.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeALb25_qsAqUhNzwZPFQ8ZmuAbmbfKHEdWsW7JqNR-tNCnA1-SKC2bep4pVchl4Cr7LV1ELitG7XenohZGk21FaIAuOpjOPQ7pWEl6UTbbhl-ZkNoS39K4WFofLvp1rWmvlO-qFHuZFY/s750/AFF25105-93EF-446B-8EFA-8157112709CF.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="422" data-original-width="750" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeALb25_qsAqUhNzwZPFQ8ZmuAbmbfKHEdWsW7JqNR-tNCnA1-SKC2bep4pVchl4Cr7LV1ELitG7XenohZGk21FaIAuOpjOPQ7pWEl6UTbbhl-ZkNoS39K4WFofLvp1rWmvlO-qFHuZFY/s320/AFF25105-93EF-446B-8EFA-8157112709CF.jpg" width="320" /></a></div>I'm running DC integra front struts with 3" billet spacers leftover from a different project. 3" spacers is too much. It stresses the suspension and CVs too much. 1.5-2 inches would be much better.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgq0PiAQ9-zYflVNR7XT_fdmO2yy3LkKSz6RPkztkDnHvFhlZRF_sw5pV9TeHlecjsHVNdQru4PcBDbkVOUdS2Uzs3D0mpPBRZiJfBe99ASooo8aiob6I8nZ7IDWNj0oKMdyfH4x41OVxQ/s2048/IMG_5936.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgq0PiAQ9-zYflVNR7XT_fdmO2yy3LkKSz6RPkztkDnHvFhlZRF_sw5pV9TeHlecjsHVNdQru4PcBDbkVOUdS2Uzs3D0mpPBRZiJfBe99ASooo8aiob6I8nZ7IDWNj0oKMdyfH4x41OVxQ/s320/IMG_5936.JPG" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCGCbwU7y_z_mSVqH8msb4Lqn5E50pDTAO6RkQKMm8gEb6BHufSqAebu0dM-PqTu43E7S7i5RHKc1XmH7xnr014ynPXNnwSUkUKwM-TWoJ657T8ZsqjPkO41K7V2VJFQyDlHKRyxctHyY/s2048/IMG_5937+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCGCbwU7y_z_mSVqH8msb4Lqn5E50pDTAO6RkQKMm8gEb6BHufSqAebu0dM-PqTu43E7S7i5RHKc1XmH7xnr014ynPXNnwSUkUKwM-TWoJ657T8ZsqjPkO41K7V2VJFQyDlHKRyxctHyY/s320/IMG_5937+%25281%2529.JPG" width="320" /></a></div>Fully extended my hub to pinch weld clearence.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgI9zbzpUClAHvkIO9YiVM2ht1sYd4zmOaOBiAzegjw6eWM0LZCd5YfTD2thdjgC_FUwk07QH1kjal5u2FCkHzwZlykuiOhYOzi7-3mzKNaV1qhx4eAvyS0Q-Gtua-PugYsbA50CpYu3wc/s2048/IMG_5938.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgI9zbzpUClAHvkIO9YiVM2ht1sYd4zmOaOBiAzegjw6eWM0LZCd5YfTD2thdjgC_FUwk07QH1kjal5u2FCkHzwZlykuiOhYOzi7-3mzKNaV1qhx4eAvyS0Q-Gtua-PugYsbA50CpYu3wc/s320/IMG_5938.JPG" width="320" /></a></div>Gotta grind down the ridges on the UCAs so they thread into my spacers.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjf-6JuDDyJDylYsDDfy5Q1LqVJo2d1bzvTOsYjVVdRjNyX3DPXHWNU_pWpIvQ26UDuKtf3rlnAxQES5ROm9PQ9qnZUxyJ4PbO5x-YCYuWI492R_3Q4zlzS7slcuUzEjmq7dgiGFefb_GM/s2048/IMG_5939.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjf-6JuDDyJDylYsDDfy5Q1LqVJo2d1bzvTOsYjVVdRjNyX3DPXHWNU_pWpIvQ26UDuKtf3rlnAxQES5ROm9PQ9qnZUxyJ4PbO5x-YCYuWI492R_3Q4zlzS7slcuUzEjmq7dgiGFefb_GM/s320/IMG_5939.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQEC-Szc-SLYTQ0MRNOYP1zHHqs3pTNWVIkLM8P5qoTb5q-CDnCYV-ejROv36yYc2hssNpde6532xhJrycJfV87ut_xrlGiP5gxLWHeklq3VlWhqgbxFvsOhJ5LcwIR0rDR7htCkO6NeQ/s2048/IMG_5940.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQEC-Szc-SLYTQ0MRNOYP1zHHqs3pTNWVIkLM8P5qoTb5q-CDnCYV-ejROv36yYc2hssNpde6532xhJrycJfV87ut_xrlGiP5gxLWHeklq3VlWhqgbxFvsOhJ5LcwIR0rDR7htCkO6NeQ/s320/IMG_5940.JPG" width="320" /></a></div>Built these bad boys out of 2" round stock I believe. Just machined them on a lathe.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjApgSyBHV4zhJkF-uINWKPMRNvjCaOGU_0kLt_3s3hLkVR5CE09zarcPfDv_GTiMo0uomcbypm1GVi_288MSg5xYxgLGAkgAPPbVg8RC1PHe2DNf0EYYjqWum-yBnmiXmpFhq1LzY6D1E/s2048/IMG_5941.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjApgSyBHV4zhJkF-uINWKPMRNvjCaOGU_0kLt_3s3hLkVR5CE09zarcPfDv_GTiMo0uomcbypm1GVi_288MSg5xYxgLGAkgAPPbVg8RC1PHe2DNf0EYYjqWum-yBnmiXmpFhq1LzY6D1E/s320/IMG_5941.JPG" width="320" /></a></div>Trim them UCA bolts<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjbQPveosEiXNDT5i7xJz2a9e5XQ3v2Qutx5Fh6Bg_1z-pMts_7XtaObtnD8iWEQvKLFCuqXiMCAM0iYfDKQKSQww9iEEqq9v2d4AtNzK178S-C-XQdLfpABvrjopSJp8Zdpen5OLA-zF8/s2048/IMG_5942+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjbQPveosEiXNDT5i7xJz2a9e5XQ3v2Qutx5Fh6Bg_1z-pMts_7XtaObtnD8iWEQvKLFCuqXiMCAM0iYfDKQKSQww9iEEqq9v2d4AtNzK178S-C-XQdLfpABvrjopSJp8Zdpen5OLA-zF8/s320/IMG_5942+%25281%2529.JPG" width="320" /></a></div>Ah yes, extreme suspension angles. Everything hitting everything at max flex. Beautiful.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhscaeYzJj_HIivPZVveJCkuh3lbSm4azZuYx65XW8WFFHENebQylxY85deMbidjCl522m9QRukQYe4ipt1O2G-Zt_1e4U4v7v3XorhvHH27-hnPEN_bG7Ou-9DYMHc5SJKgEAj8YW6Xto/s2048/IMG_5960.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhscaeYzJj_HIivPZVveJCkuh3lbSm4azZuYx65XW8WFFHENebQylxY85deMbidjCl522m9QRukQYe4ipt1O2G-Zt_1e4U4v7v3XorhvHH27-hnPEN_bG7Ou-9DYMHc5SJKgEAj8YW6Xto/s320/IMG_5960.JPG" width="320" /></a></div>Speaking of hitting, That knuckle rubs. Its fine though, just grind the nub off and it doesn't even sound bad.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEixwyBuyrZFcM4nMluPTgNSkA3e_wfe_1yiHw75gDphOEnwIMqbGo2I9ek25hPRF1SKqE2uViwYcJ72TwGxhp_3v4G05htOetrNHIfI460DyzeyP3X0lGFnWv0TaPY4fpG3zcPl6r5S7A0/s2048/IMG_5962.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEixwyBuyrZFcM4nMluPTgNSkA3e_wfe_1yiHw75gDphOEnwIMqbGo2I9ek25hPRF1SKqE2uViwYcJ72TwGxhp_3v4G05htOetrNHIfI460DyzeyP3X0lGFnWv0TaPY4fpG3zcPl6r5S7A0/s320/IMG_5962.JPG" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMMX2rYkZHU_jM1nfSUVAItgYSHxDEJJG7emJVy7NoQSNEL6eT0pmy5iZRkHvaPK8IFVyhjF-qCBVUigNT3PhJ9D-Ze99OOY2uwAWslRIi8GAyts6LLMVW9PkayASHHyQzcEL3wIPiKEE/s2048/IMG_5963.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMMX2rYkZHU_jM1nfSUVAItgYSHxDEJJG7emJVy7NoQSNEL6eT0pmy5iZRkHvaPK8IFVyhjF-qCBVUigNT3PhJ9D-Ze99OOY2uwAWslRIi8GAyts6LLMVW9PkayASHHyQzcEL3wIPiKEE/s320/IMG_5963.JPG" /></a></div>Better pic of the front top mounts.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAF0Jdu3aFCPneB3T2vDjhB9iAwxBZ-X-bl5-sVFpJSA0P3f29Y5aHfTrHiaOtTKn2qdhtPhHwpslBTw2UjKfkQrIj38xY_j6a95tNwhFLTNPaTR9ZsLb4mr9JhWQ4_Jd-LeTtjVLVToQ/s2048/IMG_5967+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAF0Jdu3aFCPneB3T2vDjhB9iAwxBZ-X-bl5-sVFpJSA0P3f29Y5aHfTrHiaOtTKn2qdhtPhHwpslBTw2UjKfkQrIj38xY_j6a95tNwhFLTNPaTR9ZsLb4mr9JhWQ4_Jd-LeTtjVLVToQ/s320/IMG_5967+%25281%2529.JPG" width="320" /></a></div>Ah, nub gone.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-XWEoe0IRgyAicYFMonNx4QMlcJXZKuEJ7tBe28UfIuwLVX5tcW7nN6wynhQFHGPAgXzbv8wa6Zt-xZzjbfdx8v_KKARntzOSNRxuQf57Hl9e7kuOyHgkP75wpEEDFvI42nnZuhsKhZI/s2048/IMG_5971.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-XWEoe0IRgyAicYFMonNx4QMlcJXZKuEJ7tBe28UfIuwLVX5tcW7nN6wynhQFHGPAgXzbv8wa6Zt-xZzjbfdx8v_KKARntzOSNRxuQf57Hl9e7kuOyHgkP75wpEEDFvI42nnZuhsKhZI/s320/IMG_5971.JPG" width="320" /></a></div>Also rubs here. No problems though. Massaged it a bit with a sledge, but not much.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhASgRD7G5vXzt489ZHCx8F4yXbL6AUO69c2zmEzuyQSQ4j1BZrnNqlCRd3wKFobfHOJmfdfmwMDzQwgllXgs06eB2d8dbc93p1CNzaIegeoI9gEgp0tTcyc9hnbUM1g66v29j63GV-gCQ/s2048/IMG_5972+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhASgRD7G5vXzt489ZHCx8F4yXbL6AUO69c2zmEzuyQSQ4j1BZrnNqlCRd3wKFobfHOJmfdfmwMDzQwgllXgs06eB2d8dbc93p1CNzaIegeoI9gEgp0tTcyc9hnbUM1g66v29j63GV-gCQ/s320/IMG_5972+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzG5I_ls4hB7GpY7KqlJDxSEWekY7p_ERWH5Cj2Pa3LSbNe4g2TYPbT_5LUcOEmz8i7_4mRYu3ASMsJiYpCqiGF8rZ66nR9K_z-t7paaF5rKkPvFfa_HHt391BSSYIrfmR8peAbvSgWYg/s2048/IMG_5973.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzG5I_ls4hB7GpY7KqlJDxSEWekY7p_ERWH5Cj2Pa3LSbNe4g2TYPbT_5LUcOEmz8i7_4mRYu3ASMsJiYpCqiGF8rZ66nR9K_z-t7paaF5rKkPvFfa_HHt391BSSYIrfmR8peAbvSgWYg/s320/IMG_5973.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEize74M0cze4gLhArLCpF9K6OHEUsYcvnrbDeXGsVrVoQIUFymt_geAdftJBLwPi0ZszeHfXpfjN_F26l-WJ9y0RW_8qDclkg34iL7O1L6d5EaEX5JpqBJPekpNOZslsdikDIwNFklS5NM/s2048/IMG_5974+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEize74M0cze4gLhArLCpF9K6OHEUsYcvnrbDeXGsVrVoQIUFymt_geAdftJBLwPi0ZszeHfXpfjN_F26l-WJ9y0RW_8qDclkg34iL7O1L6d5EaEX5JpqBJPekpNOZslsdikDIwNFklS5NM/s320/IMG_5974+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxHbO8tyKCow89aiMS8WNfrb0CjFe9c88U5IEXtoI8v4n5-JsnPaot9bpvBPApDD_3CD2l0v72al1FIqOZoVsBRJrlniZ_XcVTyV_lvX1xGRT1r1QdxfUgwu1D8jowC13RakElBZfQUyM/s2048/IMG_5975.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxHbO8tyKCow89aiMS8WNfrb0CjFe9c88U5IEXtoI8v4n5-JsnPaot9bpvBPApDD_3CD2l0v72al1FIqOZoVsBRJrlniZ_XcVTyV_lvX1xGRT1r1QdxfUgwu1D8jowC13RakElBZfQUyM/s320/IMG_5975.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhtCLx45T6o4-zjV8akIM_n1fN9OjqeF4pj4XYIXoTjXUumj_Kd04Pv8UT6LfNlXgfUPBKclbRtK9vk9hVZzfKj4nC9_WuLIweN6XopqikplPb6yGO8qs8hmwDcGE39_jvAx8dKok4BDk4/s2048/IMG_5977+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhtCLx45T6o4-zjV8akIM_n1fN9OjqeF4pj4XYIXoTjXUumj_Kd04Pv8UT6LfNlXgfUPBKclbRtK9vk9hVZzfKj4nC9_WuLIweN6XopqikplPb6yGO8qs8hmwDcGE39_jvAx8dKok4BDk4/s320/IMG_5977+%25281%2529.JPG" width="320" /></a></div>This is how I made sure I wouldn't rub at full flex. <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj7M8FlzxXRkQ6L-36w84mc8jhuz4P7HwzNf5knWTEi5Rryxqc8YpWbB6Mmq8U_8TDhyphenhyphen5DHGc3JSpwylFkgvsSp1RyhU1cQ_Av1JtIrSuj4LysuDY5oQB7eU9kyQh0WkL0Qso_KQWM_fs0/s2048/IMG_5978.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj7M8FlzxXRkQ6L-36w84mc8jhuz4P7HwzNf5knWTEi5Rryxqc8YpWbB6Mmq8U_8TDhyphenhyphen5DHGc3JSpwylFkgvsSp1RyhU1cQ_Av1JtIrSuj4LysuDY5oQB7eU9kyQh0WkL0Qso_KQWM_fs0/s320/IMG_5978.JPG" width="320" /></a></div>When you do a subframe drop, you need to extend the steering shaft. I just ripped another U joint out of a civic at a junkyard, cut a piece off, and welded it to the one from the car. Sketch? Maybe, but we shitboxin'<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgvls66VlUKeDriTPNSckGogp2DVrBhKX4_7fHMKVXfQZpycpp3OiSPJZ4IseRV_cldB_aSh7pfBKzyHmvvc38h_rQ_cERTwWygcsik50FSSejT5uhPBWLRjSFhDFESvefMB3vFISihLpw/s2048/IMG_5982.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgvls66VlUKeDriTPNSckGogp2DVrBhKX4_7fHMKVXfQZpycpp3OiSPJZ4IseRV_cldB_aSh7pfBKzyHmvvc38h_rQ_cERTwWygcsik50FSSejT5uhPBWLRjSFhDFESvefMB3vFISihLpw/s320/IMG_5982.JPG" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVKJblc-i3AnaIej3r8bLuiJ2Pxhjk3Es4r1WsfDLRjXRs89IBG2QuYXg3y5vYn4Zhb2dz0AY9ILCwOXoO1B1B72wxjui-TewuTvW6zZIxtpqKmHjuYzC8ThUc8YI6z_y5rwAQg58o_B4/s2048/IMG_5983.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVKJblc-i3AnaIej3r8bLuiJ2Pxhjk3Es4r1WsfDLRjXRs89IBG2QuYXg3y5vYn4Zhb2dz0AY9ILCwOXoO1B1B72wxjui-TewuTvW6zZIxtpqKmHjuYzC8ThUc8YI6z_y5rwAQg58o_B4/s320/IMG_5983.JPG" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjm4onqPm9zebM1o290jGv9RcP8g1R-eAN6qa_mzSGCoCqVHEUphdNyj8gbNu7Y3P90tFc_VU-yaLT4bgXm8u9LkNyy7cs_A7XpPefrV2rXI17vcBnFJcuES7HmutrjVczSjymSCP2vM4I/s2048/IMG_5984.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjm4onqPm9zebM1o290jGv9RcP8g1R-eAN6qa_mzSGCoCqVHEUphdNyj8gbNu7Y3P90tFc_VU-yaLT4bgXm8u9LkNyy7cs_A7XpPefrV2rXI17vcBnFJcuES7HmutrjVczSjymSCP2vM4I/s320/IMG_5984.JPG" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiAx1GGriqLk5EWBOheE3mSfmSrOaqjwhh2ppUuh90PP2tplQy1hDICoa-FxdKrVUgXF7W9AfD0qP-pCmYiA4Is9r0t_LRFq3kFxtLCQ7sh71u23hTzRm2iyh74MxD3MlwpTJ5tcPJXpaQ/s2048/IMG_5985.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiAx1GGriqLk5EWBOheE3mSfmSrOaqjwhh2ppUuh90PP2tplQy1hDICoa-FxdKrVUgXF7W9AfD0qP-pCmYiA4Is9r0t_LRFq3kFxtLCQ7sh71u23hTzRm2iyh74MxD3MlwpTJ5tcPJXpaQ/s320/IMG_5985.JPG" /></a></div>There he is with both big boots on the front.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQNpiNuAjfsC-3pVto4RPUWWq6FaCQAX6g8nKVmIzoM3QT4ZXSi1BFE63rI11qOYg_S1CeGyyqas1LutCLtoiLoOMRes4g8x0u4nge7j4CuNCMW3TIojeDBlohBNM4MiHZ9_wpleG1DpA/s2048/IMG_5910+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiQNpiNuAjfsC-3pVto4RPUWWq6FaCQAX6g8nKVmIzoM3QT4ZXSi1BFE63rI11qOYg_S1CeGyyqas1LutCLtoiLoOMRes4g8x0u4nge7j4CuNCMW3TIojeDBlohBNM4MiHZ9_wpleG1DpA/s320/IMG_5910+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgCQKjAtHInZHltbaxeUeWFa5dPQNBBYFUtGbw3qADRYMg6GA_UlDCYEnixn8lSQ9k-QIV-ptP4hfnruF7D8jbbvB3uuTwAtnCg84fsScPB3rZGR6Nbe11WipQc9dwSo_QKz-JXkgVh2FU/s2048/IMG_5920.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgCQKjAtHInZHltbaxeUeWFa5dPQNBBYFUtGbw3qADRYMg6GA_UlDCYEnixn8lSQ9k-QIV-ptP4hfnruF7D8jbbvB3uuTwAtnCg84fsScPB3rZGR6Nbe11WipQc9dwSo_QKz-JXkgVh2FU/s320/IMG_5920.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0KtBKwSMxdNi-b0Xu-O8F_UIShdxfQqpyho1ylidfAtdQ9ALMViJOCZpZ9L4aWqd_n8eYYiiBHPxMW4L38bvvGHVLFgwD6Gy_2BVTu6IvnQ1inMFt9uZwwBVyrsPNGZ-OnrEy2A1053I/s2048/IMG_5921+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0KtBKwSMxdNi-b0Xu-O8F_UIShdxfQqpyho1ylidfAtdQ9ALMViJOCZpZ9L4aWqd_n8eYYiiBHPxMW4L38bvvGHVLFgwD6Gy_2BVTu6IvnQ1inMFt9uZwwBVyrsPNGZ-OnrEy2A1053I/s320/IMG_5921+%25281%2529.JPG" width="320" /></a></div>Here are the parts I made for the subframe drop. Bunch of 1.25" stainless round stock, 3/4" tall, and some grade 10 high strength threaded rod with grade 10 double nuts acting as bolts. I double stacked the spacers on the front for 1.5" of drop, and triple stacked them on the rear for 2.25" of drop on the trailing arms.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcGy3PIySU0f_8pfEhQNfp72Vyk9l4qJBaFRS798zEcf689n1v-LtNKj3XDaFcz6Xs_Qrq7pvRDhpOL7okbqBkOTZ6Ui9o8td-vp7-SIjYYHEvSFJjaRcAxggfapfudlKkW9hT24BYTQQ/s2048/IMG_5931.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcGy3PIySU0f_8pfEhQNfp72Vyk9l4qJBaFRS798zEcf689n1v-LtNKj3XDaFcz6Xs_Qrq7pvRDhpOL7okbqBkOTZ6Ui9o8td-vp7-SIjYYHEvSFJjaRcAxggfapfudlKkW9hT24BYTQQ/s320/IMG_5931.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHtbQk22i94Bp2pd06lOpap0IIHYEic8Ym4hmYWeZBZ1jaWRhuR1utLzJvLmf5c6VIqrBnv3RVz9IvDB9pYmv43SUPosbIWTHu2Dm-zb8Riwvm8gsEpP6sYpaz5NLXzwqp8_XKdfXCFnQ/s2048/IMG_5932.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHtbQk22i94Bp2pd06lOpap0IIHYEic8Ym4hmYWeZBZ1jaWRhuR1utLzJvLmf5c6VIqrBnv3RVz9IvDB9pYmv43SUPosbIWTHu2Dm-zb8Riwvm8gsEpP6sYpaz5NLXzwqp8_XKdfXCFnQ/s320/IMG_5932.JPG" width="320" /></a></div>Transmission mount<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTKhsJEN44i7JczHOrXi4GQItqr-AcW_6g9IJEwrq4_PbGoKmRtdh4ixyFXk4homlhRDTMPJ1OVopmG2ek7SPgBmuvo40xZ-oLlPrnpDWJa7ga74p27IcANfSaZ3jUHfoH-Z3clKBwmZ0/s2048/IMG_5933.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhTKhsJEN44i7JczHOrXi4GQItqr-AcW_6g9IJEwrq4_PbGoKmRtdh4ixyFXk4homlhRDTMPJ1OVopmG2ek7SPgBmuvo40xZ-oLlPrnpDWJa7ga74p27IcANfSaZ3jUHfoH-Z3clKBwmZ0/s320/IMG_5933.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0rUL7-vukTe7bZpWcKg3ojuzhGqEdR3bm9VB_f8yM_fnPvjPFkmCxOuQVFSEfSo3LNo_zG7D9iIO0bF0dXJuyWPnWqrGeqd2x0D6pQsCxpRY-TwhBptfbuIEIA0ABxoFU3jOyfF0gol4/s2048/IMG_5934.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0rUL7-vukTe7bZpWcKg3ojuzhGqEdR3bm9VB_f8yM_fnPvjPFkmCxOuQVFSEfSo3LNo_zG7D9iIO0bF0dXJuyWPnWqrGeqd2x0D6pQsCxpRY-TwhBptfbuIEIA0ABxoFU3jOyfF0gol4/s320/IMG_5934.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhANlJ48lnfuv29lKXpwAvz60se7khytBaUqNyXTWp-44HW-lcl24GpM2dw2My8fBA6pTOk9QOxdCt8Uan5n4uCUY_wQImeAptYo0iit53fdTBVByuK4tAgQ_ORX6XEkeSn3_NntUdjtlY/s2048/IMG_5935.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhANlJ48lnfuv29lKXpwAvz60se7khytBaUqNyXTWp-44HW-lcl24GpM2dw2My8fBA6pTOk9QOxdCt8Uan5n4uCUY_wQImeAptYo0iit53fdTBVByuK4tAgQ_ORX6XEkeSn3_NntUdjtlY/s320/IMG_5935.JPG" width="320" /></a></div>Front subframe<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjW0Jv1HGf8hKAIWQNKL0ME7G1_0GxqLlaxiiabN2yg2SPijvGrH2U7NX7Mo8l_Y9ElKGjWBbUnw50Go5mtFOwxuS-jxpMfBX46ohaULQenhPICzDCs4TpMLlDZrgl-QDtRNN5lEb4Q8X0/s2048/IMG_5968.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjW0Jv1HGf8hKAIWQNKL0ME7G1_0GxqLlaxiiabN2yg2SPijvGrH2U7NX7Mo8l_Y9ElKGjWBbUnw50Go5mtFOwxuS-jxpMfBX46ohaULQenhPICzDCs4TpMLlDZrgl-QDtRNN5lEb4Q8X0/s320/IMG_5968.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5A64w5hwKw09f1J23N2mNLb1Zi1Lf6lvaRwcri-0OSRwIudkySb4z-fhwKozZDxHItgcfQ-9vHjQXqMRB3vJ57SJOnf8-IUL3xf-RxwiFul5lF_x_bET1VQze6Kf2fqVDr54z6BrZn98/s2048/IMG_6173.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5A64w5hwKw09f1J23N2mNLb1Zi1Lf6lvaRwcri-0OSRwIudkySb4z-fhwKozZDxHItgcfQ-9vHjQXqMRB3vJ57SJOnf8-IUL3xf-RxwiFul5lF_x_bET1VQze6Kf2fqVDr54z6BrZn98/s320/IMG_6173.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgiQupofSe1KvTBmxa258MBaayy5VD8HMq6YL-1-AIelARj4AwSRAVRnAUg3GYDJBXGphHnA1W9Z7dIPQvheu7ZRLRU1n92ChbNcOLkBuzlQk4jEmcQAcVvDMs1Dpr4qfjulvOqyFbUf1I/s2048/IMG_6169.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgiQupofSe1KvTBmxa258MBaayy5VD8HMq6YL-1-AIelARj4AwSRAVRnAUg3GYDJBXGphHnA1W9Z7dIPQvheu7ZRLRU1n92ChbNcOLkBuzlQk4jEmcQAcVvDMs1Dpr4qfjulvOqyFbUf1I/s320/IMG_6169.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjY-zJG1Wq4INzQ4rV1N8nsUwMGvLdTSEDkU0O1Zzjo04UWNR8SrZn5_v9tUW37ggCALji5URf6FLepEWqfVOKm56trEJLnw95ovmbaNNo7LKT3VeWE8M6F05gr-QSzSiblSiObvV38ZZA/s2048/IMG_6175+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjY-zJG1Wq4INzQ4rV1N8nsUwMGvLdTSEDkU0O1Zzjo04UWNR8SrZn5_v9tUW37ggCALji5URf6FLepEWqfVOKm56trEJLnw95ovmbaNNo7LKT3VeWE8M6F05gr-QSzSiblSiObvV38ZZA/s320/IMG_6175+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjf07RzYuGeZOogNvDOvL_UB3HxjZekXAyyAAui7YF_X1wOs2arFlr80NvI0CYQxklvZYjFZNEDP06rNVpTsrD9De13HXMiAoZZsvpAwTAGZ_zAeCaTscqHNsKpCdDNH9gX1C2chJNZRx8/s2048/IMG_6176.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjf07RzYuGeZOogNvDOvL_UB3HxjZekXAyyAAui7YF_X1wOs2arFlr80NvI0CYQxklvZYjFZNEDP06rNVpTsrD9De13HXMiAoZZsvpAwTAGZ_zAeCaTscqHNsKpCdDNH9gX1C2chJNZRx8/s320/IMG_6176.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimicXIOzkVlwAZWo4Brdwxove53Dx2d8LhYPo7o4O9xzpieu3V2iESLiaLWfuYXDW39GQTjlJKm-O-R6BvkBmZQQGp_8l0KzT80Y1E_dEMuaNoPG9yMYDviqcR0-Rv1XSNm5jkx-vv_-0/s2048/IMG_6177+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimicXIOzkVlwAZWo4Brdwxove53Dx2d8LhYPo7o4O9xzpieu3V2iESLiaLWfuYXDW39GQTjlJKm-O-R6BvkBmZQQGp_8l0KzT80Y1E_dEMuaNoPG9yMYDviqcR0-Rv1XSNm5jkx-vv_-0/s320/IMG_6177+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgEYyZxNX1Vnv6ztExt9UkVvJXJNH0RcORNDNSd_KurHdlBi4Prwb0c1Oiz2wTHqggvm0MtZizOFRcHxSM0lTK9plpK4UDqQ7DAN0fHWfncbIhK6CD3RDv6u66f78YgNu9lp29wtQc1x-c/s2048/IMG_6178+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgEYyZxNX1Vnv6ztExt9UkVvJXJNH0RcORNDNSd_KurHdlBi4Prwb0c1Oiz2wTHqggvm0MtZizOFRcHxSM0lTK9plpK4UDqQ7DAN0fHWfncbIhK6CD3RDv6u66f78YgNu9lp29wtQc1x-c/s320/IMG_6178+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgLumXQb5T6IvY0oGjlZ6VYXixE3LtNURxj2HCRY0Y_s5QVaR6YllU2mseOvy3oXQigUoxKUNT8LoFptKnTL9J0Fnr2PcV8RaF1hcg7cyqtan4U8z_wwK4tpmQEerXD_PI-mV2Wv-HbNB8/s2048/IMG_6179.