|!Punctuation|!Location|!Function|\n|{{{@@...@@}}}|surrounding text|@@highlighted text@@|\n|{{{//...//}}}|surrounding text|//italicized text//|\n|{{{==...==}}}|surrounding text|==strikethrough text==|\n|{{{''...''}}}|surrounding text|''boldfaced text''|\n|{{{__...__}}}|surrounding text|__underlined text__|\n|{{{[[text|url]]}}}|around text/url pair|[[text|http://gri.gallaudet.edu/]] link to url|\n|{{{ {...} }}}|''__tripled__'' surrounding text|{{{in-line literal text}}}|\n|{{{ {...} }}}|''__tripled__'' surrounding ''__lines__''|literal block|\n|{{{<<<}}}|surrounding ''__lines__''|blockquotes|\n|{{{!}}}|at start of line|subheading|\n|{{{|...|...|}}}|line sectioned by vertical bars|table row|\n|{{{!}}}|in a table|!table heading|\n|{{{----}}}|alone on line|horizontal rule|\n|{{{*}}}|at start of line|bulleted list item|\n|{{{#}}}|at start of line|numbered list item|\nsource: Kevin Cole, January 2007
TTiddlyWiki uses Wiki style markup, a way of lightly "tagging" plain text so it can be transformed into HTML. Edit this Tiddler to see samples.\n\n! Header Samples\n!Header 1\n!!Header 2\n!!!Header 3\n!!!!Header 4\n!!!!!Header 5\n\n! Unordered Lists:\n* Lists are where it's at\n* Just use an asterisk and you're set\n** To nest lists just add more asterisks...\n***...like this\n* The circle makes a great bullet because once you've printed a list you can mark off completed items\n* You can also nest mixed list types\n## Like this\n\n! Ordered Lists\n# Ordered lists are pretty neat too\n# If you're handy with HTML and CSS you could customize the [[numbering scheme|http://www.w3schools.com/css/pr_list-style-type.asp]]\n## To nest, just add more octothorpes (pound signs)...\n### Like this\n* You can also\n** Mix list types\n*** like this\n# Pretty neat don't you think?\n\n! Tiddler links\nTo create a Tiddler link, just use mixed-case WikiWord, or use [[brackets]] for NonWikiWordLinks. This is how the GTD style [[@Action]] lists are created. \n\nNote that existing Tiddlers are in bold and empty Tiddlers are in italics. See CreatingTiddlers for details.\n\n! External Links\nYou can link to [[external sites|http://google.com]] with brackets. You can also LinkToFolders on your machine or network shares.\n\n! Images\nEdit this tiddler to see how it's done.\n[img[http://img110.echo.cx/img110/139/gorilla8nw.jpg]]\n\n!Tables\n|!th1111111111|!th2222222222|\n|>| colspan |\n| rowspan |left|\n|~| right|\n|colored| center |\n|caption|c\n\nFor a complex table example, see PeriodicTable.\n\n! Horizontal Rules\nYou can divide a tiddler into\n----\nsections by typing four dashes on a line by themselves.\n\n! Blockquotes\n<<<\nThis is how you do an extended, wrapped blockquote so you don't have to put angle quotes on every line.\n<<<\n>level 1\n>level 1\n>>level 2\n>>level 2\n>>>level 3\n>>>level 3\n>>level 2\n>level 1\n\n! Other Formatting\n''Bold''\n==Strike==\n__Underline__\n//Italic//\nSuperscript: 2^^3^^=8\nSubscript: a~~ij~~ = -a~~ji~~\n@@highlight@@\n@@color(green):green colored@@\n@@bgcolor(#ff0000):color(#ffffff):red colored@@\n
LEDroid
Powerful yet economic high power LED array based moving spotlights
Type the text for 'New Tiddler'
Type the text for 'New Tiddler'
TitlePage\n
Summary\n
The LEDroid Light is comprised of the following:\n* Light Head\n* Cable\n* Power Supply\n\nThese elements are detailed in the [[Design document|Design]].
FundingSources\n
ProblemNeed\n
Methods\n
Reports\n
Future\n
Budget\n\n1 millliiooon dolllarrss\n\n
[[Objective]]\n[[Introducion]]\n[[overview]]\n
# [[Introducion]]\n# [[Goal]]\n# [[Objective]]\n# [[Design]]\n# [[Engineering]]\n# [[Diagrams and Pictures|Diagrams]]\n# [[Software]]\n# [[Future Design Ideas]]\n# [[Budget]]\n# [[Parts-List]]
\n* [[Adafruit Adafruit 1411 16-Channel 12-bit PWM/Servo Shield - I2C Interface|https://www.google.com/shopping/product/6353718171686361069?client=ubuntu&channel=fs&q=adafruit+16-channel+12-bit+pwm/servo+shield&ie=utf-8&oe=utf-8&sa=X&ei=V0hSVb-nE4WDsAW4qIGgCw&ved=0CHAQuSQ]]\n* [[PCA9685 Specification|http://www.adafruit.com/datasheets/PCA9685.pdf]]\n* [[Switch Supply Design|http://www.dprg.org/tutorials/2005-11a/]]\n* [[Video on using a P-channel FET as a polarity protector|https://www.youtube.com/watch?v=I1h-HZmIJ4E]]\n* [[PC Power Supply Explained|http://www.smps.us/computer-power-supply.html]]\n* [[Color Rendering Index|https://en.wikipedia.org/wiki/Color_rendering_index]]\n* [[An extra module?|http://www.ti.com/lit/an/snva605/snva605.pdf]]\n* [[Close|http://www.instructables.com/id/safe-and-simple-AC-PWM-Dimmer-for-arduino-Raspberr/]]\n* [[tada?|http://electronics.stackexchange.com/questions/127398/mosfet-gets-hot-when-pwming-car-high-beams-as-drl-lights]]\n* [[Cree FET Specifications|http://www.newark.com/webapp/wcs/stores/servlet/ProductDisplay?catalogId=15003&langId=-1&urlRequestType=Base&partNumber=08X1011&storeId=10194]]\n* [[Cree FET Detailed Specifications|http://www.farnell.com/datasheets/1741006.pdf]]\n* [[Specialized LED driver chip|http://www.ixysic.com/Products/LEDDrivers.htm]]\n* [[