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgLumXQb5T6IvY0oGjlZ6VYXixE3LtNURxj2HCRY0Y_s5QVaR6YllU2mseOvy3oXQigUoxKUNT8LoFptKnTL9J0Fnr2PcV8RaF1hcg7cyqtan4U8z_wwK4tpmQEerXD_PI-mV2Wv-HbNB8/s320/IMG_6179.JPG" width="320" /></a></div>Here you can see the two different ways I tried the rears. I initially tried to use EK civic LCAs, which are significantly longer than the rest, because of the angle I was running due to not running a rear subframe drop (just a rear trailing arm drop) As you can see this caused EXCESSIVE toe in on the rear. <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgj02SxSLF-5o4wV0XIcx43RhUmmwlYFwCidQYQiEDLS9B6tiuLyHIQ_N-JPVRDffJCia311FuK0HXCi5cnILB94eKJPhjOtBl5LsMLw7Vab6HpMTClT0MrZJ3MmUqtp90picfSUv5Ikt4/s2048/IMG_6180+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgj02SxSLF-5o4wV0XIcx43RhUmmwlYFwCidQYQiEDLS9B6tiuLyHIQ_N-JPVRDffJCia311FuK0HXCi5cnILB94eKJPhjOtBl5LsMLw7Vab6HpMTClT0MrZJ3MmUqtp90picfSUv5Ikt4/s320/IMG_6180+%25281%2529.JPG" width="320" /></a></div>So, I tried again, this time using DA integra LCAs which are similar to EF ones, but with the strut hole placed slightly differently. This caused a much more acceptable to me angle, though I found it interesting that it did cause a little bit of toe out. (note the pics are in opposite directions, which is why it looks the same) <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCGImdWgmQb3ojI_bDoRv5Q6tzr4hKVEbFqTlawrGnigL1P5bEhYQ8RdBGay_9MKG3CfZFUWg4biM3Qyo9UphiQkboPj6qUY6I27x4czJMWQVoTVqs_mLmMX8b4XA9crvJtzjOaoMwj-Q/s2048/IMG_6181.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCGImdWgmQb3ojI_bDoRv5Q6tzr4hKVEbFqTlawrGnigL1P5bEhYQ8RdBGay_9MKG3CfZFUWg4biM3Qyo9UphiQkboPj6qUY6I27x4czJMWQVoTVqs_mLmMX8b4XA9crvJtzjOaoMwj-Q/s320/IMG_6181.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEit5rrZg8RU1BQZfzO8IDbb4yfVswBauzzl4oTqVd0CJYhHR2QnaTK0EKmeaQMftAcHGqmXHhpSQZFjMYp-dw0Ew_GDkRmuCD_-zN9tBtn4GS_BJVRth8HYkRMAvDWJlddQ_XnWELpiGl8/s2048/IMG_6189.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEit5rrZg8RU1BQZfzO8IDbb4yfVswBauzzl4oTqVd0CJYhHR2QnaTK0EKmeaQMftAcHGqmXHhpSQZFjMYp-dw0Ew_GDkRmuCD_-zN9tBtn4GS_BJVRth8HYkRMAvDWJlddQ_XnWELpiGl8/s320/IMG_6189.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjOO_nkQrljV8eScAKObfA8yAk1IPJtkIkqM0Wl_COIxQGuDG4wfAJ39XXpK_dgeS3tOIoGp9MucePUkjvztZGm5gfQkTDsQ0dkXjqjlc-5iDs0y8IeT1fkDbmfdom4HGlaKuwbjgqa-Vs/s2048/IMG_6200.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjOO_nkQrljV8eScAKObfA8yAk1IPJtkIkqM0Wl_COIxQGuDG4wfAJ39XXpK_dgeS3tOIoGp9MucePUkjvztZGm5gfQkTDsQ0dkXjqjlc-5iDs0y8IeT1fkDbmfdom4HGlaKuwbjgqa-Vs/s320/IMG_6200.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiB292Q83xx0gnyZUo-6tDGtxonaz8JmbNnwomudwe3cEUCCDLt0TQ-UM1tsnF5zLaMuS-2App2nmUXx8sRPN9Hr7RMdZ5KPnSDr1d-XthaQKlvgwHGsPiFh5lemiMO8Q-hFHlDA8fOdmg/s2048/IMG_6204+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiB292Q83xx0gnyZUo-6tDGtxonaz8JmbNnwomudwe3cEUCCDLt0TQ-UM1tsnF5zLaMuS-2App2nmUXx8sRPN9Hr7RMdZ5KPnSDr1d-XthaQKlvgwHGsPiFh5lemiMO8Q-hFHlDA8fOdmg/s320/IMG_6204+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjhPKSam3hZR0bcEhPeFbWSsOO5seG1mVdIw7CuUmWu0-3JEoweC1ipHhvCaR_Pbm0KLUG9hebmpsg5_fQP2YO0vO410SP0eiXTXI8v6AbecnJ9PNbKvHaI_MSOKovQW1COntlX2KwUeAs/s2048/IMG_6220.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjhPKSam3hZR0bcEhPeFbWSsOO5seG1mVdIw7CuUmWu0-3JEoweC1ipHhvCaR_Pbm0KLUG9hebmpsg5_fQP2YO0vO410SP0eiXTXI8v6AbecnJ9PNbKvHaI_MSOKovQW1COntlX2KwUeAs/s320/IMG_6220.JPG" width="320" /></a></div>Here you can see the final setup I went with (Sans vice lol) for the rear. I've got a DA trailing arm (mmm disc brakes) and a DA LCA mounted to the stock spots. I had to grind down the LCA where it mounts to the strut because the Legend struts that I am using are narrower than the stock EF strut mounts. I also had to notch the LCAs (pic of that later) so the strut wouldn't impact them. I'm using 1990 Acura Legend rear struts with a civic top hat swap.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjy91TcKIdCBUtYY3kS9MOC6tM0kxM6vtlzOgcBFegsA52Qwqui-MjF1yio_3Ie6UaS48Ilt8I1oaFeX5kFLssAxYsYKVPLSnvkj1Lotstu1l_xRbyugb_s2lMt0CM4yTAlyKPX0EbY1i0/s2048/IMG_6182+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjy91TcKIdCBUtYY3kS9MOC6tM0kxM6vtlzOgcBFegsA52Qwqui-MjF1yio_3Ie6UaS48Ilt8I1oaFeX5kFLssAxYsYKVPLSnvkj1Lotstu1l_xRbyugb_s2lMt0CM4yTAlyKPX0EbY1i0/s320/IMG_6182+%25281%2529.JPG" width="320" /></a></div>The ill fated EK LCA attempt. H8ers said it wouldn't work, and, well it kinda did...<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxzyfeW_bVRtoIfPr-PDx1Dn2QGuQ3e43NcFy7WOLfhyz_sMa4B04nlx-_qOwdGPVtr_jUWlBJQgRsf751Ei5hEd8xyS_D9KwtyBnSU2CrIF5vRmtOpxJ60XQ9k7cYFI1o4RnljEF-_Bk/s2048/IMG_6184.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxzyfeW_bVRtoIfPr-PDx1Dn2QGuQ3e43NcFy7WOLfhyz_sMa4B04nlx-_qOwdGPVtr_jUWlBJQgRsf751Ei5hEd8xyS_D9KwtyBnSU2CrIF5vRmtOpxJ60XQ9k7cYFI1o4RnljEF-_Bk/s320/IMG_6184.JPG" width="320" /></a></div>A major issue I have with the rears that is unresolved at this time is due to the extreme lift, to connect the two spots, the UCA has to be massively long. After parking this, I note that Ben Huffman from HRG Engineering offers a solution that extends the UCA mount on the knuckle upwards and forwards which is very necessary, but I have not yet installed. So I did what I could. Cut up an UCA and added some metal. <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhMnxRXjFSQqRMsZiBLK5byw3sAJBLsMidZLTyTLGCEf3NC7tjwpHkrqmlQs6dlGyRC0ECNBPlWYY9s5mTwbGy4ejQP9TlolkFwlfdBhuQD0Rs5iiwkCHxLYAJ535uaFemESiym1jrV1mI/s2048/IMG_6195+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhMnxRXjFSQqRMsZiBLK5byw3sAJBLsMidZLTyTLGCEf3NC7tjwpHkrqmlQs6dlGyRC0ECNBPlWYY9s5mTwbGy4ejQP9TlolkFwlfdBhuQD0Rs5iiwkCHxLYAJ535uaFemESiym1jrV1mI/s320/IMG_6195+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiqgXMcZbQynUniq2dWAJhJVX_u2b8NDyeEinWNrYuEvKoGI9qbGrgTOnMyOLshsv_hBMzcY9zaNneetn8mI7uGFiHRa2enkPam0l4DKMBM0Ot4wNAByNwWUIlsrZ1nwru8DIuAhNXex-w/s2048/IMG_6196+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiqgXMcZbQynUniq2dWAJhJVX_u2b8NDyeEinWNrYuEvKoGI9qbGrgTOnMyOLshsv_hBMzcY9zaNneetn8mI7uGFiHRa2enkPam0l4DKMBM0Ot4wNAByNwWUIlsrZ1nwru8DIuAhNXex-w/s320/IMG_6196+%25281%2529.JPG" width="320" /></a></div>It was ultimately too long and didn't work, and I ended up using some cheapy Ebay adjustable ones instead, but like I said, issues with that (side note, do not buy the cheap ebay adjustable UCAs. Garbage. don't handle the punishment.) <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjqIy-175wZH_v4oV6Z4bgP2r8WI7pwGLWAGLoGZH6NO4Qme0WAB9BBBoxUblqelZNYqUSKW0ShzzeVYqJuKnT5WkGnEU-j8aigl_S1Vi6LdMlXNDIt0wnVrWPNGtMvHR-jSXF7kYcQKyM/s2048/IMG_6197.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjqIy-175wZH_v4oV6Z4bgP2r8WI7pwGLWAGLoGZH6NO4Qme0WAB9BBBoxUblqelZNYqUSKW0ShzzeVYqJuKnT5WkGnEU-j8aigl_S1Vi6LdMlXNDIt0wnVrWPNGtMvHR-jSXF7kYcQKyM/s320/IMG_6197.JPG" width="320" /></a></div>Here is a close up of the material I took out of the LCA for the strut to clear. I could have taken less, but this is the only set of LCAs I had and I messed up prototyping. Learn from me. <br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2T5nM8YNuYmMdJSBSX87l4zresnvDOQ6FoUkLxCqf7bvQB2z7M1C4ORqf4GSZQ-HBK4VIvisA6DNAy4KUjpKlfLWaPNsULYqYRdFmFS8r2sLFu85s8kmfZQ2GD4ZVrPmjv5YUDyKFsi8/s2048/IMG_6199+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="2048" data-original-width="1536" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2T5nM8YNuYmMdJSBSX87l4zresnvDOQ6FoUkLxCqf7bvQB2z7M1C4ORqf4GSZQ-HBK4VIvisA6DNAy4KUjpKlfLWaPNsULYqYRdFmFS8r2sLFu85s8kmfZQ2GD4ZVrPmjv5YUDyKFsi8/s320/IMG_6199+%25281%2529.JPG" /></a></div>So, I took him out like that, with the rears the way they are, and the fronts with just a little too much lift. Offroaded pretty hard, and busted the worn out lower ball joint. Heres a buddy helping me ratchet strap it back together.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHViwaxQFTpDs5OxccU2W0tRJ8yyzkwrgCZ5KwhTNpIW89Sb-R2GsqL6aejvrxCISiwnfnMzPBR1EGRsCKJNQrEftI_CFerQtCwo4WCxo3yDLs5R63N6RIsagE6ukURjKS7MUuGW6B68o/s2048/IMG_6224+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHViwaxQFTpDs5OxccU2W0tRJ8yyzkwrgCZ5KwhTNpIW89Sb-R2GsqL6aejvrxCISiwnfnMzPBR1EGRsCKJNQrEftI_CFerQtCwo4WCxo3yDLs5R63N6RIsagE6ukURjKS7MUuGW6B68o/s320/IMG_6224+%25281%2529.JPG" width="320" /></a></div>I got a new joint in it, gently drove it home, and have worked on other projects since. To drive well and be reliable, it needs the HRG rear UCA relocate kit, and either a heavy-ass front bumper to bring the front down a bit, or smaller strut spacers. Here is how she sits.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVuCfFiYMfabOLvBclV9R-WKiCcEUbLtN3btfP5gDMpBnNU5ItLP5BGTLl0IPBpUp3lXcQIEPNX0q00cNDQOlHPB0stgC3Ee3BQR3Is5c3kK43tmOwpM0gRzDZZ4Z-IN3V0YwZT8COQVc/s2048/IMG_6228+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVuCfFiYMfabOLvBclV9R-WKiCcEUbLtN3btfP5gDMpBnNU5ItLP5BGTLl0IPBpUp3lXcQIEPNX0q00cNDQOlHPB0stgC3Ee3BQR3Is5c3kK43tmOwpM0gRzDZZ4Z-IN3V0YwZT8COQVc/s320/IMG_6228+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmzEyFy-TDktljCcrTy5cYlcJqaeezRTNKGlnzqoSadsZ_X4IVQJF6GIcWhgOMeAALipxpOKc3FIBZIMA3OxDOJDPjwgt_3lyro13AzBSWmkE34p980BS8l7XTizSc4RYPAh_6cY_LozQ/s2048/IMG_6229-edited.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1230" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgmzEyFy-TDktljCcrTy5cYlcJqaeezRTNKGlnzqoSadsZ_X4IVQJF6GIcWhgOMeAALipxpOKc3FIBZIMA3OxDOJDPjwgt_3lyro13AzBSWmkE34p980BS8l7XTizSc4RYPAh_6cY_LozQ/s320/IMG_6229-edited.jpg" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglowe6QwOwfy-ACxC8YNyCy4gBU-szHPDqHvpP_WmKDj69BA1-jskdZwP8-ZKpfe8vA9LJh5UK6okQVavMdNcp5PiB8inkPqcnmmGLPVUatcbG-76Q9VBGgQ_PMdgOgcSgWEgw_eFs_Yc/s2048/IMG_6229.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglowe6QwOwfy-ACxC8YNyCy4gBU-szHPDqHvpP_WmKDj69BA1-jskdZwP8-ZKpfe8vA9LJh5UK6okQVavMdNcp5PiB8inkPqcnmmGLPVUatcbG-76Q9VBGgQ_PMdgOgcSgWEgw_eFs_Yc/s320/IMG_6229.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg2BC1JvGTt7S-hNDR2JXoroyICc3YdLOX_0-EeD_Jekir6JlQtQ2pPLZ_T7HCkRtQ2blFqO_FWAQGLDERF91Z7xVEQcI5SNIVJyVQn6EVvJgnHH0CdUp_ypCjaQqreYHv1WUf6mW6FjlA/s2048/IMG_6230+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg2BC1JvGTt7S-hNDR2JXoroyICc3YdLOX_0-EeD_Jekir6JlQtQ2pPLZ_T7HCkRtQ2blFqO_FWAQGLDERF91Z7xVEQcI5SNIVJyVQn6EVvJgnHH0CdUp_ypCjaQqreYHv1WUf6mW6FjlA/s320/IMG_6230+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiJKez9VxNB3vFFjbWzBoSAT5yxHbbg2-Dxcpc9utGYnuv263hk9Fc4d89MYuFjUH0DgyWERYWXTNxMQ3j2SvGiP-44NrpBp0jV_70WCAADKuVQ_FPyepO88jmGo6ltghKuaIBgJDIkOG0/s2048/IMG_6230-edited.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1226" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiJKez9VxNB3vFFjbWzBoSAT5yxHbbg2-Dxcpc9utGYnuv263hk9Fc4d89MYuFjUH0DgyWERYWXTNxMQ3j2SvGiP-44NrpBp0jV_70WCAADKuVQ_FPyepO88jmGo6ltghKuaIBgJDIkOG0/s320/IMG_6230-edited.jpg" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhjEUr8oW0UUjzwlnjFkqiDqWFA0MQ0kRMvydN5XKnMEQCtYVq0g6Ykf4KRc4ZwA3sbc0BynsbzTBfjBOaD6YFlLuZ2bZMbZBnOVHmFqxiAmXic0TCEgahHfCOiB5maAjuY-OBd8AGVTcU/s2048/IMG_6232.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhjEUr8oW0UUjzwlnjFkqiDqWFA0MQ0kRMvydN5XKnMEQCtYVq0g6Ykf4KRc4ZwA3sbc0BynsbzTBfjBOaD6YFlLuZ2bZMbZBnOVHmFqxiAmXic0TCEgahHfCOiB5maAjuY-OBd8AGVTcU/s320/IMG_6232.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhT9cmpXAIyFzgHKAAPZ6iCR1hUg1AJ8HxX7g4HjxP2awAM40zfdzhR7SMjV7jVQkCDqLy0o_TxSkCCh3vXCUu-qsu8jPnTNs-d3ZC8ac3uRONsVmYQJIxhscaN4KA_ZYgnG9-H4vxotPo/s2048/IMG_6233.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhT9cmpXAIyFzgHKAAPZ6iCR1hUg1AJ8HxX7g4HjxP2awAM40zfdzhR7SMjV7jVQkCDqLy0o_TxSkCCh3vXCUu-qsu8jPnTNs-d3ZC8ac3uRONsVmYQJIxhscaN4KA_ZYgnG9-H4vxotPo/s320/IMG_6233.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi0XRWIh1yfMZ4eaODtJWspuYym1UcBQraXXo_kh4Iq-Jdi8lp8Qi7sZnmfnombdkBn3swbhX0BKPptTUIKqtMae0i9uVD0lCATyYtO6J5hwTT0iJV60f9AxYm77kULL6MYvu2uP93X8Zc/s2048/IMG_6234.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi0XRWIh1yfMZ4eaODtJWspuYym1UcBQraXXo_kh4Iq-Jdi8lp8Qi7sZnmfnombdkBn3swbhX0BKPptTUIKqtMae0i9uVD0lCATyYtO6J5hwTT0iJV60f9AxYm77kULL6MYvu2uP93X8Zc/s320/IMG_6234.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMzlNsesFJ_DyUbS_kJuk8qTXNMcGlFti1nlEezwNELlFQ9H6Q-JamDiKCY32DPYIs8wXjAcMpupdWYlTbXM7a_lnxWrdoX-SjkhlJQyBbiAK-6g9yzkv8XGbVyikkRiBawM1hMPvTmEU/s2048/IMG_6237.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgMzlNsesFJ_DyUbS_kJuk8qTXNMcGlFti1nlEezwNELlFQ9H6Q-JamDiKCY32DPYIs8wXjAcMpupdWYlTbXM7a_lnxWrdoX-SjkhlJQyBbiAK-6g9yzkv8XGbVyikkRiBawM1hMPvTmEU/s320/IMG_6237.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicnXtdKd8dKpY36sT-MNbmdS__TOsKL8TMDFy6lzC10ODo17kstGJaW-U_r8j7kW7UWAc5Ia6veUvGYZx1PY93ZCyqe_tcdyv6VqJe9oPDATUkPRqK1s5tTX1xJFfeyq1rMoW5nPMBgNw/s2048/IMG_6240+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicnXtdKd8dKpY36sT-MNbmdS__TOsKL8TMDFy6lzC10ODo17kstGJaW-U_r8j7kW7UWAc5Ia6veUvGYZx1PY93ZCyqe_tcdyv6VqJe9oPDATUkPRqK1s5tTX1xJFfeyq1rMoW5nPMBgNw/s320/IMG_6240+%25281%2529.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjTVyjYtoCgyVkFfuvWPyO1eBdMSubAFBNCSlbOJzoAbDBFgsG7ilNMSuQoZYr75Q95ajeziZ_ZM2LCQ01tHLh4V2vJWm1T1rhJxjZw4KaonoByBoI1rOBb8c8aEkre0Z2pltsADdCUPQg/s2048/IMG_6241.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1536" data-original-width="2048" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjTVyjYtoCgyVkFfuvWPyO1eBdMSubAFBNCSlbOJzoAbDBFgsG7ilNMSuQoZYr75Q95ajeziZ_ZM2LCQ01tHLh4V2vJWm1T1rhJxjZw4KaonoByBoI1rOBb8c8aEkre0Z2pltsADdCUPQg/s320/IMG_6241.JPG" width="320" /></a></div>As a side note, HRG also sells a rear subframe drop, which I'm not a huge fan of, but I found this a little while ago that someone homebuilt, and I think it looks pretty great. Im going to fix the first two things I mentioned, and then see how it drives and if I need this. Don't want to lose that sweet, sweet rear ground clearence.<br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigEdonn_XUlf3Ut9rIeEbTmNfk6o9s4cT8jEFzetGGEswLmWYMXUEW4HNBiyRXe3wxXTmfSPep1CRGDQP_HoZvib5i29adKf-V9mA_OwCcLpwZuWxrAhf2sAp26JXQZonxdeokL-2H1eo/s1334/IMG_8445+%25281%2529.PNG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1334" data-original-width="750" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigEdonn_XUlf3Ut9rIeEbTmNfk6o9s4cT8jEFzetGGEswLmWYMXUEW4HNBiyRXe3wxXTmfSPep1CRGDQP_HoZvib5i29adKf-V9mA_OwCcLpwZuWxrAhf2sAp26JXQZonxdeokL-2H1eo/s320/IMG_8445+%25281%2529.PNG" /></a></div><br /><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjfh9WgdJB6RXc4wl7nR-XqGQQvPmB93cE5LLoyHrjayUu2D3TPojVoLqrJ7cMiVUUG6EJ05EMfbaFOD8Bx4N2msYNsUyTJ__m_IAIQp0o42BkGR0n0exfZiloUkwL-mRS5BOrTzTu3nhI/s960/IMG_8446+%25281%2529.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="960" data-original-width="720" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjfh9WgdJB6RXc4wl7nR-XqGQQvPmB93cE5LLoyHrjayUu2D3TPojVoLqrJ7cMiVUUG6EJ05EMfbaFOD8Bx4N2msYNsUyTJ__m_IAIQp0o42BkGR0n0exfZiloUkwL-mRS5BOrTzTu3nhI/s320/IMG_8446+%25281%2529.JPG" /></a></div><br /> <p></p>fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-43500540172125029102016-06-21T16:28:00.003-07:002016-06-21T16:28:38.449-07:00Flamethrower footage<div class="separator" style="clear: both;">
Bound to be the most entertaining flamethrower post to date, all the footage I have so far of me firing the flamethrower. Enough squirting water and pressure testing, lets get to the real deal! </div>
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First if you are impatient, here are a couple short GIFs:</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2BkCjdH_P-GJ-fgTbrYBGryE7MnlzjOnzB1RwG2bFLo3Bhqpv4xl0ZVmwl5lOtrExz8SNC18RUKiBUDzX4-sUO3tN6Ou-E_OZtQomAFr_DUhu-zUNWdeGrod04g1OiuScuUh-4a5gDt0/s1600/ezgif.com-resize.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="225" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2BkCjdH_P-GJ-fgTbrYBGryE7MnlzjOnzB1RwG2bFLo3Bhqpv4xl0ZVmwl5lOtrExz8SNC18RUKiBUDzX4-sUO3tN6Ou-E_OZtQomAFr_DUhu-zUNWdeGrod04g1OiuScuUh-4a5gDt0/s400/ezgif.com-resize.gif" width="400" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgwZqmaMDLVwKkwEg3qMWNLcLtWutzS-q49394x6r0vne0rVxyE-I1eBWlTypjSBjbMYjhyksBH55BtYqaHgeD2ZIBnCRx4JxaDlO6QviEvQcVC8GuM5TMObMXOl0qdiZBJeo5JtYfdmIs/s1600/ezgif.com-video-to-gif.gif" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="225" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgwZqmaMDLVwKkwEg3qMWNLcLtWutzS-q49394x6r0vne0rVxyE-I1eBWlTypjSBjbMYjhyksBH55BtYqaHgeD2ZIBnCRx4JxaDlO6QviEvQcVC8GuM5TMObMXOl0qdiZBJeo5JtYfdmIs/s400/ezgif.com-video-to-gif.gif" width="400" /></a></div>
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Those GIFs and the next couple of videos are of version 1 of the flamethrower, with the longer hose and primitive nozzle. This video is the same as the first GIF but a bit better quality if you want to see the flame better:</div>
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The next two are fairly short, first in slow mo, second in non slow mo. Shot during the same tank of fuel as the first one:</div>
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And if you are a bit more patient, here is one continuous clip of the whole tank being shot off, taken at the same time as the other shots, but with slow mo in different places and as one continuous shot:</div>
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This next one is footage taken with the camera mounted to the wand during the daytime, with the upgraded tip. Im shooting a bit into the wind on this one. (A screenshot of one part of this video is where I got the picture for the top of my blog) </div>
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And then these last three are different perspectives of the same night shot. First, one taken from a ways away (Probably my least favourite)</div>
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One taken from the POV cam on the wand:</div>
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And my favourite, mostly because of the dialogue, one shot from up close by a friend:</div>
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Well there it is! All the footage I have of the flamethrower being fired. I probably won't get anymore till it cools down again and we get some rain due to the high forest fire risk, but when that time comes, I can't wait to test out the shorter wand hose and shorter propellant tank mount. Hope you enjoyed it!</div>
fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-13270872142063803322016-06-20T20:18:00.000-07:002016-06-21T16:27:00.377-07:00Flamethrower details<div class="separator" style="clear: both; text-align: center;">
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In a previous post, I mentioned that I had been building a flamethrower on and off over the last year or so, and at the time of the post I had not completed it yet. I was also a little sparse on the details and pictures. Well anyways I have long since gotten it finished and actually revised the design slightly. So here are a few more details and pictures and whatnot of it all.<br />
First off is this one. This shows most of the components of the flamethrower before it was assembled:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgXgYak6vOV5UVRiG8zkTIagvi5GwdLdqU47pgw_QR5w7O3j-0VyblzPwyaZkXAhyphenhyphenqc2RI4l_D5RcxQqPGUJxjD8hKJ_UJZgojWvDWgJ1bc9gs00NVS5qe_4OEf43XoADTr0NFlgLIo1wg/s1600/IMG_0319.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgXgYak6vOV5UVRiG8zkTIagvi5GwdLdqU47pgw_QR5w7O3j-0VyblzPwyaZkXAhyphenhyphenqc2RI4l_D5RcxQqPGUJxjD8hKJ_UJZgojWvDWgJ1bc9gs00NVS5qe_4OEf43XoADTr0NFlgLIo1wg/s400/IMG_0319.JPG" width="400" /></a></div>
A quick picture of the tank as it is holding its very first pressure test:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg1FKD5mqxI1JU1lDRNOeE-FW2bbtXCaeA_L2wHTK_1vlwXEg3NwGlH5p2olPHpqUs6UhuvtG_Vaoyi5dDaqTgFhhoGDXn_7KMJGQrXZgcz5XW70OuBxfu96LddBPxNnFodCmKPMEgxAx8/s1600/IMG_0320.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg1FKD5mqxI1JU1lDRNOeE-FW2bbtXCaeA_L2wHTK_1vlwXEg3NwGlH5p2olPHpqUs6UhuvtG_Vaoyi5dDaqTgFhhoGDXn_7KMJGQrXZgcz5XW70OuBxfu96LddBPxNnFodCmKPMEgxAx8/s400/IMG_0320.JPG" width="300" /></a></div>
And a closeup of the bottom showing where I drilled and tapped the bulkhead fitting into the tank.<br />
Getting that hole was no easy task. I think I ended up turning a floor mounted drill presses table 90 degrees to what it normally is and using about 7 ratchet straps to secure it to the table at the right spot. But I got it made. You can see where I spent a bit of time with a sander, smoothing out any inconsistancies in the metal and removing all the paint where the o-ring seals.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigcGf-McZxUi4N18232pBKQRD9kCkxA0E4O1hi1ka8lcCrOmQ5-JsrJnAIMBtrtHUvVBqH4dwIh9DKBJfddObfpMAuiwQ2uUI-H5MDTpw-369PIDArNMxN02M8ag3Xlc1DL91oXqJw5Rs/s1600/IMG_0321.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigcGf-McZxUi4N18232pBKQRD9kCkxA0E4O1hi1ka8lcCrOmQ5-JsrJnAIMBtrtHUvVBqH4dwIh9DKBJfddObfpMAuiwQ2uUI-H5MDTpw-369PIDArNMxN02M8ag3Xlc1DL91oXqJw5Rs/s400/IMG_0321.JPG" width="300" /></a></div>
Here you can see detail of both the torch mount, custom made from some scrap sheet metal, and the device that I made to prevent the fitting from turning in the bottom of the tank or coming loose. Hydraulic hose does not have any torsion at all to it. If you twist one end, the other one is twisting as well. I was worried that if I accidentally twisted the gun handle or whatever, my fitting would start to spin out of the tank or rub the o ring or any number of other bad things. So I took a piece of nice thick aluminum I had laying around, roughtly cut it to fit the bottom of the tank and extend out one side. Then I painstaikingly drilled and filed and drilled and filed and drilled and filed some more until I had a perfect hexagon that fit right over the fitting. I drilled a hole just on the side of the tank and secured a bolt thru it. Then hose clamped the bolt to the tank in exactly that position, effectively eliminating any possible movement.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVIR6GunHAC-VPOfU4Y-z_lSQnKK44GdJpy3Y3mMxwzXHCQ7A6GouHm9FrvWN9QMXlmAYlJp-IAtOfVMjyh3Y-xBuGANnKX7rlEonXKDwozHLrJRhlUZDVzykr2QC9mkdbbOqIPjaT5MA/s1600/IMG_0326.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVIR6GunHAC-VPOfU4Y-z_lSQnKK44GdJpy3Y3mMxwzXHCQ7A6GouHm9FrvWN9QMXlmAYlJp-IAtOfVMjyh3Y-xBuGANnKX7rlEonXKDwozHLrJRhlUZDVzykr2QC9mkdbbOqIPjaT5MA/s400/IMG_0326.JPG" width="300" /></a></div>
Heres a picture of the flamethrower all completed and waiting to be
used. In this shot I have a HPA tank hooked up instead of a CO2 tank
because I believe I was again doing some water testing. <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMihMnTcSoA_Co86u6k-C7NUQkKvRxp4RmnnNl4QsMteDLd5rwQGAIFLHgfXFRIpfV2NDo_QUSN7n0Oso3WHhKNSbST3kBY01PkfgnM-kTLIsxOLNd3jfnr8Ov8L_mc_N33o4pu1bCnp8/s1600/IMG_0342.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMihMnTcSoA_Co86u6k-C7NUQkKvRxp4RmnnNl4QsMteDLd5rwQGAIFLHgfXFRIpfV2NDo_QUSN7n0Oso3WHhKNSbST3kBY01PkfgnM-kTLIsxOLNd3jfnr8Ov8L_mc_N33o4pu1bCnp8/s400/IMG_0342.JPG" width="300" /></a></div>
And this is how I store it. The barrel unthreads from the gun handle for ease of storage, the valve unthreads from the the top of the tank and the paintball remote line has a quick disconnect on it. <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhWu_3PnP0GeTjOKtgaF_xIru9fb67Nh3_PA3Ya1TORCvQCljT3TpUFw1fLWU1exf7uIhiVEn8mJlAO8i1x8MgfFUBhaXCrxw_OC7jj52lM3Odh-U0Yby5jgMJZ8WB2IbXcqBehTWt_YsY/s1600/IMG_0354.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhWu_3PnP0GeTjOKtgaF_xIru9fb67Nh3_PA3Ya1TORCvQCljT3TpUFw1fLWU1exf7uIhiVEn8mJlAO8i1x8MgfFUBhaXCrxw_OC7jj52lM3Odh-U0Yby5jgMJZ8WB2IbXcqBehTWt_YsY/s400/IMG_0354.JPG" width="400" /></a></div>
I mentioned in my previous post that the spray coming from the wand was dissapointing in range, and so before I even tested it with fuel instead of water, I went to the hardware store and purchased several 1/4" caps to thread on the end of the barrel and drill different sized holes in to see which was the most effective.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTh9AFH9d6zotlwG6hrGBxy6SompdSMb9BBnCUd9zWusb6-GH0s_JC_PP1IOecx8wp-L2bzpBJ6vqQ5q9M0ozykv6Chx2rsZSMTVCG5h1NybY0tByNJCBvHcn5kKEjqRdvVtiF4FH0c1M/s1600/IMG_0811.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTh9AFH9d6zotlwG6hrGBxy6SompdSMb9BBnCUd9zWusb6-GH0s_JC_PP1IOecx8wp-L2bzpBJ6vqQ5q9M0ozykv6Chx2rsZSMTVCG5h1NybY0tByNJCBvHcn5kKEjqRdvVtiF4FH0c1M/s400/IMG_0811.JPG" width="300" /></a></div>
I ended up using one with a hole this size:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifIAKxAkgsIFDCpWi461wkrc-tea1DyR7cJSUQ9zDYyvuwc98D_i8fyFLbeemI73gMZMIpaLKBb5K5OKC0SouQ_F1dc6CmGOoC6NYs7UuuFxMMHcfq7Ocql8QSFPzFsPQesFPbMEELMjY/s1600/IMG_0812.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEifIAKxAkgsIFDCpWi461wkrc-tea1DyR7cJSUQ9zDYyvuwc98D_i8fyFLbeemI73gMZMIpaLKBb5K5OKC0SouQ_F1dc6CmGOoC6NYs7UuuFxMMHcfq7Ocql8QSFPzFsPQesFPbMEELMjY/s400/IMG_0812.JPG" width="300" /></a></div>
It did work fairly well, I have some video that I will post later showing the flamethrower firing using this tip, but I found that as it shot out, the harsh reduction in size caused the water or fuel to spray out and atomize more quickly rather than coming out in a stream as is more beneficial to a flamethrower. Nonetheless it did work and produced some impressive flame, it just needed to be improved.<br />
Princess Auto came to the rescue with a 1/4"x1/8" reducing coupling and a 1/8" small nipple. Both designed to be used in hydraulic systems and therefore rated to 5000PSI or so. The 1/8" nipple is a fair amount smaller inside due to the thick walls needed to contain such pressure and has nicely beveled ends on both ends that cause a much smoother transition for the fluid and therefore more stream and less spray. The smaller ID means less fuel flowing thru, and therefore perhaps slightly smaller flame but longer lasting. I can always drill it out if I find myself needing more flow. Here are a couple of pictures of the upgraded nozzle:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVA6xLS2-Pj5hBEHYVjRbo3w2pdyC_EIsmk3dvrj70Lq7r8K_E1nCS5GwiP-2Y7uaKvqU5Hk9mX_LMLahLAF3Svyz7Fwt2d1PlHc1AxplOzk3kihHySohLXfTTnz6lDEKDtE3uzTFmzdY/s1600/IMG_0815.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVA6xLS2-Pj5hBEHYVjRbo3w2pdyC_EIsmk3dvrj70Lq7r8K_E1nCS5GwiP-2Y7uaKvqU5Hk9mX_LMLahLAF3Svyz7Fwt2d1PlHc1AxplOzk3kihHySohLXfTTnz6lDEKDtE3uzTFmzdY/s400/IMG_0815.JPG" width="300" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjDej5qOE9lOfplkDXkDvoWX7rp5EZpMcI1bxKLr5frEsjU730jN-LZAuePrmwB_VjD2uDb-w512gV0Bs5UVuempSUTvkISnSQ7k289wM0aNx5y7ISvbKWvZqIKlxYbxLkdU-SvIv09QLM/s1600/IMG_0816.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjDej5qOE9lOfplkDXkDvoWX7rp5EZpMcI1bxKLr5frEsjU730jN-LZAuePrmwB_VjD2uDb-w512gV0Bs5UVuempSUTvkISnSQ7k289wM0aNx5y7ISvbKWvZqIKlxYbxLkdU-SvIv09QLM/s400/IMG_0816.JPG" width="300" /></a></div>
Gotta have the first person camera to capture all the fire coming out of this thing, so I cobbled together a mount from PVC and pipe clamps. This is the only piece on this whole build that is just kludged together without much care. Its a non critical part, and I wanted it to be easily customizable.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeH1pZmpG-EbeFRg_1rJaNiC13_ulEh7Wq-kZ4-sIKqi7HEWLrX0PTrkSdjhyaBgR59btErBaCxK1uNlLt_DlyXBJv_Txswb046UexCxz6EjvVgjQpYqTlPJnH9zAF24JoPBG3fduCvWM/s1600/IMG_0817.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeH1pZmpG-EbeFRg_1rJaNiC13_ulEh7Wq-kZ4-sIKqi7HEWLrX0PTrkSdjhyaBgR59btErBaCxK1uNlLt_DlyXBJv_Txswb046UexCxz6EjvVgjQpYqTlPJnH9zAF24JoPBG3fduCvWM/s400/IMG_0817.JPG" width="300" /></a></div>
Here's what the buisness end looks like. I think it looks kinda threatening personally :)<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxvmbPwBeOBkFg2RUHqCfXRAecvpg9izbsuZ7OJJgmba81zwOePbCFDN-ut9ZBE4N4WkAoolFqhvrM7PWVGq5zWZGC7qOkAJmEEUs6itksztFVYu5g2ql_7UB2k8iVVVKoseci2t1k7Bk/s1600/IMG_0818.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxvmbPwBeOBkFg2RUHqCfXRAecvpg9izbsuZ7OJJgmba81zwOePbCFDN-ut9ZBE4N4WkAoolFqhvrM7PWVGq5zWZGC7qOkAJmEEUs6itksztFVYu5g2ql_7UB2k8iVVVKoseci2t1k7Bk/s400/IMG_0818.JPG" width="400" /></a></div>
And for the final picture of the day, here it is as it is sitting right now. The other two modifications that you can see are the shorter line running from the tank to the gun handle and the shorter propellant tank assembly. <br />
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When I was first designing and building my flamethrower I wasn't totally sure how long of a hose I would need between the backpack tank and the gun handle, and because I didn't want to come up short, I bought and used a 6' hose. Which did indeed work, as you will be able to see from the videos of it in action, but it was not optimal. First of all, I am a tall guy and the hose hung down and almost dragged on the ground, not very practical. But more importantly, the longer the hose the more line pressure loss you have due to friction and other things. I'm sure if you asked an engineer, they would be able to tell you exactly why. I just know that as short as possible is better. So having some practical experence under my belt, I settled on a length of 3' for my new hose. Its just about the perfect mix of length for manuverability, without being too long and having too much line loss. Also hangs to a much more reasonable height above the ground. The second mod also has to do with simplification and line loss. The paintball remote line was quite long, and had the quick disconnect fitting on it. I already covered line loss, and the QD was a little finnicky. Needed to be presurized and then wiggled around to seal properly. And having to hose clamp the tank to the fuel tank and undo it every time you needed to change tanks got old fast. All those problems were solved by just buying a paintball ASA (the thing you screw onto the top of a paintball tank and just connecting it directly to the CGA346 adapter that threads into the valve. Less line loss, no finnicky o rings, and easy bottle changes.<br />
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To end this post off, here are the videos that I took while pressure testing once all the upgrades had been made. First one is pressuring it up and describing the modifications, second is from the first person camera showing the upgraded spray pattern. Enjoy!<br />
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<br />fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-40444685598320002562016-06-20T18:44:00.000-07:002016-06-20T18:57:29.123-07:00Wheelchair hacking part 2 (running under RC now)<div class="separator" style="clear: both; text-align: left;">
Got home from work yesterday and promptly drove the wheelchair over beside the kitchen table and loaded it up with my laptop, oscilloscope, couple multimeters, notepad and all the other random stuff you need for a bit of hardware hacking:</div>
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I don't have any proper oscilloscope probes, so I just cut a BNC patch cable in half and then soldered a couple twisted pairs from a CAT5 cable to the ends. I'm not using them for any really sensitive low voltage applications or high frequency stuff so no sheilding and whatnot is totally fine.<br />
In my previous research I found a couple of sites that have the pinout and some other data on either the joystick that came with the wheelchair, so figuring out which wires are what was pretty easy. (Ill post a list of the links I found helpful in my wanderings at the end of this post) I hooked one of the two outputs from both the X and Y axes to the oscilloscope and flicked her on:<br />
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Everything seemed in order, it was working just as expected. I also realized that my oscilloscope can use the two channels as an X/Y plotter. Here is a video of what that looks like. Note that the joystick has a circular range of motion:<br />
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With that done, I turned my attention to the Arduino. Got some really basic code up and running that takes the signals from an RC transmitter and maps them to values that the DACs accept and then sends it to them. The DACs output a voltage in proportion to the transmitter's joystick. Heres a video of that one. Note that the Tx has a square range of motion. I wasn't sure how that was going to affect everything but it turned out fine:<br />
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Now that I knew the signals that I needed to emulate, I just spent a bit of time with the oscilloscope, one channel hooked up to the original joystick and one channel hooked up to the DAC's output, making sure I ended up always inside the original joystick's envelope for the X and Y axes. It would have been nice to have a 4 channel scope while I was doing that, but I made do. Once I had a good match from the RC stick to the original joystick, I shut everything off, disconnected the direction wires from the joystick (Left it with power and the center signal because the controller board needs to see that.) and connected them to the DACs.<br />
I didn't want to just put both inputs from each channel together on the same output from the DAC because I assumed (and read elsewhere on the net) that the control board has some logic that detects that and locks out. So all I did was connect the DAC output to the anode of two diodes, and one channel to each of the cathode. Aside from the voltage drop across the diodes that made me run thru the whole process of connecting the scope up and matching the signals again, this has been working perfectly and only requires me use one DAC for steering and one for throttle.<br />
Here it is all connected and spread out on the table:<br />
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And transfered over to the top of the chair:<br />
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Because I didn't want over a hundred pounds of metal and plastic putting a hole in my house from going haywire, I gave it a quick test with the clutches disengaged on the chair:</div>
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That went so well I engaged the clutches and drove it around the kitchen a little:<br />
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But wheelchairs, and this whole project, were designed to be driven outside not inside! So I drove it down the sidewalk to the local park (by now it was past midnight, so the lighting was not so great, fortunately the park has some streetlamps in the parking lot.) and put it thru its paces:<br />
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Once I got back home I just started cleaning the wiring up a bit. I routed the joystick connector outside the joystick case, made a little cover for the hole out of some sheet metal and hot glued in all in place. Hot glue is great cause its pretty strong and is waterproof. So once I got the control box screwed back together, it regained its water resistant status:<br />
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Tidied the wiring sitting on the top of the wheelchair up a bit:</div>
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And heres a closeup of the electronics that make it run. The UNO clone provides power is connected over I2C to the two DACs on the right side of the breadboard. Those provide the voltage out, which is fed over the brown and white twisted pair to the other side of the board, thru the diodes and to the wheelchair control box. The ribbon cable out the bottom goes to the wheelchair box and the wires coming out the top go to the joystick.<br />
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Since I got it all working and controlled by an RC transmitter, the next logical thing to do was tie down strap my snowboard onto the top of the chair and go for a rip around the neighbourhood.<br />
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I got more than one strange look but I had a lot of fun. Anyways thats all Ive got for now, next up is building a failsafe/joystick isolation board for a bit of safety and allowing me to seperate the added electronics from the original wheelchair electronics.<br />
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PS:<br />
Realized after I published this post I said I would post all the useful links that I have found. Well here they are:<br />
<a href="http://reverseengineering.stackexchange.com/questions/11067/how-to-get-x-and-y-position-from-joystick">This one to a Stackexchange page asking pretty well what I want to know</a><br />
<a href="http://www.wheelchairdriver.com/board/viewtopic.php?f=2&t=2603">This 2 page forum post that the Stackexchange post gets its info from</a><br />
<a href="http://www.instructables.com/id/Psycho-Scooter-Scramble/?ALLSTEPS">This interesting instructables post</a><br />
<a href="http://support.pgdt.com/Servicing-Instructions/VR2/VR2-Replacement-of-Joystick.aspx">This page from the manufacter of the joystick that shows you how to enter calibration mode</a><br />
<a href="https://www.sparkfun.com/products/12918">Product page for the DACs that I am using</a><br />
<a href="https://learn.adafruit.com/mcp4725-12-bit-dac-tutorial">And last but not least Adafruit's awesome tutorial with library for the DACs</a><br />
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One last thing. Here is a copy and paste of the code I have running right now on the arduino:<br />
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#include <Wire.h><br />
#include <Adafruit_MCP4725.h><br />
<br />
Adafruit_MCP4725 steeringout;<br />
Adafruit_MCP4725 speedout;<br />
<br />
int speedin;<br />
int steeringin;<br />
<br />
void setup(void)<br />
{<br />
pinMode(5, INPUT);<br />
pinMode(6, INPUT);<br />
<br />
Serial.begin(9600);<br />
<br />
steeringout.begin(0x62);<br />
speedout.begin(0x63);<br />
}<br />
<br />
void loop(void)<br />
{<br />
steeringin = pulseIn(5, HIGH, 25000);<br />
speedin = pulseIn(6, HIGH, 25000);<br />
<br />
speedin = map(speedin,1035,1875,1310,3522);<br />
steeringin = map(steeringin,1035,1875,1310,3522);<br />
<br />
Serial.print(speedin);<br />
Serial.print(" ");<br />
Serial.println(steeringin);<br />
<br />
speedout.setVoltage(speedin, false);<br />
steeringout.setVoltage(steeringin, false);<br />
<br />
delay(1);<br />
}<br />
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Thats it, thats all folks!fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-25285070332571269032016-06-16T20:57:00.002-07:002016-06-16T20:57:53.769-07:00Hacking a power wheelchair<div class="separator" style="clear: both; text-align: left;">
Awhile back I purchased a Quickie Explore electric wheelchair with the intentions of turning it into a large outdoor robot platform to continue my explorations with GPS and mounting such things as a paintball marker to it. An electric wheelchair is the next logical progression in the series of outdoor robots that I have started and never ultimately finished. I keep getting near completion of at least a basic functioning base when something better comes along. Anyways, I think and hope that along with Raven (Which I have made some more progress on, or had anyways until the rear differential stripped out on the savage flux RC car base) this will be the final outdoor robot for a while. I have always dreamed of having an electric wheelchair with which to hack into an outdoor base because they are close to an ideal large outdoor base. Lots of battery life and payload capacity, like LOTS, very good motor controls built in, and very stable. I consider this and Raven to be parallel developments, as while they are both outdoor bots, they have quite different properties, raven being reletively small and very very quick and this one being much larger, slower and longer lasting. Perhaps in the future when I become a better programmer I will be able to make use of Raven's speed, but for now slow and stable are very good traits to have in an outdoor robot. Anyways, I had anticipated using the stock motor controller and joystick assembly, but taking the actual joystick out and emulating it with an arduino and some additional electronics. Before I opened it up, I thought that the joystick would use a couple of potentiometers as most joysticks do, and which I would be able to replace with a couple of <a href="https://www.sparkfun.com/products/10613">Digital Potentiometers</a> that sparkfun sells.</div>
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Well when I opened it up that was not the case at all. There was a large circuit board holding a bunch of electronics and an 8 wire ribbon cable attaching to a very scary looking joystick. After doing a bunch of research on the net, I found out that in fact it is a sealed unit that contains not 2 but 4 hall effect sensors which it uses as outputs. Each direction (X and Y) have two hall effect sensors that output similar but not identical signals as a sort of failsafe. The controller looks for the signals to be slightly different within a tollerance but mostly the same and if either signal strays too much from its partner, the controller detects this change and locks out. So in order to emulate the joystick's outputs I need true analogue voltage fed into the control board. I am not sure yet, time and some testing will tell, but I may be able to feed the same voltage into both of the pins that the board expects to see slightly varrying signals from the two hall effect sensors and recalibrate the control board to think that is normal. If I can then I can get away with only needing two analogue signals instead of the 4 the joystick currently feeds the board. Time shall tell. </div>
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Enough of the boring postulating and onto the pictures of what I have got going right now!</div>
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Last night I was able to work some on the practical hacking of the joystick assembly. </div>
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I cut the ribbon connector connnecting the joystick to the control board and soldered some 0.1" male pin headers to both the control board and joystick ends so that I can easily attach them to a breadboard and mess around with the connections and listen in with an osciliscope or multimeter to whats going on over the various connections. I was able to actually find a pinout (I think anyways) of the joystick online so I should be able to see whats going with relitive ease. Note hot glue as a very effective strain relief.<br />
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That done, I started working on the arduino/emulation electronics. Because a true analogue voltage and not a messy PWM quazi-analogue signal like the arduino's analogueOut function provides is needed to emulate the joystick, I chose the mcp4725 12 bit I2C DAC to provide that. I tried to find a 4 channel digital to analogue converter that I could use with the Arduino to no avail. The mcp4725 is an I2C device, but unfortunately it only comes in assignable to two I2C addresses. (Not entirely true, Adafruit makes a breakout board that has the addresses of 0x62 and 0x63 and sparkfun makes a breakout board that has addresses of 0x60 and 0x61 but I am cheap and impaitent. So I just got some clones of the sparkfun boards from some Chinese vendor on amazon.com, meaning that I will only end up with two possible assignable addresses). So if it proves that I do need to provide all 4 signals to the control board instead of just two, I will end up having to use two arduinos, each driving two mcp4725s to get all of the signals.<br />
I downloaded Adafruit's mcp4725 library and uploaded the triangle wave demo sketch to the arduino, connected up a mcp4725 and.... Nothing. I had changed the I2C address to 0x60 in the example because the amazon clones of the breakout boards were clones of the sparkfun boards so I foolishly thought that they would have the same addresses as the sparkfun ones. A friend of mine with more paitence than me read a bit of the datasheet and rewrote the program to initialize 6 mcp4725 on all six (apparently the maker of the chip actually allows 6 addresses depending on the version, tho only 4 are commonly availible. Sparkfun's and Adafruit's) availible addresses and give a constant voltage instead of a triangle wave, and this time we had some action! Turns out the clones I have have the adafruit addresses of 0x62 and 0x63!<br />
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To change the address on the breakout boards, you have to cut two jumper wires on the underside of the board and change one solder blob on the topside. I did that and wired up the two boards to the arduino, wired the outputs to two multimeters (Thats where those bare wires sticking up go when everything is all connected up) and uploaded this sketch to the arduino:<br />
<br />
#include <Wire.h><br />
#include <Adafruit_MCP4725.h><br />
<br />
Adafruit_MCP4725 dac62;<br />
Adafruit_MCP4725 dac63;<br />
<br />
void setup(void)<br />
{<br />
dac62.begin(0x62);<br />
dac63.begin(0x63);<br />
}<br />
<br />
void loop(void)<br />
{<br />
dac62.setVoltage(4095, false);<br />
dac63.setVoltage(1024, false);<br />
}<br />
<br />
Thats about as simple as it gets. The values are based on a formula you can find in the datasheet, but pretty well 4095 is 100% of the supply voltage and 1024 is about 25%. In this case it spat out 4.96v and 1.24v. Pretty freaking decent. Unfortunately I don't have any pictures or video of that part happening, but it all worked out perfectly. Thats as far as that part has gotten, it will probably stay in about that state on the breadboard until some more testing with the wheelchair is complete.<br />
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Speaking of wheelchair testing, before I got too carried away, I wanted to make sure all my solder connections were all good and some extra length of wire between the joystick and controller was going to be OK so I got everything all together and hooked up on the wheelchair and tried it all out.<br />
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The batteries are just sitting behind the battery bay because they are a huge pain to get in there and I wasn't planning on driving it around anyways.<br />
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Controller plugged into the actual motor control box at the front (You can't really see it that well in the pic. Normally it is covered by a nice protective metal cover as well.<br />
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And the hacked up joystick controller sitting on top connected to the joystick by a nice ribbon cable I had sitting around.<br />
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Annnnnnddddd heres the video of the quick test I did to make sure everything is still running tip top. </div>
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<iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/vi/nXCm-uBuwi4/0.jpg" src="https://www.youtube.com/embed/nXCm-uBuwi4?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
Next steps are to drive it over to where I can set up my computer, osciliscope, a couple multimeters and all the arduino stuff and get sniffing on what I need to emulate and see if the joystick controller will take the signals from my mcp4725s like they are the joystick. Hopefully it all works!fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com3tag:blogger.com,1999:blog-6189366554396015478.post-23062335406828382472016-03-04T18:03:00.000-08:002016-03-04T18:03:27.584-08:00The building of a flamethrower.Over the past year or so, I have been ocasionally working on a homebuilt liquid fuel flamethrower, just on and off, whenever I had some spare time or money to buy parts. Today I finally finished it enough to do my first testing on the sucker. No flames yet, just some underwhelming water spraying, but enough to prove that its all coming together.<br />
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Thats the beastie there. Built from an aluminum frame backpack, an old SCBA tank, a paintball tank and accompanying remote line, and some misc. high pressure fittings and hose. I haven't got the propane torch on the wand in this picture cause I've yet to finish the final mount for it, but its together enough to finally allow me to do a proper pressure test on the whole thing. </div>
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Safety has got to come first when you are building something like this. 800PSI, Gasoline, mistakes and sloppy work do not mix very well. So I am taking it slowly, making sure things are done right. Anyways, I got it done enough for a pressure test. I filled the fuel tank with water, screwed on the valve assembly at the top, laid it down on my concrete front steps and ran the remote line to the air tank inside:</div>
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When I actually run gasoline or diesel in it I will be using a 20Oz CO2 paintball tank as propellant to ensure an inert environment in the fuel tank and all the lines right up to the nozzle. Both fuels will not burn in a liquid form, only the vapours burn, but the CO2 ensures that there is absolutely positively no chance of a flashback into the tank. Safety first. But CO2 is expensive and I am just using water for the moment, so I am safe to use my 48cu.in. paintball HPA tank instead. The scuba tank I used to fill my HPA tank didn't have very much pressure in it, so I only managed to squeeze in about 1000 of a possible 3000PSI:</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4AdgD0h9ivZVHTleedRD6pvzB-giaaHIsUasET7AqShv5zlJCbeyKTOE_IWLR6DUUIV81-mS98S42TvSWUZr35njiTsI2SBr_26w1yv8jySGDhLrDEUjloqfHAkDOyxAd98kpS_GyoA8/s1600/IMG_0334.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi4AdgD0h9ivZVHTleedRD6pvzB-giaaHIsUasET7AqShv5zlJCbeyKTOE_IWLR6DUUIV81-mS98S42TvSWUZr35njiTsI2SBr_26w1yv8jySGDhLrDEUjloqfHAkDOyxAd98kpS_GyoA8/s400/IMG_0334.JPG" width="400" /></a></div>
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Doesn't really matter for the pressure test because it has a regulator that takes it down to 800PSI anyways, I just did not have the volume to keep the tank at that much pressure for very long. </div>
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With that all set up, I ask that you please direct your attention to the video below. Exceedingly poorly filmed iPhone first person flamethrower pressure testing:</div>
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<br /><iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/s_vi/1pfqpBqsCMQ/default.jpg?sqp=COjj6LYF&rs=AOn4CLBuXOE70hX82esIINGIHSeUlxG1YQ" src="https://www.youtube.com/embed/1pfqpBqsCMQ?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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As you can see from that video, (sorry for the shakeyness and the general poor filming quality, I'm a tinkerer, not a film student) my remote line disconnect had not seated all of the way and was leaking a bit. I fixed that up and tried again:</div>
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<br /><iframe width="320" height="266" class="YOUTUBE-iframe-video" data-thumbnail-src="https://i.ytimg.com/s_vi/BgS8bytQiFw/default.jpg?sqp=CKD76LYF&rs=AOn4CLBtH97HSZWymShcJF4L2Axemfbw1g" src="https://www.youtube.com/embed/BgS8bytQiFw?feature=player_embedded" frameborder="0" allowfullscreen></iframe></div>
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Mostly leak free. Most importantly, the fitting that I tapped and O-Ring'd into the bottom of the tank held beautifully, but there were two of the NPT connections I had not tightened up enough and had very small leaks. This would be exactly why you always test with water first.</div>
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The JIC union right off of the bottom of the tank sealed up nicely, it was just the two joints at the coupler. I have since taken them apart, re-doped them and re-tightened them to a tighter fit. At the time of writing I have not re pressured them back up to see if they hold now. </div>
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Couple of things to note about the video, first, again sorry for the terrible quality, trying to film and do stuff at the same time is rather difficult with no proper equipment. And second note the totally underwhelming spray coming out of the gun. This is do to a couple of things. Most notably that the propellant tank was as I mentioned only filled to 1000PSI. So after the very first shot, which I didn't even get in the camera lens, the pressure in the whole system dropped to probably drastically less than 500PSI. When a CO2 or properly filled HPA tank is used, it should keep the system at a fairly constant 800PSI throughout the entire full to empty cycle of the fuel tank. And second, I did not have any sort of restriction at the tip of the wand, it was shooting at as full of a volume as a 1/4" pipe could muster. If I were to reduce the size of the opening from which it sprays, it would shoot less volume but much farther. </div>
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<span id="goog_2008030003"></span><span id="goog_2008030004"></span><a href="https://www.blogger.com/"></a>Those things said, if you take a look at <a href="https://www.youtube.com/watch?v=VMmXninm7Ew">this video</a> from this guy: (absolutely no relation or endorsement or anything besides me finding his video on youtube and thinking it was reletively neat) you will see that his stock flamethrower shoots water about the same distance, and flames much, much further. So even with it as it is, it should shoot some decent flame. </div>
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Anyways, thats it for now, be safe out there and have fun!</div>
fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-30186374047446947672015-05-24T15:33:00.001-07:002015-05-24T15:33:06.660-07:00I'm still alive :)Yeah, so I haven't posted anything here since December of last year, and seeing as its nearing the end of May, I just thought on the off chance that anyone actually reads my blog, you don't have to put it on your list of totally abandoned blogs. I'm still alive and still building robots and things that go boom, however at a much much slower pace than I was before. 2015 has been a bit of a crazy year for me, I turned 19, the place that I was renting sold and the new owner decided they didn't want to rent to me anymore, so I bought small house, and had to move into it, which means that even tho I moved in more than a month ago, most of my stuff and all of my robot making things are still packed away in boxes in a shed. Plus the fact that I work full time, and help out at my church, well, it all sucks your time away quite quickly, and suddenly you don't have time to do much but try to survive :) Anyways, Im still here, and I will get back to posting more regularly when I get a tiny bit more time in my life.<br />
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Tschüss!fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-53926976457582913262014-12-11T21:27:00.000-08:002014-12-11T21:27:25.895-08:00Yeah I can't stick to one project.I have project commitment issues. But hey, whatever, they all need to get done someday! Anyway, with my Camaro sitting outside just waiting and calling to me, I had to caniblize it. Brought it inside and started taking stuff off. I also brought PK, or what was left of him after moving, upstairs and ripped the parts off him too. Ended up with this collection:<br />
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The motors are a little different, or rather the gearboxes are. The new ones have different mounting flanges, and the pass thru shaft hole size is slightly smaller in the new ones. But the gearing looks identical and the motors themselves also do. And big bonus, the crazy wavy hexagon that power wheels toys use to transfer power is identical on both, so I can use all four wheels from the Camaro. Also, the snazzy mags just pop out leaving me with some plainer, but honestly more my style wheels. As snazzy as those are, I think I am going to be leaving them behind when I go forward. Ill keep them around and if I ever need to enter a paintball packing autonomus car into a car show or something, I can add them for the extra bling. In addition to being slightly larger diamiter, the other car's axle was also longer than this one. but that is no problem, I shall just cut it down and tap some nice threads on the end like the original car had. Here is a super quick mock up I did to get a generall idea of size:<br />
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You can clearly see the legnth difference between the two in this pic tho the angle of the camera does cancel some of it out.<br />
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But thats not everything to do with PK yet! I never made a post about this but a few months back I visited princess auto in Kelowna and found these beauties really cheap in the surplus section:<br />
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The are HUGE open contact DPDT relays. As I said, got them very cheap, but unfortunately they have a 24v coil. I anticipated being able to drive them at 12v no problem, but I just tried them on a 12v battery and no dice. No problem, I will just make a voltage doubler. It will make things slightly more complicated but not overmuch.<br />
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Rebeginning.fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-55656874389903769102014-12-09T20:46:00.001-08:002014-12-09T21:25:58.355-08:00Goodies :)Over the weekend (yes I am a little late, but life is busy) of the sixth and seventh, I was down in Spokane and I went to the wonderful sketchy terrible store that I love to find great deals at so much. Jeez I love that store. They actually took the piles of junk that are my favourite part out of the normal stores and moved them to one store exclusively full of total junk, and its like paradise in there. Anyway, so I bought a couple things, from least to most impressive here they are:<br />
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Two more night vision security cameras, cause I just can't get enough of those :) <br />
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No particular plans for these two little suckers, just put them in stock for next time I need a security camera. Perhaps if I ever find the need I will set them up with a computer and a video capture card and a huge hard drive for some monitoring of my place. <br />
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Two of these LED lightstrips. They are 5 meters long with 27 segments of 6 LEDs each.<br />
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They came with the little box you can see in the top right hand corner, its designed to recieve a signal from an IR remote control to control the pattern, but neither of them came with the remote. Anyway, I googled around for a while and found that I could simply control them with my arduino using Adafruit's awesome NeoPixel library. <br />
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There is my ugly hacked together setup to see if it actually worked. Which it did :) here is a video of both of them running, the one in the spool is the stock demo mode that it defualts to when its on, and the unrolled one is the one being run by the arduino.<br />
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The only thing to note is that on the spooled one, there appears to be a connection break about half way thru, but if you flex it a certain way, it still works as is evident in the video. Because of the way you can chain these things its no big deal, Ill just cut that one segment out and resolder them back together, or use them as smaller strips. I plan on adding these to The Window for a nice light show as well as orientation, as suggested by Duane Degn on <a href="http://www.letsmakerobots.com/robot/project/window">The Window's Letsmakerobots page</a>.<br />
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And lastly I picked myself up a Chevy Camaro...<br />
<img alt="" class="fbPhotoImage img" height="360" id="fbPhotoImage" src="https://fbcdn-sphotos-f-a.akamaihd.net/hphotos-ak-xfa1/v/t1.0-9/s720x720/10404448_794514170613680_1006036557757689140_n.jpg?oh=739cc47252d0d4e40afbdd3e1e2ac8ca&oe=55153860&__gda__=1427184306_eee796a355c084fbc4e1b6c9a6f44b78" width="640" /><br />
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Ok not really:<br />
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A couple of posts back I mentioned I have trouble sticking with one project, and its true. I really do. Anyway, I picked this bad boy up to help totally revamp Project Killzone. Pretty much ever since I picked up the two motors that are in PK now I have wished to have two more so that I could make a nice sturdy 4 wheel drive chassis instead of the 2 wheel drive one I have now. Anyway, the oppertuinity came along finally to get two more at a resonable price and also, I think (think, have not tested this yet) I can use all four wheels that came with the car, cause they don't appear to need the adapter couplings that the other wheels needed.<br />
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As you can see, it uses identical wheels on the front and back, excellent for me :) and if the motors are the same then I should be able to just slip the new wheels onto the old motors. If that works, PK will end up looking signifigantly different.<br />
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The best part of this all? All of the above was purchased for a grand total of 25 US dollars. Not too freaking shabby considering that is the price for ONE meter of <a href="https://www.sparkfun.com/products/12027">LED strip</a> from sparkfun.com and if you want 5 meters? <a href="https://www.sparkfun.com/products/12028">$120</a>. Granted, they have more LEDs and each individual one is addresable, not every 6, but still. Quite the deal I'd say.<br />
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Well thats really all for now, once I get something done on my projects, ill post the proof :) Happy Hacking!fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-61743919760097968602014-12-08T21:58:00.001-08:002014-12-08T21:58:19.772-08:00A sorely overdue update on The WindowSo after I posted about my future plans of mounting a paintball gun to The Window, and making a refrence to the pan/tilt turret I had mounted on it, I realized that I never actually got around to posting that update. All of this was done way back near April sometime, but I never did anything with the pictures. Anyway, to the good stuff.<br />
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Before I get into the nitty gritties, here are a few shots of the whole thing from different angles:<br />
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As you can see, I added some landing gear to get it up off the ground in order to mount the gimbal below. The landing gear is made from some more 1/2" PVC and 4 1/2" to 3/4" tees that had half of the the T part cut away so they could be screwed to the edges. It was straightforward with two things to note, the dimond shape is due to sloppy work on my part not getting the landing gear tees all mounted at the same angle and thus needing different legnths of pipe to make it sit on all four legs, and the string running around the landing gear is due to the frame flexing a little without the support. When there was no string running around the perimiter, due to the angle, the legs would flex out, causing the 4 center arms to flex and be under stress when it was sitting on the ground and potentially breaking them on a hard landing. My solution was to run a string around all of the legs and so keep them from being able to bend outwards. The string itself is one strand from a DCCB 1800 YG Dacron rope used to Aero tow gliders. There was some short ends left over from making glider tow ropes and I snagged some, one strand from the rope is more than strong enough and has absolutely no stretch at all making it perfect for this. <br />
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Using my usual ultra high quality manufacturing methods of zip ties, hot glue, and this time a little aluminum, I cobbled this sucker together:<br />
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I originally thought that my ATC mini would output video as it recorded, but it turned out that the video out jack was just to be used for watching the footage afterwards, useless for what I wanted. So after struggling around for a little while and burning out at least one board-level camera I ended up with the ugly-as-all-get-out (whats new eh? It fits with the rest of the build) camera/solder/hot glue job you see there. I think the camera came out of one of those "Spy Gear" kid's toy remote controlled cars with a camera mounted on it that my friend disassembled. I soldered a piece of coax from an old RCA cable to the video out and ground and just used a single strand of hook up wire twisted around the outside for power. It is mounted to a piece of aluminum which also mounts the ATC mini and is connected to the tilt servo, bent so that the two cameras are both looking in the same direction. As for the servos, as you can see they are zip tied to each other and attached to a tee with half cut off of it and the center high point filed away for mounting on the octocopter. The tee is simply hose clamped to the frame for easy removal. In these pictures you can also see the video antenna which is the large PCB with a copper square on it. This brings me to this picture:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6iEIc1saifNyPkAIXfq9qLQadKADyjmD8R-6eRSjyG1yv-6ZNN6pBtinrO1AupVbf2TJZ7mUmnH0h_33Ojz9PM61uSxhyaXEtlIWbtgj0ekiS5BsUQpXzB831wcZ_zfkbwcFYFijmrpY/s1600/HPIM5095.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6iEIc1saifNyPkAIXfq9qLQadKADyjmD8R-6eRSjyG1yv-6ZNN6pBtinrO1AupVbf2TJZ7mUmnH0h_33Ojz9PM61uSxhyaXEtlIWbtgj0ekiS5BsUQpXzB831wcZ_zfkbwcFYFijmrpY/s1600/HPIM5095.JPG" height="480" width="640" /></a></div>
You can see in the upper middle of the picture a small proto circuit board, and mounted on it is the module from a 2.4GHz video sender. I purchased the video sender kit a long time ago and used it in various robots and such, and a little while ago I removed the module from it. Basically inside of video senders are small little boxes with pins sticking out that are the actual transmitter and are much much smaller than the whole unit. Mine was about an inch squared and like a quarter of an inch thick. The only snag is that it required a regulated 3.3v supply which I did not have on hand. So I ordered a tiny little module that had everything included and simply in and out leads. I soldered everything onto the proto board and added a few jacks for connections. That explains why the antenna is that plate directonal antenna, it was the stock one from the video sender. You can also see in the picture the RX for the pan/tilt gimbal, just a fairly standard 3 channel 27Mhz hobby set of which this is the TX:<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjMZhbxS2mrkAIw2VLAQ5gYATssFvr5OHLHdww5PeptUe9xplVsM_oorKb0DhK9MQvjhRsM4omm_2BVIV-4MYBSjDEZ_YOnFCMPYz1872xRNjoYIAUMwC7bvjUiCXRAVD0k0FslLqno-3U/s1600/HPIM5102.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjMZhbxS2mrkAIw2VLAQ5gYATssFvr5OHLHdww5PeptUe9xplVsM_oorKb0DhK9MQvjhRsM4omm_2BVIV-4MYBSjDEZ_YOnFCMPYz1872xRNjoYIAUMwC7bvjUiCXRAVD0k0FslLqno-3U/s1600/HPIM5102.JPG" height="300" width="400" /></a></div>
That is about all there is to say about the octocopter itself, but I have one other acessory that I would like to talk about before I go. The idea was for me to fly the octo while someone else has the gimbal controller and a screen showing the video. Well in the intrest of portibility, I decided to make a DIY headset for the cameraperson:<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjQHfxH7i8k_PztWcjwL0N9ywFYXVJofQZVpuzr_kkTXk2oP_xGzxSSmKSktawkKDqU_icq4aDkMUD2Rp00QjpnPOIq7iNErAnxT3oy8WRNr8ns1BEJM-HF7jzcrc_SvFbcvWf7R_QDVmg/s1600/HPIM5100.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjQHfxH7i8k_PztWcjwL0N9ywFYXVJofQZVpuzr_kkTXk2oP_xGzxSSmKSktawkKDqU_icq4aDkMUD2Rp00QjpnPOIq7iNErAnxT3oy8WRNr8ns1BEJM-HF7jzcrc_SvFbcvWf7R_QDVmg/s1600/HPIM5100.JPG" height="300" width="400" /></a></div>
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Go ahead and laugh, I admit it looks totally stupid, but hey it works :) its reasonably straightforward, viewfinder hacked out of one of those huge old camcorders, hooked up to a circuit board to regulate the voltage to it and have some nice video connectors, 2 cell LIPO battery and the video reciever all strapped to a baseball cap. Yeah it looks totally stupid, but it was fun to build and it does indeed work. The trickiest part of the whole build was getting the viewfinder positioned correctly in front of the person's eye. I wanted a handsfree solution and this was the best I could come up with with what I had. I think that actually a cowboy hat would be ideal but this is all I had. I played around for a long time trying to get something that would mount on the cap, be reasonably comfortable, and have the viewfinder positioned reasonably well, and that is what ended up working best. Its just a piece of scrap aluminum screwed to the brim in such a way that the bottom is about in line with the top of ones eye, so the viewfinder is in line. There isn't much else to say about that I think.<br />
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All ready to fly:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiffIvi4AflLnXOuti9pzKYuCDq5jGXJ1I9Dk6QwIV9e74hKQRRPSKLPDFByWbtMGyUdBDNEKmxR3_fYBSicYhhfcGnHUgwYR94igjzkaSEIRbjN5A7d8inwJkp7zHD3VWZ2PbzvXLLZ0M/s1600/HPIM5103.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiffIvi4AflLnXOuti9pzKYuCDq5jGXJ1I9Dk6QwIV9e74hKQRRPSKLPDFByWbtMGyUdBDNEKmxR3_fYBSicYhhfcGnHUgwYR94igjzkaSEIRbjN5A7d8inwJkp7zHD3VWZ2PbzvXLLZ0M/s1600/HPIM5103.JPG" height="480" width="640" /></a></div>
Thats the last picture I promise :) Thats what it looked like with everything needed for a filming outing. The only problem was that the 2.4Ghz signal from my octocopter TX caused huge interference in the video signal back to the base station, making it almost impossible to see what you were filming. But the proof of concept worked decently, it just needed better equiptment. Anyway since then I have disasembled the video part of this thing, and I am working on my paintball gun mount as mentioned in the last window post.<br />
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So thats all for tonight, Happy Hacking!fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-9143862075776673012014-12-08T19:25:00.006-08:002014-12-08T19:26:31.066-08:00Cause i just cant stick to one project...<div dir="ltr">
So I have been working on Raven recently. You know this.
But it is December, in Canada. And you know, its hard to test a UGV when
there is two feet of snow on the ground. However, I do have a UAV that I
have not worked on much since the last post about it. In fact I haven't
so much as changed one thing until last night. So I figured it would be
good to give it some love too. If you read my previous posts on the
window, you know that my entire purpose of building an octocopter with
huge payload capacity was to eventually mount a paintball gun onto it.
Heh. I have begun that task. First up was stripping off that pan/tilt
camera system. For nemourous reasons, I now have a gopro instead of my
cheap ATC mini, the video was blocky due to 2.4 GHz radio interference
from the windows TX, the system was not the greatest anyway. And I need
that space for my gun mount. So anyway, besides the gun, in the meantime
I picked up one of those wireless back up cameras for your car really
cheap. It may or may not cause and pick up interference like the old
system did, but I gotta try it out. I'll be giving that a try for my
FPV, along with a gopro to record the antics. Armament wise, I am again
using my POS spyder victor, cause, you know, I'm too cheap to get a
better gun, and this one works, kinda... Anyway, couple 1/2" PVC tees,
zip ties, and hose clamps later and I've got a decent gun mount. I'll be
mounting the air/CO2 bottle in a similar way. At the moment, I have
only gotten so far as a mock up, but this is something like what it will
look like.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEibyoMFnz9Q2uMaZzRjAFWXuCHP14sL2WE-RsMoO2lcxgdPhyphenhyphen4IHpTHKTurM3JhLCHZBQbKUfIO1GFDh_2Dtq7j-FZvnQyMbLCv2EAzrmbqsn1K0QtJTXh4WIirOSmA5y1jRegB0uruTo4/s1600/IMG_20141204_202810.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEibyoMFnz9Q2uMaZzRjAFWXuCHP14sL2WE-RsMoO2lcxgdPhyphenhyphen4IHpTHKTurM3JhLCHZBQbKUfIO1GFDh_2Dtq7j-FZvnQyMbLCv2EAzrmbqsn1K0QtJTXh4WIirOSmA5y1jRegB0uruTo4/s1600/IMG_20141204_202810.jpg" height="360" width="640" /></a></div>
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<br /></div>
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The mounting tees need to be modified a bit, the
bottle will be slung below the copter too, and I need to mount the
trigger servo yet still, but that's a decent idea of what it should look
like, minus legs. </div>
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<br /></div>
<div dir="ltr">
Anyway that's all I got for now, but I'll update as I get more progress. </div>
<div dir="ltr">
<br /></div>
<div dir="ltr">
Heh. Weaponized drones. Homemade weaponized drones. How I
love hardware hacking. Have a wonderful day folks, and if you follow in
my footsteps, be safe and never point this at any living thing or
property not your own. <span id="goog_1260238988"></span><span id="goog_1260238989"></span></div>
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi97Phjt2p4yi3rTtaSJ9c-PXB0_Cw2YTPg22n2_3-GwsOFJmyZa6t9HmzqHxZ_dDiaCVCC3t9OJr8uPJ3LXWf6DWyL68Z69Ec56Zp0qjF7HIVylAXhw905yMMbvQI0VuhyDqB9isnwMj8/s1600/IMG_20141204_202810.jpg" style="margin-left: 1em; margin-right: 1em;"> </a>fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-21114705938342184932014-11-22T02:09:00.003-08:002014-11-22T02:09:53.935-08:00All cleaned up :)As I mentioned I would do in the last post, I got Raven's wiring all cleaned up. It actually looks more like spagetti in the pictures than what it was before, but it is much tidier and easy to trace and see in real life. <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgO0UeiA02wER5mhxPvLiyDVcseuuFTsuEmAOBdmbtb2B9eL_vfpU3ZBe8NffG6gqtKV69GGvQzI6R5oIB11445ccIzo6fuvT4xHzIvMeqKVpdaXcImUcoXUYtLEgbfIsxyce55Wzkj2BI/s1600/DSCF0080.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgO0UeiA02wER5mhxPvLiyDVcseuuFTsuEmAOBdmbtb2B9eL_vfpU3ZBe8NffG6gqtKV69GGvQzI6R5oIB11445ccIzo6fuvT4xHzIvMeqKVpdaXcImUcoXUYtLEgbfIsxyce55Wzkj2BI/s1600/DSCF0080.JPG" height="480" width="640" /></a></div>
I mounted the lipo semi-permenately (or at least much more than it was before) to the underside of the plate, sandwhiched between the GPS antenna wire and the roll cage support on the truck. In addition there is some other new stuff on the underside of the brain plate since last update besides the wiring. I added my HC-05 module to the breadboard and wired it up to serial2 on the mega (dang its nice having more than one serial port), haven't detailed the wiring yet when I had taken this picture, but it will be soon. I also added a AA battery for the GPS, it uses it to save the settings, as well as some data about the last fix to make getting a fix faster when it powers back up. I simply soldered some hookup wire to both ends of the battery and taped it to the front there. Also new is the power switch, from a model airplane for the radio reciever. It makes a nice easy switch to interface as it has predone 0.1" standard servo headers and a nice mounting solution. And lastly, I mounted my reset switch nice and accessably. Here is a closer up of the electronics:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjR50p_pgUs7CABHOddJdLp6EwGkVS1z3q0VXiUdkqv-i8kTdnl2PZwgGHle4dqr_X4IYUR7UcQliA8A6ygX-pRKxI6dNowfLv2o17AmET7lWD3A71P2TlrnQMDqu0dLnsI6dzlHNHbGPQ/s1600/DSCF0082.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjR50p_pgUs7CABHOddJdLp6EwGkVS1z3q0VXiUdkqv-i8kTdnl2PZwgGHle4dqr_X4IYUR7UcQliA8A6ygX-pRKxI6dNowfLv2o17AmET7lWD3A71P2TlrnQMDqu0dLnsI6dzlHNHbGPQ/s1600/DSCF0082.JPG" height="480" width="640" /></a></div>
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To the right is all power and reset circuit wiring, middle is the steering servo connector, and on the right side, GPS, Compass, Bluetooth module and status LED wiring. I currently have the status LED wired to the Mega, with a little rutine in the code that looks for GPS validity and lights the LED if the data is valid, and does not if it is not. I originally had that hooked up to the GPS's fix output but I was having some real problems with the GPS's indicator, sometimes it worked sometimes it didn't. So now I ignore it and watch the light instead.<br />
This is what the top of the brain plate looks like now:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmAvmsVC000S3tIxn1IqeidoaSe29d_FPj01bagQMjASPt4KxC2RihKWlTtne3hRalyhKVKGLjbxJ3I4NGZ0i_uZubqJGtomevcO2dBkXH1jNqBG5kNAmGDok2IfZyqXBuShQhMrVzbsU/s1600/DSCF0076.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmAvmsVC000S3tIxn1IqeidoaSe29d_FPj01bagQMjASPt4KxC2RihKWlTtne3hRalyhKVKGLjbxJ3I4NGZ0i_uZubqJGtomevcO2dBkXH1jNqBG5kNAmGDok2IfZyqXBuShQhMrVzbsU/s1600/DSCF0076.JPG" height="480" width="640" /></a></div>
A little cleaner with no LiPo awkwardly strapped to the top and wires coming out everywhere. Here is a closer shot of the front where all the interesting stuff is:<br />
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Note power switch on the left, status LED in the middle (back of the compass tower) and reset switch on the right all mounted nicely.<br />
<br />
Ive been wondering and plotting how to get some telemitry data back from Raven while he is out on a run for troubleshooting and just interst's sake, but I was stumped for a little while. I don't even own an LCD screen and have little desire for one, my nRF24L01 modules are still wayyy too confusing, one day I will sit down and learn how to use them but not today, and unfortunately my SD card shield does not have assignable pins, so it will only work on an UNO (I have since ordered a microSD reader module from ebay for integration into Raven at some point just to log the lat and long and have a datafile I can plot on google earth) But then I remembered I have a HC-05. Perfect! coupled with either my laptop plus a bluetooth dongle or one of my phones plus an android terminal emulator, I have super easy telemitry data being sent to a nice screen :)<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOHrW5G2qI7WLCucpe89LfztTYQPDCmjXiA0n8GGoFlvclM3p-SFwnmqZkr9g7udXpWeAAQ8I7thDTWcVXDgyh2h-EUCdwW5k2QTU0OGnbds5v2m65NIUrJVodU0GaRgYssSg4oapjmb4/s1600/DSCF0086.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOHrW5G2qI7WLCucpe89LfztTYQPDCmjXiA0n8GGoFlvclM3p-SFwnmqZkr9g7udXpWeAAQ8I7thDTWcVXDgyh2h-EUCdwW5k2QTU0OGnbds5v2m65NIUrJVodU0GaRgYssSg4oapjmb4/s1600/DSCF0086.JPG" height="480" width="640" /></a></div>
BAM! Its beautiful. Now I can see what he is thinking while he is out running about. <br />
<br />
Alright, that's it for hardware at the moment, but I have also conqoured some software. Last post I mentioned that I needed to make the steering code better, and also get the GPS spitting out at 5Hz (I can make it spit out at up to 10Hz, but Adafruit says it only gets position updates every 5Hz anyway) Well those two turned out to be a little interconnected. First I actually did something totally unrelated to those. I was looking at ways to clean my code up a bit and I realized that I had the whole loop inside the if(serial1.avalible) statement, effectively making it so that it would only update the steering angle every time the GPS spat out a sentance, about once per second. So I remidied that and everything started functioning much better. Much much better. Amazing how things work out well when you actually program right. Next up was the rediscovering of the "Mini GPS" tool. Pretty much its something that connects to the GPS module via serial and lets you change a bunch of settings. And its linked in the Adafruit manual. Well I feel stupid :P Anyway, got it up and running, changed my GPS to spit out at 5Hz, only GPGLL (previously I had GPRMC which tells you time, lattitude, longitude, heading, speed, and date. I may use those additional ones at a later date, but for now the only ones I am using are the lat and long. GPGLL gives you only lat, long, and time.) and at 38400 baud. And coupled with that, was the battery backup. Because without the battery everytime power is disconnected to the GPS, it looses its configuration settings and returns to defualt. Awesome! GPS is spitting out what I want, my code is running smooth, and so I moved onto getting the proportional steering. Map() is amazing, I love it :) Here is the result:<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/f9IMo48qMMU?feature=player_embedded' frameborder='0'></iframe></div>
Ahh, so much smoother and nicer. Aside from those changes, I did a little optimization, moved the servo pin and LED pin up so as to keep the interrupt pins free, changed to bluetooth debugging, and made some GPGLL related changes. Here is the code Raven is running at the moment (also note the rudimentary distance to waypoint estimation code. Needs work but kinda functions.):<br />
<br />
#include <Servo.h> //Steering servo setup <br />Servo steer;<br /><br />#include "Wire.h" //Crap for the compass<br />#include "I2Cdev.h"<br />#include "HMC5883L.h"<br />HMC5883L mag;<br />int16_t mx, my, mz;<br /><br />float latdest = 49.0819104; // Initial destionation waypoint coordiantes. <br />float londest = -117.5801223;<br />//=== Variables used===<br />float heading = 0; // HMC5883L heading<br />float tim = 0; // GPS time<br />float lat = 0; // GPS lattituede<br />float lon = 0; // GPS longitude<br />int latd = 0; // GPS lattitude degrees<br />float latm = 0; // GPS lattitude decimal minutes<br />int lond = 0; // GPS longitude degrees<br />float lonm = 0; // GPS longitude decimal minutes<br />float deltay = 0; // Difference in degrees between next waypoint and current location, Y direction<br />float deltax = 0; // Difference in degrees between next waypoint and current location, X direction<br />float deltaym = 0; // Difference in meters between next waypoint and current location, Y direction<br />float deltaxm = 0; // Difference in meters between next waypoint and current location, X direction<br />double dist = 0; // Distance in meters between next waypoint and current location<br />float hdgrad = 0; // Computed required heading in radians<br />float hdgdeg = 0; // Computed required heading in degrees<br />int err = 0; // Computed difference between current heading and required heading<br />int sv = 1500; // Servo steering value in microseconds <br /><br />void setup()<br />{<br /> Wire.begin(); // More compass crap<br /> mag.initialize();<br /> steer.attach(5,1000,2000); // Steering servo crap<br /> pinMode(4, OUTPUT); // status LED<br /> steer.writeMicroseconds(1500); <br /> Serial2.begin(9600); // Debugging over Bluetooth using an HC-05<br /> Serial1.begin(38400); // Ultimate GPS is connected to serial 1. I used the tool "Mini GPS" to set the output to 5Hz, GPGLL only, 38400 Baud for this program.<br />}<br /><br />void loop()<br />{<br /> while(latd != 49) // This little chunck of code just forces the program into a loop here until valid GPS data is obtained. (Calculated using the lattitude I live at)<br /> { // A feedback LED is used to tell if the GPS has a fix at a glance. The lattitude is also spit out over the serial port when the GPS does not have a fix.<br /> if (Serial1.available() > 49)<br /> {<br /> Serial1.find("$GPGLL");<br /> lat = Serial1.parseFloat();<br /> latd= lat/100;<br /> }<br /> //Failsafe code if the GPS looses fix can be inserted here<br /> digitalWrite(4,LOW);<br /> Serial2.println(lat, DEC);<br /> delay(10);<br /> }<br /> digitalWrite(4,HIGH);<br /> <br /> mag.getHeading(&mx, &my, &mz); // Reading the compass.<br /> heading = atan2(my, mx);<br /> if(heading < 0)<br /> heading += 2 * M_PI;<br /> heading = heading * 180/M_PI;<br /> <br /> if (Serial1.available() > 49) // Parsing the GPS data<br /> {<br /> Serial1.find("$GPGLL");<br /> lat = Serial1.parseFloat();<br /> lon = Serial1.parseFloat();<br /> tim = Serial1.parseFloat();<br /> latd= lat/100; // Converting the Degrees, decimal minutes given by the GPS into decimal degrees.<br /> latm = lat - latd*100;<br /> latm = latm/60;<br /> lat = latd + latm; <br /> lond= lon/100;<br /> lonm = lon - lond*100;<br /> lonm = lonm/60;<br /> lon = lond + lonm;<br /> lon = 0 - lon;<br /> }<br /> Serial2.print(lat, DEC); // Debugging the lat and long<br /> Serial2.print(" ");<br /> Serial2.print(lon, DEC);<br /> Serial2.print(" ");<br /> <br /> deltay = latdest - lat; // Determining the change in degrees between next waypoint and current location<br /> deltax = londest - lon;<br /> <br /> deltaym = deltay*111211.71; // Calculating the distance to next waypoint and debugging. (Calculated based on the lattitude I live on)(needs improvment)<br /> deltaym = abs(deltaym);<br /> deltaxm = deltax*73019.76;<br /> dist = sqrt(sq(deltaym)+sq(deltaxm));<br /> Serial2.print(dist, DEC);<br /> Serial2.print(" ");<br /> <br /> hdgrad = atan2(deltax,deltay); // Calculating heading required to travel to next waypoint.<br /> hdgdeg = hdgrad*180/3.14;<br /> if (hdgdeg < 0)<br /> hdgdeg = hdgdeg + 360;<br /> <br /> err = heading - hdgdeg; // Calculating error between current heading and required heading and debugging.<br /> err = ((((err) % 360) + 540) % 360) - 180;<br /> Serial2.print(err, DEC);<br /> Serial2.print(" ");<br /><br /> err = err/2; // Driving the steering servo baised on the err value. Reasonably proportional.<br /> sv = map(err,-90,90,1040,1960);<br /> Serial2.print(sv, DEC);<br /> Serial2.print(" ");<br /> steer.writeMicroseconds(sv);<br /> <br /> Serial2.println(); // Houskeeping. Making sure the serial data is formatted nicely for the phone screen, and the delay to keep the code from running too fast.<br /> delay(5);<br />}<br />
<br />
Well, no nice body shot today cause really nothing has changed on the outside, but perhaps that will change soon. Its late November in Canada, and there is a couple inches of snow on the ground now, so I doubt Ill be running many test runs outside until spring, electronics+snow=not great. Which means that perhaps soon Ill be mounting some sonars on the top and gettting the obstical avoidance code running. Which also means giving raven control of his own throttle... Warning, rogue robot ahead. I may also mount my MPU6060 and see about using the acceleromiter and gyro for tilt compensation and smoothing of the compass data. Gotta keep looking ahead :) Thats all for now tho folks.fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-75839129217361294542014-11-16T20:03:00.000-08:002014-11-16T20:03:11.949-08:00Raven Progress<div style="text-align: left;">
I have accomplished a fair amount on Raven these last few days. First off, I wired everything up, at the moment a little messily (thats next on the list, clean up the wiring) but functional.</div>
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The
battery awkwardly zip tied to the top of the brain plate is a 3 cell
lipo temporarily there just to power the control electronics and nothing
else, even the steering servo is powered by the truck's batteries. I also added a yet to be mounted switch connected to the arduino's reset circut to make reseting it a little easier. As mentioned I will be cleaning up the wiring as I am not happy with it's current state, but thats a little later. In anticipation of having even more wiring added and being uncertain about the breadboard's ability to hold everything together I also ordered a prototyping shield from ebay which has not yet arrived.</div>
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I (gasp!) also worked on the software and actually got him up and running. This is a video of my very first test run. The space around my house is severly limited and coupled with the GPS's 30 foot accuracy, well it didn't go stellar. But thats OK! I include the footage because not everything always goes right.</div>
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With that success/failure/whatever_at_least_its_driving behind me I input the coordinates of the very center of a park close to me, curtisy of google maps:</div>
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And went for a drive over there. Here he is all ready to go:</div>
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The code that I am running (which will be attached at the end of the post) is, well frankly, very poorly coded and ultra rudimentary, as I have said before I am a terrible programmer (and not like those people who post and say that they are bad programmers, but their code is great, no, I am a genuinely terrible programmer. But you only get better by doing :)) But it runs and functions and I understand it all which is important. I am not using any proportionality on the steering, just a couple if commands to see if the error between the current heading and the required heading is greater than ten degrees (or in the last video 20) out in either direction and if so turning the wheels full left or right accordingly. At the moment I also have not given Raven control of his throttle either, to avoid a rogue robot running around out of hand:</div>
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Yeah, not a good thing :) anyway, for now I just use the transmitter to control the throttle while Raven does the steering. Here is a video showing raven's steering response to being turned around:</div>
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And here is a rather long video of him driving around trying to get to the middle of the park from various places around the perimiter. Of course some quirks, but on the whole he seemed to get there pretty well, considering the code he is running. The general area of the orbits seemed to be right in the middle of the park like google maps suggested. The video immediately below this one is the same run but shot from the gopro mounted on the front of Raven (It fell off near the end) Both videos are long, but if you watch the first little, you can see some low speed navigation, and if you go more to the end, I start running it at a higher speed.</div>
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This is a much shorter video that I shot after those two were taken and I changed the cut off values to 20 degrees away from the goal instead of 10. As you can see it performs much more poorly, due to that change but also because I was running this test at mostly higher speed. It was fun and interesting to see the change.<br />
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This is the code currently running on the Mega. If you would like to use it, in part or whole, feel free.<br />
<br />
#include <Servo.h> //Steering servo setup <br />
Servo steer;<br />
<br />
#include "Wire.h" //Crap for the compass<br />
#include "I2Cdev.h"<br />
#include "HMC5883L.h"<br />
HMC5883L mag;<br />
int16_t mx, my, mz;<br />
<br />
float latdest = 49.1037056; // Initial destionation waypoint coordiantes. <br />
float londest = -117.5573271;<br />
<br />
float heading = 0; // HMC5883L heading<br />
float tim = 0; // GPS time<br />
float lat = 0; // GPS lattituede<br />
float lon = 0; // GPS longitude<br />
float spd = 0; // GPS speed<br />
float hdg = 0; // GPS heading<br />
int latd = 0; // GPS lattitude degrees<br />
float latm = 0; // GPS lattitude decimal minutes<br />
int lond = 0; // GPS longitude degrees<br />
float lonm = 0; // GPS longitude decimal minutes<br />
float deltay = 0; // Difference in degrees between next waypoint and current location, Y direction<br />
float deltax = 0; // Difference in degrees between next waypoint and current location, X direction<br />
float deltaym = 0; // Difference in meters between next waypoint and current location, Y direction<br />
float deltaxm = 0; // Difference in meters between next waypoint and current location, X direction<br />
double dist = 0; // Distance in meters between next waypoint and current location<br />
float hdgrad = 0; // Computed required heading in radians<br />
float hdgdeg = 0; // Computed required heading in degrees<br />
int err = 0; // Computed difference between current heading and required heading<br />
int sv = 1500; // Servo steering value in microseconds <br />
<br />
void setup()<br />
{<br />
Wire.begin(); //More compass crap<br />
mag.initialize();<br />
steer.attach(3,1000,2000); //Steering servo crap<br />
steer.writeMicroseconds(1500); <br />
Serial.begin(115200); // Debugging over USB<br />
Serial1.begin(9600); // Ultimate GPS is connected to serial 1<br />
}<br />
<br />
void loop()<br />
{<br />
mag.getHeading(&mx, &my, &mz); // Reading the compass.<br />
heading = atan2(my, mx);<br />
if(heading < 0)<br />
heading += 2 * M_PI;<br />
heading = heading * 180/M_PI;<br />
<br />
if (Serial1.available() > 62) // Parsing and debugging the GPS data<br />
{<br />
Serial1.find("$GPRMC");<br />
tim = Serial1.parseFloat();<br />
lat = Serial1.parseFloat();<br />
lon = Serial1.parseFloat();<br />
spd = Serial1.parseFloat();<br />
hdg = Serial1.parseFloat();<br />
/*Serial.print("Time: ");<br />
Serial.print(tim, DEC);<br />
Serial.print(" Lat: ");<br />
Serial.print(lat, DEC);<br />
Serial.print(" Long: ");<br />
Serial.print(lon, DEC);<br />
Serial.print(" Speed: ");<br />
Serial.print(spd, DEC);<br />
Serial.print(" Heading: ");<br />
Serial.println(hdg, DEC);*/<br />
<br />
latd= lat/100; // Converting the Degrees, decimal minutes given by the GPS into decimal degrees and also debugging over the serial port.<br />
latm = lat - latd*100;<br />
latm = latm/60;<br />
lat = latd + latm; <br />
lond= lon/100;<br />
lonm = lon - lond*100;<br />
lonm = lonm/60;<br />
lon = lond + lonm;<br />
lon = 0 - lon;<br />
Serial.print(lat, DEC);<br />
Serial.print(" ");<br />
Serial.print(lon, DEC);<br />
Serial.print(" ");<br />
<br />
deltay = latdest - lat; // Determining the change in degrees between next waypoint and current location<br />
deltax = londest - lon;<br />
<br />
deltaym = deltay*111211.71; // Calculating the distance to next waypoint and debugging. (Calculated based on the lattitude I live on)(needs improvment)<br />
deltaym = abs(deltaym);<br />
deltaxm = deltax*73019.76;<br />
dist = sqrt(sq(deltaym)+sq(deltaxm));<br />
Serial.print(dist, DEC);<br />
Serial.print(" ");<br />
<br />
hdgrad = atan2(deltax,deltay); // Calculating heading required to travel to next waypoint and debugging it.<br />
hdgdeg = hdgrad*180/3.14;<br />
if (hdgdeg < 0)<br />
hdgdeg = hdgdeg + 360;<br />
Serial.print(hdgdeg, DEC);<br />
Serial.print(" ");<br />
Serial.print(heading, DEC);<br />
Serial.print("\t");<br />
<br />
err = heading - hdgdeg; // Calculating error between current heading and required heading and debugging.<br />
err = ((((err) % 360) + 540) % 360) - 180;<br />
Serial.print(err, DEC);<br />
Serial.print(" ");<br />
<br />
if(err > 10)<br />
{<br />
Serial.print("Left ");<br />
steer.writeMicroseconds(1960);<br />
}<br />
else if(err < -10)<br />
{<br />
Serial.print("right ");<br />
steer.writeMicroseconds(1040);<br />
}<br />
else<br />
{<br />
Serial.print("center ");<br />
steer.writeMicroseconds(1500);<br />
}<br />
Serial.println();<br />
<br />
/*sv = map(err,-180,180,1040,1960);<br />
Serial.print(sv, DEC);<br />
Serial.print(" ");<br />
steer.writeMicroseconds(sv);*/<br />
}<br />
delay(10);<br />
}<br />
<br />
And thats the progress to date, next on my list of things to do is clean up the wiring, make it all tidy and not the rats nest that it is now, plus mount the reset switch. Thats for hardware, on the software side, there is a couple things. I need to make the steering code a little better. I will probably start with just a greater block of steering commands that set the steering less extreme when the error angle is less extreme, and then perhaps get some proportionality going using the map() function. Another big thing that needs to happen is I need to find a way to get my GPS to start spitting out at 5Hz. I don't really want to use Adafruit's library unless absoulutely necessary, but I need to figure that out. Nav side, I will get a distance calculating equation working that determines how far from the waypoint Raven is and trigger it to start driving towards the next waypoint when he reaches a certain distance away. I will worry about sensing and avoiding objects and tilt compensating the compass along with filtering the GPS data better at a later date. But for now not bad! He is driving towards waypoints by himself! Thats further than I have ever gotten with GPS guided vehicles before!</div>
fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-24190859550215057192014-11-04T22:09:00.001-08:002014-11-04T22:09:40.048-08:00RavenAn update of yesterday's post, I have gotten some more work done on my GPS guided vehicle, which I have also decided to name Raven. I got those mounting holes drilled up for the hardware plate that I mentioned yesterday, and also mounted some electronics to it as well. That was a little interesting, I don't have any circuit board standoffs so I had to get creative. As is usually the case, I ended up building the required parts from modified lego, in this case some small 1x1 stud round "light" pieces. with a hole drilled thru the center. Here are two modified pieces next two unmodified ones:<br />
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And them on the screws and Mega:<br />
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In addition to the Mega, I also screwed down my ultimate GPS (with more lego spacers) and zip tied on a breadboard for connections. I would have screwed the breadboard on too but the mounting holes were in an inconvinent place. I also mounted my external GPS antenna and it's excessively long connector to the mounting plate:<br />
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A closeup of the Mega and the lego standoffs. They actually work very very well:<br />
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And the Ultimate GPS mount:<br />
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Because the GPS only has two mounting screws, I used a 1x4 and a 2x4 lego plate and drilled in the topmost stud of each so that the plate would support the GPS along it's whole length. I drilled two holes and zip tied the other end as well for security. Lastly, I made a hightened mount for the compass module to keep it far away from the motor and related interference. Of course also out of lego.<br />
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Note the GPS antenna on the left side of the picture. It is magnetic and the plate is steel of some sort, so it needs no mounting other than what it has built in. Here is a picture of it mounted on the Flux:<br />
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Admittedly, it looks a little goofy in this picture, but it does look better in real life, and besides, I am building a GPS guided vehicle, not a show truck. And it kind of reminds me of the look of a lot of the vehicles that competed in the DARPA Grand Challenge. Form follows function in my opinion. Anyway, no more software progress, this was a hardware night, and thats all for now.fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-25913493506011468362014-11-03T22:27:00.000-08:002014-11-04T22:09:54.635-08:00Purpose built GPS guided vehicle beginnings. And also hello again :)Well, it has been a long while since I last posted. In the meantime, I have graduated, worked at a summer camp for the summer, finally got my driver's licence and a car, got a full time job in the HVAC&R trade, moved out from home into my own place, and generally been busy with life :) Due to all of that, I haven't got to work on any robots for quite a while but now I am back. Anyway onto the good stuff :)<br />
<br />
With some of the proceeds from the afforementioned job, I recently purchased this beast:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEirV3wn56dPbwUDO9bEsDLaY9-cd5ALu0gzAFB7zKSyd7GsMzn5-lXDxKXcy3zYIzPTqTf0F0ouZFHyZeJ_-E8uNgQTFedAuyuQW_PnQAerQjONuXpqMCpDZjn3DQYfFz263L91LzgXSNI/s1600/DSCF0026.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEirV3wn56dPbwUDO9bEsDLaY9-cd5ALu0gzAFB7zKSyd7GsMzn5-lXDxKXcy3zYIzPTqTf0F0ouZFHyZeJ_-E8uNgQTFedAuyuQW_PnQAerQjONuXpqMCpDZjn3DQYfFz263L91LzgXSNI/s1600/DSCF0026.JPG" height="480" width="640" /></a></div>
An HPI Savage Flux 2350. Decent little unit, runs on two 2s LiPo packs wired in series, upgraded with a 2.4 GHz radio, has enough power to do a backflip from a standstill, that kind of thing. Also handily a 4x4 which is exccelent at running over rough terrain. No longer am I bound by cheap RC cars that have no proportional steering and throttle! In preperation for turning the Flux into a GPS guided vehicle, I have elected to mount a metal plate to the four posts that the plastic shells normally mount on, reinforced with some attatchment to the center roll bar. Remember I said that I worked in the HVAC&R trade? Well this little chunk of metal is from a filter rack for a new furnace that we installed and didn't need, so I saved it from the scrap metal pile.<br />
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The black plastic piece is where the plate will mount on the truck. Their height can be adjusted in the mounts on the truck. I have not yet drilled the holes cause my drill is at work, but soon.<br />
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Lastly, I have worked on the software side a lot too, thats where I usually procrastonate, but Im getting the jump on this one and doing both at the same time. I broke out my Arduino Mega 2560 clone, Adafruit Ultimate GPS, and HMC5883L compass, wired them all up and started coding.<br />
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The compass is wired to the Mega`s I2C port, and the GPS is going to serial1. I have an external antenna wired to the GPS also, and is sitting on one of my windowsills for better reception. Currently I am using Jeff Rowberg`s EXCCELENT i2cdevlib <a href="https://github.com/jrowberg/i2cdevlib">library</a> for the compass but not adafruit`s library for the GPS. I am very unskilled at programming and I could not for the life of me understand what was going on in most of the sketches, and also found that it didn`t like to parse at 5 or 10 Hz which I really need. I like to be able to understand everything in my code so even if it is inefficent, I would rather find a way that I can understand. Last year around this time I had succuss parsing the data from the GPS using the new Serial.parseFloat command and I have just been using that because it seems to work very well, and I can understand it. Here is the code running on my Mega right now, if you would like to try it, it should compile correctly and run provided you have Jeff`s library installed. Drop me a line if it doesn`t and you would like to try.<br />
<br />
#include "Wire.h" //Crap for the compass<br />
#include "I2Cdev.h"<br />
#include "HMC5883L.h"<br />
HMC5883L mag;<br />
int16_t mx, my, mz;<br />
<br />
float latdest = 49.1020021; // Initial destionation waypoint coordiantes. <br />
float londest = -117.5518276;<br />
<br />
void setup()<br />
{<br />
Wire.begin(); //More compass crap<br />
mag.initialize();<br />
<br />
Serial.begin(115200); // Debugging over USB<br />
Serial1.begin(9600); // Ultimate GPS is connected to serial 1<br />
}<br />
<br />
void loop()<br />
{<br />
mag.getHeading(&mx, &my, &mz); // Reading and debugging the compass reading.<br />
/*Serial.print("mag:\t");<br />
Serial.print(mx); Serial.print("\t");<br />
Serial.print(my); Serial.print("\t");<br />
Serial.print(mz); Serial.print("\t");*/<br />
float heading = atan2(my, mx);<br />
if(heading < 0)<br />
heading += 2 * M_PI;<br />
heading = heading * 180/M_PI;<br />
/*Serial.print("heading:\t");<br />
Serial.println(heading);*/<br />
<br />
if (Serial1.available() > 62) // This little chunck of code just parses the GPS data and sends it to the USB port for debugging.<br />
{<br />
Serial1.find("$GPRMC");<br />
float tim = Serial1.parseFloat();<br />
float lat = Serial1.parseFloat();<br />
float lon = Serial1.parseFloat();<br />
float spd = Serial1.parseFloat();<br />
float hdg = Serial1.parseFloat();<br />
/*Serial.print("Time: ");<br />
Serial.print(tim, DEC);<br />
Serial.print(" Lat: ");<br />
Serial.print(lat, DEC);<br />
Serial.print(" Long: ");<br />
Serial.print(lon, DEC);<br />
Serial.print(" Speed: ");<br />
Serial.print(spd, DEC);<br />
Serial.print(" Heading: ");<br />
Serial.println(hdg, DEC);*/<br />
<br />
int latd= lat/100; // Converting the Degrees, decimal minutes given by the GPS into decimal degrees and also debugging over the serial port.<br />
float latm = lat - latd*100;<br />
latm = latm/60;<br />
lat = latd + latm; <br />
int lond= lon/100;<br />
float lonm = lon - lond*100;<br />
lonm = lonm/60;<br />
lon = lond + lonm;<br />
lon = 0 - lon;<br />
Serial.print(lat, DEC);<br />
Serial.print(" ");<br />
Serial.print(lon, DEC);<br />
Serial.print(" ");<br />
<br />
float deltay = latdest - lat; // Comparing current location to next waypoint and calculating heading needed to travel there. Also debugging it.<br />
float deltax = londest - lon;<br />
/*Serial.print(deltay, DEC);<br />
Serial.print(" ");<br />
Serial.print(deltax, DEC);<br />
Serial.print(" ");*/ <br />
float hdgrad = atan2(deltax,deltay);<br />
/*Serial.print(hdgrad, DEC);<br />
Serial.print(" ");*/<br />
float hdgdeg = hdgrad*180/3.14;<br />
/*Serial.print(hdgdeg, DEC);<br />
Serial.print(" ");*/<br />
if (hdgdeg < 0)<br />
hdgdeg = hdgdeg + 360;<br />
Serial.print(hdgdeg, DEC);<br />
Serial.print(" ");<br />
Serial.print(heading, DEC);<br />
Serial.print("\t");<br />
<br />
int err = heading - hdgdeg; // Calculating error between headings and debugging.<br />
err = ((((err) % 360) + 540) % 360) - 180;<br />
Serial.print(err, DEC);<br />
Serial.print(" ");<br />
<br />
if(err > 5)<br />
{<br />
Serial.print("Left ");<br />
}<br />
else if(err < -5)<br />
{<br />
Serial.print("right ");<br />
}<br />
else<br />
{<br />
Serial.print("center ");<br />
}<br />
<br />
Serial.println();<br />
}<br />
delay(1);<br />
}<br />
<br />
Up near the top are the latitude and longitude of the waypoint you want to go to. I use google maps to find my waypoints. (The waypoint set there is not where I live, by the way) Change those to whatever you like, and this will start spitting out your current latitude, longitude, heading you need to travel to get to your destinaion, current heading given by the compass, difference between the two, and weather you should turn left, right, or stay centered out of the serial port at 115200 baud. If you uncomment out all that other stuff, it will spit a bunch of other data from the intermediate steps too amongst other things. It seems to be running well, and at some point I need to mount my GPS and compass a little more securely and take the assembly with my laptop outside to pretend to be a GPS guided vehicle and see how it does more thouroghly. Anyway its a start! Ill post updates as I make progress.fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-36030040867654913532014-06-10T11:43:00.000-07:002014-06-10T12:13:10.513-07:00Lego Web BotI built this little guy a while ago and just havn't had a chance to post it yet. Its a rover built using Lego mindstorms that has a place for an iPod touch to be put inside, and that iPod touch connects to a web site hosted by my laptop when I want to run this thing, and another iPod, or phone or computer or whatever connects to another webpage served by the laptop that has an input page on it.<br />
<br />
The iPod in the robot is a 4th gen iPod touch with a <a href="http://shop.tinkerbrick.com/TinkerBrick-Case-iPod-Touch-White/dp/B008DJEN9O">tinkerbrick</a> case put on it (of course I have a lego case on my iPod :)) <br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjXw8kNewGFHq-sMV1dYsj6g2rHmpzGCskUbSAmiGCTvXbqAxB9sKev7NkooqY9GuzOHuLxfMJIIK6Pe3H080W4hn3I3Gt-7SXXqZ8NjT8SGuhhkCOs8SidDTHTu2KdDeLxHQmxVMsthgw/s1600/IMG_0100.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjXw8kNewGFHq-sMV1dYsj6g2rHmpzGCskUbSAmiGCTvXbqAxB9sKev7NkooqY9GuzOHuLxfMJIIK6Pe3H080W4hn3I3Gt-7SXXqZ8NjT8SGuhhkCOs8SidDTHTu2KdDeLxHQmxVMsthgw/s1600/IMG_0100.JPG" height="320" width="239" /></a></div>
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Here are a couple pictures of the rover, showing the general structure and how the iPod is mounted inside:<br />
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The rover uses a light sensor to react to the webpage that the iPod is connected to changing colour; you can see the light sensor sitting between the motors in this pic.<br />
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iPod placed inside:<br />
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And locked down. Note the camera is visible for future use :)<br />
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Both the lock button on the iPod and the USB port on the NXT brick are acessable from the top when the cover is lifted:<br />
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And the NXT brick's charge port is avalible from the bottom:<br />
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This is a video showing an early version of the webpages that are served by the computer<br />
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And the final version of the webpage:<br />
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Once you have watched those, it will be a bit easier to explain what goes on, so far as I know anyway. My friend actually built the webpage and javascript that runs this whole thing, but here is how I understand that it works: The laptop uses node.js to serve two webpages over the local network, one an input page that has buttons that can be clicked with a mouse, or a finger on a touchscreen, as well as the wasd and arrow keys on the keyboard, and uses those inputs *insert internet server black magic that I have no idea what goes on here* to change the colour of another webpage in real time. So I simply set up my laptop, start the node.js server from a command prompt, and direct the iPods to the IP address of the laptop, plus /input or /output for the respective pages and go to town. It feels magical to me. Anyway, here is the video that you really want to see, the rover actually moving. Note that my camera is getting really really old, and the delays that you see between touching the button on the iPod, the rover moving, and the sound are all due to the camera. In reality, the control is almost instantanious.<br />
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<br />fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-7933899944931434842014-04-16T18:15:00.000-07:002014-04-16T18:15:03.988-07:00The Window is finished! (Well, kinda)On Friday night of last week, I came home to a nice box of goodies sitting on the table, my KK2.1.5 board, some connectors and a small prop balance stand, and after working a little bit on Saturday, Sunday and Monday, I ended up with a functioning octocopter. Here are a couple of pictures of it complete:<br />
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Upside down:<br />
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A closeup of the center:<br />
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And a closeup of the camera mount:<br />
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I soldered up a big nasty wiring harness out of 14 gauge wire running up the arms to supply power to the two motors per arm, and some 12 gauge wire running to two XT60 connecters each to allow for a total of 4 batteries to be plugged in at any time. I mounted the electronics and batteries in an old Tupperware container which is screwed to the middle of the frame and which has a bunch of holes drilled thru it for running all the wires, and I mounted the KK board in its foam packaging as recommended by the hobbyking manual; this serves to protect the board, and isolate it from vibrations transfered thru the frame. I also had to extend the ESC wires using a bunch of extentions, splitters and ugly hacking, but it all connects up and works well. As you can see, at the moment I only have two batteries mounted, owing to the fact that I only have 3 un-bulgy LiPo batteries that I trust not to catch fire or explode, but there is room for two more in the container, I only need to drill some more holes for the wires to exit. To fly properly, this thing actually needs four 20C 2.2Ah batteries, not the two that I am currently running because each motor can draw a maximum of 18A of current, and I have 8 of them, roughly equaling 160A total current draw with all the motors maxed out, and right now with my two batteries, they can only deliver 2.2Ah times 20C, a little over 80A of current. Nonetheless, it still does fly, but the flight time is a disapointing 5 or so minutes, and I am not getting full lift (which I calculated to be 9kg with the motors running full out) While I am on the subject of lift and weight, the copter with no batteries weighs approximately 2.6kg, and four of the batteries I am using weigh together about .7kg, so once I get enough to actually fly with 4, the total weight of the octocopter will be less than 3.5kg, leaving quite a bit of payload capacity.<br />
The camera is an Oregon Scientific "ATC mini" action cam that I got on amazon.com for $40; I used its "tripod adapter"mount and threaded a 1/4in bolt thru some pipe and a tee with half cut off, hose clamped to the frame as a mount. Its simple and sturdy, but transfers a lot of vibration to the camera, and that makes the footage, well, less than perfect. Lastly, I used some red, green, and black electrical tape to indicate orientation, the black stripes is the back side, green is right (starboard) and red is left (port). I have not yet played with the PI values that are tuneable on the KK board, and so while usable, the octocopter is not quite as stable as it should be. Still, the fact that it flies pretty good with stock settings is pretty awesome. I expect it to get much more stable when I properly tweak the PI settings and perhaps the altitude dampining.<br />
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So on to what everyone really cares about, the videos of it in action! The first two are good if you get bored quickly, they are short and you see it reletavely close up and doing cool stuff. The middle two are if you want to see a bit of a longer video, and were actually taken first, but they get a little boring. The last two are also slightly boring, they are the footage shot by the ATC mini mounted on the octocopter. Enjoy.<br />
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So that is all for now, next up will be getting some more batteries so it can actually get some decent flight time, and an underslung pan/tilt bracket for the camera with some landing gear to keep it out of the ground, and video feed back to the ground as well as a seperate tx/rx combo for someone else to film while I fly, and perhaps after that, AN AIRBORNE PAINTBALL GUN! awwwww yeahhhhhhh. A project is never really finished, but at least the beginning is finished :)fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-42090628291921783662014-04-08T11:15:00.003-07:002014-04-08T11:15:39.522-07:00PKP (it's alive again)In my last post about PK, I had completed the motor controller, but had not yet tested it, so I started off by getting out my UNO and writing some test control code for the motor controller:<br />
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I got the code all written up, and gave it a test with two multimeters hooked up to the outputs (Unfortunately this video is really dark, it looked lighter when I was taking it)<br />
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And hooked it all up and gave it a try (The motor directions are reversed in this video, I fixed that shortly after)<br />
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The code running on the UNO during all of these videos is as follows:<br />
<br />
#define in1 3<br />#define pwm1 9<br />#define f1 5<br />#define b1 7<br />#define in2 4<br />#define pwm2 10<br />#define f2 6<br />#define b2 8<br />void setup()<br />{<br /> // Channel 1:<br /> pinMode(in1,INPUT);<br /> pinMode(pwm1,OUTPUT);<br /> pinMode(f1,OUTPUT);<br /> pinMode(b1,OUTPUT);<br /> // Channel 2:<br /> pinMode(in2,INPUT);<br /> pinMode(pwm2,OUTPUT);<br /> pinMode(f2,OUTPUT);<br /> pinMode(b2,OUTPUT);<br /> Serial.begin(9600);<br />}<br /><br />void loop()<br />{<br /> int p1=pulseIn(in1,HIGH);<br /> int p2=pulseIn(in2,HIGH);<br /> int p3=p1+p2-1500;<br /> int p4=p1-p2+1500;<br /> p1 = constrain(p3, 1200, 1800);<br /> p2 = constrain(p4, 1200, 1800);<br />//============= Channel 1 =============<br /> if(p1 > 1530)<br /> {<br /> int s1=map(p1, 1530, 1800, 255, 0);<br /> analogWrite(pwm1,s1);<br /> digitalWrite(b1,LOW);<br /> digitalWrite(f1,HIGH);<br /> }<br /> else if(p1 < 1470)<br /> {<br /> int s1=map(p1, 1470, 1200, 255, 0);<br /> analogWrite(pwm1,s1);<br /> digitalWrite(f1,LOW);<br /> digitalWrite(b1,HIGH);<br /> }<br /> else<br /> {<br /> analogWrite(pwm1,255);<br /> digitalWrite(b1,LOW);<br /> digitalWrite(f1,LOW);<br /> }<br />//============ Channel 2 ==============<br /> if(p2 > 1530)<br /> {<br /> int s2=map(p2, 1530, 1800, 255, 0);<br /> analogWrite(pwm2,s2);<br /> digitalWrite(b2,LOW);<br /> digitalWrite(f2,HIGH);<br /> }<br /> else if(p2 < 1470)<br /> {<br /> int s2=map(p2, 1470, 1200, 255, 0);<br /> analogWrite(pwm2,s2);<br /> digitalWrite(f2,LOW);<br /> digitalWrite(b2,HIGH);<br /> }<br /> else<br /> {<br /> analogWrite(pwm2,255);<br /> digitalWrite(b2,LOW);<br /> digitalWrite(f2,LOW);<br /> }<br />//====================================<br />delay(15);<br />}<br />
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For my actual outdoor run, in order to get some footage, I made up a quick little camera bracket for my transmitter, I call it the "forever alone camera mount"<br />
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<img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgaae-0Fp7R_iJ2Xr1OMldMvKPRUrpbx1cYyPGquXv0rLysnpkFFIJ6iulRkKyKIMIBVKwAN5YaqvPXJbGof32D1HOKzYKRpjuDic2c6pqKHflLqcHzEEOM4YTGC7Nr5XzPObYgLN6ANXw/s640/blogger-image--1868109583.jpg" /><br />
And I also made a little mount for my action cam to mount on PK in place of the paintball gun, since I do not yet have the necessary parts to make it opperational yet.<br />
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And with all that set up and working, I went out and drove it around my driveway for a bit (woohoo, my first legitimate run :)) The first video is me filming, and the second is from PK's camera<br />
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<object width="320" height="266" class="BLOGGER-youtube-video" classid="clsid:D27CDB6E-AE6D-11cf-96B8-444553540000" codebase="http://download.macromedia.com/pub/shockwave/cabs/flash/swflash.cab#version=6,0,40,0" data-thumbnail-src="https://i1.ytimg.com/vi/dl_gkN_nNcs/0.jpg"><param name="movie" value="https://www.youtube.com/v/dl_gkN_nNcs?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" /><param name="bgcolor" value="#FFFFFF" /><param name="allowFullScreen" value="true" /><embed width="320" height="266" src="https://www.youtube.com/v/dl_gkN_nNcs?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" type="application/x-shockwave-flash" allowfullscreen="true"></embed></object></div>
Well, it works. After I finished driving it around, I stuck it in an outdoor shead, here are a couple op pics of the various parts, and the whole thing as it sits:<br />
Motor controller: <br />
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Arduino:<br />
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The whole backside:<br />
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And from the front,<br />
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Top,<br />
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And side:<br />
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Anyway, it runs, which brings a smile to my face :) Onward and upward!!fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-45449636658404226672014-03-31T09:20:00.000-07:002014-03-31T09:20:11.376-07:00More WindowJust a little work done, but besides the electronics/battery box in the middle that I have yet to mount, this will probably be all the progress I make untill my KK2.1.5 board comes in the mail. Starting to look like an Octocopter...<br />
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fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-24333982288229461342014-03-30T14:36:00.003-07:002014-03-30T15:31:58.591-07:00PKP (trials and tribulations of building a homebuilt motor controller, Pt. 2)When I last posted about PK's motor controller, I had just let the magic smoke out of a MOSFET from a cheap cordless power drill, and ordered 8 <a href="https://www.sparkfun.com/products/10213">of these 60V 30A</a> MOSFETs from sparkfun. Well, a little while later I had a pretty little red box show up, and it was time to get started:<br />
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Also on hand for this project, I had the heatsink from an old computer (already cut in half in this picture)<br />
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And the ever faithful relay part of my motor controller<br />
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I set to work on the heatsink, planning on drilling and taping 6 holes into it, and cutting it in half so each channel would have three MOSFETs wired in parallel. Well, the heatsink had other plans, and I ended up snapping not one, but two drillbits in seperate holes on the heatsink. At this point I decided that rather than try my luck with the other half of the heatsink and probably end up with the same fate, I would cut off the portions of each heatsink that were ruined, tap the holes, and hope that two MOSFETs in parallel would be enough. Here is a picture of the heatsinks that I ended up with:<br />
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I then soldered up a board with 4 MOSFETs plus all of the necessary connecting wires:<br />
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And put it all together:<br />
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Copious quantities of heat sink compound was used, and I put a cut up chunk of circuit board between the heatsinks to prevent them from shorting out on one another (MOSFETs are different than voltage regulators and the like in that the tab on them is not connected to ground, it is connected to the output, so it is important to isolate the channels from each other) The whole assembly is held together by a couple of zip ties (I love my zip ties :) )<br />
I taped an unused computer fan to the top of the assembly, connected it to the relay block and...<br />
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Found out that the MOSFET driver board that I made for the last batch of MOSFETs was dead. So this is the second driver board I have built and then fried, and I am getting a little iritated, but I am this far in already, so I gotta keep going, so I broke out the multimeters, battery and electronics, and prototyped another one,<br />
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cut the disfunctional one off of the relay block driver,<br />
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and soldered up yet another board:<br />
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I (kinda, maybe) learned some lessons from the other two that I fried, and made this one completly removable using 0.1" male and female headers so that if it fries, I can swap in a new one without cutting any wires. I also doubled up on the transistors for each channel, hopefully giving a little bit of redundancy and added a header for the computer fan. I stuck it back on the motor controller and now have a fully functioning motor controller:<br />
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The male spade connector is for ground, power is supplied to one of the four relay terminals in the centre of the brick, the heat shrink tub covered two pin connector is both ground pins to be connected to the logic circuit, the four pins are for direction control, and the two left are speed control.<br />
Here is a picture of it mounted on PK:<br />
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The interesting thing about large robots such as PK is that, in contrast to smaller ones, it is not as important where things such as a motor controller or MCU is mounted, and it might change around a lot, so that is probably just a temporary resting place. That said, here are a couple more views of how PK is right now:<br />
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Due to not having a lot of time and the fact that my front yard is one big mud puddle while my back yard is still under a bunch of snow, I have not yet tried the motor controller on PK's motors yet, I just hope that the two MOSFETs per channel will stand up to the motors, cause if I let the magic smoke out of these, I might not have the motivation to rebuild the speed control part AGAIN, and I am a little on the broke side to buy a commercial speed controller. The paintball gun isn't quite operational yet, I still need to buy a right angle fitting for the remote line so that it will fit between the end of the gun and the main battery. That's all for now, I hope to try that motor controller out soon.<br />
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fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-45417747552843346372014-03-30T14:33:00.002-07:002014-03-30T14:33:54.202-07:00The Window progresses (just a little)I will start this off with a picture of the quadcopter that I bought, plus the 4 arms from my disasembled quad, both of which were then totally disasembled to be used in The Window:<br />
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I took those completly apart, and was left with this motley collection of 8 motor, ESC, and propeller combos:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgw5I-yYACDwQSitosNtwgVv-y2TOmweAB_PYYc8mwToJj1UVLw5RLevQN_PAfrleYoJ44-7QraXkvcl_G7VSMqvJFAQGj5bFPfBxscoC03IuHmLoU8C-ZxXzkhRosdTaamg2_bYhqgm44/s1600/HPIM5064.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgw5I-yYACDwQSitosNtwgVv-y2TOmweAB_PYYc8mwToJj1UVLw5RLevQN_PAfrleYoJ44-7QraXkvcl_G7VSMqvJFAQGj5bFPfBxscoC03IuHmLoU8C-ZxXzkhRosdTaamg2_bYhqgm44/s1600/HPIM5064.JPG" height="300" width="400" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgLzuysjvkx9eZ7bHQbqVPOlCGo2VuK9HphLbs-SzphxJ72lDTmbnStxUzbFUTbZER-8NyCUP0xle8YrTnjE1gcJ3vwn-PsMqYE_5-VRDCzV6DCwBz6yKtXhyRb_-brnFiqOYQ16X3Slcs/s1600/HPIM5065.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgLzuysjvkx9eZ7bHQbqVPOlCGo2VuK9HphLbs-SzphxJ72lDTmbnStxUzbFUTbZER-8NyCUP0xle8YrTnjE1gcJ3vwn-PsMqYE_5-VRDCzV6DCwBz6yKtXhyRb_-brnFiqOYQ16X3Slcs/s1600/HPIM5065.JPG" height="300" width="400" /></a></div>
The top (or in the second picture, right) four are from my friend's quad, and they have had their power wires extended, I think this might actually be handy for mounting the ESCs, and they all have 3.5mm male bullet connectors on the power leads. I plan to make a nice wiring harness using 12 gauge wire that will have 4 XT60 connectors for power (I only plan on using two batteries at a time, but its nice to have the capibility to use 4 if I would like), and wires running up the arms for power to each of the two ESCs on that arm. I wanted to have nice red and black wiring, but cheapness reared it's ugly head, and I ended up only getting 10 feet of white instead: <br />
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<img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiR0yv2DujqQEBvrokVQdl8iGAENoNV2qr6XwLh9GZmjSceIQMewwek-6EhKFILDIvl2PSCAU2VEIajIMi_1OMJlLIXbCI6PZFSOyjKP7P2SPUwyWwi3OW2qQe-gsh4boyLwOAp3sdZQw/s400/blogger-image--1300456322.jpg" width="300" /></div>
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I also mounted the motor mounts to the mounting tees, and gave the motors a test fit. The blades seem to have a good amount of clearence between one another, and the spacing seems quite good too, gotta love trigonometry.</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVPdCMHj2n16pxJgZzw6nj5fkTKoWF5u9Gk2IdDuWWFuD1-GFfl6D_dZvrLM9G2tdAlU55WBrWu8MdrJVLnCiVWNejISF9y_Io91eoRYaCwsFWTpbIsYEwq-ugBR7JNDZGVvMUy36VgyM/s1600/HPIM5066.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgVPdCMHj2n16pxJgZzw6nj5fkTKoWF5u9Gk2IdDuWWFuD1-GFfl6D_dZvrLM9G2tdAlU55WBrWu8MdrJVLnCiVWNejISF9y_Io91eoRYaCwsFWTpbIsYEwq-ugBR7JNDZGVvMUy36VgyM/s1600/HPIM5066.JPG" height="480" width="640" /></a></div>
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Here is a closeup of the motor mount:</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgEaBAZLvIauEPT6icBJsFaF33nWJHaU1HS4b8bFdqtYI8_i90rJG_FNLgoROD40pa6i6jwT31cXQ6VIbzXkX4j7OC_GFzt8idJFsd3l2hr20rDQ3A0-7iiyjSVEmeVkXT_7YG6xbARtJA/s1600/HPIM5067.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgEaBAZLvIauEPT6icBJsFaF33nWJHaU1HS4b8bFdqtYI8_i90rJG_FNLgoROD40pa6i6jwT31cXQ6VIbzXkX4j7OC_GFzt8idJFsd3l2hr20rDQ3A0-7iiyjSVEmeVkXT_7YG6xbARtJA/s1600/HPIM5067.JPG" height="300" width="400" /></a></div>
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The zip ties hold it in place quite securely. In this picture I have yet to clip the excess from the tie, but that shall happen. Three ties hold each motor in place.</div>
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That's all the progress to date, stay tuned for more at some point.</div>
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fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-49668912382913954912014-03-29T20:13:00.001-07:002014-03-30T13:44:05.250-07:00The Window (beginnings)Awhile back I made a simple and cheap quadcopter using parts mainly from <a href="http://hobbyking.com/hobbyking/store/index.asp">Hobbyking</a> and the local hardware store, you can read the letsmakerobots writeup I did on it <a href="http://letsmakerobots.com/node/35079">here</a>. A friend of mine also built a similer one using mostly the same parts (we placed one big order with twice the parts needed to make a quad). Fast forward a year or so, and my quadcopter is sitting in parts in a box on my shelf, victim of an upgrade that never quite got finished, and my friend's is also sitting unused on a top shelf. Seeing as the quads were both built with identical electronic parts, and his was also unused, I decided to see if I could buy his off of him, and put the two together to make a octocopter. He conceded, and I was now the proud owner of two disfunctonal quadcopters, plus some extra parts. Step one was to find a suitable octocopter control board that was in my price range and simple enough for me to be able to use. I looked around, and found Hobbyking's KK2.1.5, but more on that in another post. Step 2 was to build a frame, after the sucess I have had with a PVC frame, and the miserable failure I had with a storebought frame, there really wasn't any decision to make. Perhaps later in the future when I become a better multirotor pilot, less prone to crashing, I will invest in a different frame, but for now its 1/2" PVC for me :)<br />
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I spent a while with some graph paper, a ruler, and a pencil determining the best frame setup that I could come up with that used only standard pipe fittings,</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8eFAIgCEmLwij-bNgKlrdfdcfoOWpAz_8WpxJia3yufXMNpmIhyphenhyphenVXehHn7LMZONbtxYmtoqiivvDhnNkMAMEXlsv3YaPa23HukyMhq_P4Km1fYm9NtdmebEHIX93r3zlNdTFeVWf-lPE/s1600/blogger-image--368982583.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8eFAIgCEmLwij-bNgKlrdfdcfoOWpAz_8WpxJia3yufXMNpmIhyphenhyphenVXehHn7LMZONbtxYmtoqiivvDhnNkMAMEXlsv3YaPa23HukyMhq_P4Km1fYm9NtdmebEHIX93r3zlNdTFeVWf-lPE/s640/blogger-image--368982583.jpg" /></a> </div>
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and after I had sketched a bit I decided on this setup: </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgnLVk732UqwxGuhoKxVRF6tVOYruqUNiJmrLPotvB4VxKFI5Tobw4oFNimt2Qg01AmInykh5Mn95iGnaCTytcifiSmBzZGXa-fjD9eGKDignyAO5NwlCnL5EzPfcwWlWrDTkmCEaz8M5g/s1600/blogger-image--1522776745.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgnLVk732UqwxGuhoKxVRF6tVOYruqUNiJmrLPotvB4VxKFI5Tobw4oFNimt2Qg01AmInykh5Mn95iGnaCTytcifiSmBzZGXa-fjD9eGKDignyAO5NwlCnL5EzPfcwWlWrDTkmCEaz8M5g/s640/blogger-image--1522776745.jpg" width="480" /></a> </div>
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With two motors connected to each arm that radiated out of a + fitting, much like my previous quad. A little bit of trigonometry later and I had the legnths of pipe that I would need in order to space everything in a nice octaganal shape, and I also decided to stregnthen the frame a little by connecting the corners to each other, just like this:</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOThyphenhyphenmu00fmTtOoBq7L0dBL0kA2e-lJD0KUGmUenlM3XCBK0srJN0O0_lnH9q9wDyY3-AGYF0e2rzC_0gMUkwakxX1Exy0Co_lNEuacbgt2wypxDmQ_ORh4t9wmi5BHMr-o6KcfYBR5to/s1600/blogger-image-1845075233.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOThyphenhyphenmu00fmTtOoBq7L0dBL0kA2e-lJD0KUGmUenlM3XCBK0srJN0O0_lnH9q9wDyY3-AGYF0e2rzC_0gMUkwakxX1Exy0Co_lNEuacbgt2wypxDmQ_ORh4t9wmi5BHMr-o6KcfYBR5to/s640/blogger-image-1845075233.jpg" width="640" /> </a></div>
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I measured and cut all 20 pipe segments, and then faced them and got their legnths perfect on a lathe. 4x 11.85" legnths, 8x 6.5" legnths and 8x 4.25" legnths: </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFgXJcF9UvYx-u1B4WR0nuXwM4enA4huhRgPuAuxux2qY3O_jiDgPsM04d8JsZs5mmoOqKhRopGT7zm9rqBTui3LujdoFVpOoDt0TcSbc8b73i2JH_hHDR7b2epnQuRGK80VBK22Kd43g/s1600/blogger-image--671462990.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiFgXJcF9UvYx-u1B4WR0nuXwM4enA4huhRgPuAuxux2qY3O_jiDgPsM04d8JsZs5mmoOqKhRopGT7zm9rqBTui3LujdoFVpOoDt0TcSbc8b73i2JH_hHDR7b2epnQuRGK80VBK22Kd43g/s400/blogger-image--671462990.jpg" width="300" /> </a></div>
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Next up was drilling three holes in the top of each of the 8 motor mount tees for use in fastening down the motors. I found that a very good way to fasten the motors to the frame was by drilling holes in the tee, and affixing the motor to the tee using zip ties. This is a simple, light, easy to repair, and cheap setup, and most importantly, it has a little "give" in it, so if I make an especially hard landing, the zip ties break instead of the motors. I have had that happen several times, and it is much nicer than replacing a motor (my friend decided to screw his motors down, and broke two or three of them in hard landings, I have yet to break one.) This is a picture of my quadcopter's motor mounts, my octocopter will use exactly the same method, except with only 3 zip ties per motor.</div>
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<a href="http://letsmakerobots.com/files/userpics/u19144/HPIM4686.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://letsmakerobots.com/files/userpics/u19144/HPIM4686.jpg" height="300" width="400" /></a></div>
Here is all of the pipe and fittings used to make the frame:<br />
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<img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgPmfn65NkHlAy3N5AQ8D3g7jslXqGQKDZZbWBy5ZfHN04wL6OtwcSBVJIab1rjAm8lTWkbTN-XvhdvxpuN71_c6MqO2GPHDI0IRbpbcgDfQ9545xbyB1kmF_EwLoSZMhQpF0aBQlN-sSE/s640/blogger-image--781111842.jpg" /><br />
And a couple of pictures of the completed frame, it is approximately 3' on diagonal.<br />
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<img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhWCJ8_GNUb4QmhisjCfcz5_m6IiV4wnMHFNo7Ls5j1AiNjzOAGEdg_ypsxa6SEdmMNat9OiDBQO8-RpQ56NEjg3FI_YvQcniAXCRQZzp2c59eScezR-kNIcIlyRjOJtXMx9bMUa8g8Pq4/s640/blogger-image-887880136.jpg" /> <br />
<img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9aJQZR8kuHV_84PIECe65u3dlzRJj0Jg0KMVUh1ONgbgpaprhIcM5Q283ME0WgHCzu11j1BVxqjqpIWrWIQ1WrEHftVhfYA8rjjl2jnlKnSwjek1lZ4AAEKhLQKKxiydxKaYpQW4SsSk/s640/blogger-image-1981603890.jpg" /><br />
Everywhere that a pipe goes into a pipe fitting, I match drilled a hole and drove a small wood screw into the join to ensure that none of the pipes will pull out or rotate. The frame is very sturdy and has almost no flex. It also happens to look very much like a windowpane, which is where it gets it's name, The Window.<br />
Price: $13<br />
Weight: 1.1 kg<br />
Durability: Dang this thing is durable, it would take a lot to break it, and if it does, parts are cheap and avalible at the local hardware store.<br />
Looks: So apparently some people find this to be important. I have never understood humans. In other words, Dat Pipe :)<br />
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Well, that's all for now, updates will come sometime.fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-27876360870882492272014-03-29T19:11:00.002-07:002014-03-29T20:15:17.683-07:00Another really short PKPI took PK into the shop today and finished up his frame joint where the axle and long spar meet. It has had holes drilled where they meet in order to lock the spar from rotating, but I never got around to putting properly sized bolts into them which caused some slop in the connection. So I drilled the holes out slightly more, tapped them with a standard 1/4" NC tap, and threaded some bolts in from the bottom: (These pictures are with PK upside down)<br />
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<img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiEsbmXZqrn_v7NAjsu4vntzKfYQ1ypQnwPuqH55MuUAahhyueBe2nD0OyR8U2ifjy5hyphenhyphenCi9aYEIx18OaUmhMVVaUPcPn5ZmAC936-eIXHwYmygF3xiCPDC0qfXaJFN88Grl69mctCbS0I/s640/blogger-image--2132272865.jpg" /><br />
<img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhsNFcorG291UQx4cfesHxe5pBhej-Zse0bAUb0gkbyf8YutyNqgj2QQXMBKvS7iQoNXMpwMhQiqmDntvyI8S6YILCrxfYo5_c8AJWpZr_9ZhgBAW-kUmZUULbbsj89bvUHsym8TTEAxQg/s640/blogger-image--381566265.jpg" /><br />
The bolts stuck out a little on the top of the frame, and they are right where the main battery sits, so I didn't want any high spots, so I ground down both of the bolts, and while I was at it, the high points on the metal T too, so the battery sits evenly on all of the contact area. <br />
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<img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgvncAqTeXWRLCy7GT6Ty1SQgHbCvIOkEK3p1Nu2nGqeIUDc56r3VGi2SHvYHUkP1V9HxIO4lrj_MOI32eAy1Vm9qE9ErEkKL8d6jm4rSFRphchsAh58sAKAYz5pi0juRrQYKzx-iVPLvM/s400/blogger-image--1251750012.jpg" width="300" /> </div>
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The threading of the holes means that I don't need a nut on the other end of the pipe to keep it in place, so this configuration works well. Anyway, that's all the progress for now, told you it would be short ;)</div>
fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0tag:blogger.com,1999:blog-6189366554396015478.post-82133600225227332702014-03-06T09:10:00.000-08:002014-03-06T09:10:00.962-08:00PKPI finished up the paintball gun mount/trigger plates that I mentioned in a previous post, they are just scrap sheet metal with a number of holes drilled in them:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg4PKSVIDs-BZooC2N6Kk75rdlnGGxbX2RrGMdMb9hjPO_kAdIsSHDdekxhvfS32H_3P45Af-9xrP0LJgS1fMz73oBGTss-te9wcbH9GAAHacCOUORm0S1C8rRP1340vj6i_DEYFm-m3Vw/s1600/HPIM5032.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg4PKSVIDs-BZooC2N6Kk75rdlnGGxbX2RrGMdMb9hjPO_kAdIsSHDdekxhvfS32H_3P45Af-9xrP0LJgS1fMz73oBGTss-te9wcbH9GAAHacCOUORm0S1C8rRP1340vj6i_DEYFm-m3Vw/s1600/HPIM5032.JPG" height="300" width="400" /></a></div>
The top one also has a cutout for the trigger servo to go thru. I mounted the servo to the plate, screwed the plate to the grip holes in the gun, and gave it a try:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj2wehbKPlidV_RjEz71M7S3SG6Y_Ui8i_Rg_jfEYRg0mEqV5n2oVsEIdbyXER_a_p7mUJjjow4851I7-kHIbR2hlYKWWeOXuijqol8uNyRLibToj4hLnIaBwTvCjkv3HZLrPMK4hBJ54c/s1600/HPIM5033.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj2wehbKPlidV_RjEz71M7S3SG6Y_Ui8i_Rg_jfEYRg0mEqV5n2oVsEIdbyXER_a_p7mUJjjow4851I7-kHIbR2hlYKWWeOXuijqol8uNyRLibToj4hLnIaBwTvCjkv3HZLrPMK4hBJ54c/s1600/HPIM5033.JPG" height="300" width="400" /></a></div>
Here is a video of the servo triggering the paintball gun to fire, this time I had a full tank of air, so it auto-recocked like it should. Again, the red robot and Tx were the fastest and easiest thing I had to try out the servo.<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dy05Ftx4EC7T3k7kS2-YiPXM0SnH_wYvMAfy1KIjuznE7kkIjvZdfwSCJAom0TNqLda-WhfQbO9HlawieWpMg' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div>
And a couple pics with the other plate on, and everything together:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgn_8Awz33SgoY06qlNZtQgoc2uWDtnNQH_8KsgDNQm35lKBoBoLLvtRoMgg2o1UGoRlWyJWqRcyGHCWww3FjTh9D2LjDMf5fXekiDNFXhWlVXTAZdZTmGnEyTqKEOUitZqnsy5zIKMwKU/s1600/HPIM5035.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgn_8Awz33SgoY06qlNZtQgoc2uWDtnNQH_8KsgDNQm35lKBoBoLLvtRoMgg2o1UGoRlWyJWqRcyGHCWww3FjTh9D2LjDMf5fXekiDNFXhWlVXTAZdZTmGnEyTqKEOUitZqnsy5zIKMwKU/s1600/HPIM5035.JPG" height="300" width="400" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-hFa34ruPM-FlWHzifda_jI24UFnkgY4LuHD6itdpjA-0Pqsv3l_abz3NquRZyP6YN_TvFqLHLiJ_JaK3QqItoMwUELQW35SJ0IyAVaBcSTkW3URlCgETdj0dE7-_3Yds1Xl3Hk_3W1g/s1600/HPIM5037.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-hFa34ruPM-FlWHzifda_jI24UFnkgY4LuHD6itdpjA-0Pqsv3l_abz3NquRZyP6YN_TvFqLHLiJ_JaK3QqItoMwUELQW35SJ0IyAVaBcSTkW3URlCgETdj0dE7-_3Yds1Xl3Hk_3W1g/s1600/HPIM5037.JPG" height="300" width="400" /></a></div>
Closeup of the servo mounting plate:<br />
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As you can see, I ended up using two zip ties on the front instead of a hose clamp, and I further reinforced the plates on the back by wraping another zip tie around the handle.<br />
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And finally, a couple of pics of the gun "mounted" on PK. In reality the gun will be closer to the base of the bot, and the front part of the tripod will be hose clamped down.<br />
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I also have been working on the motor controller, but its not done, so I will save that update for another post.fifer253http://www.blogger.com/profile/00269962004920491464noreply@blogger.com0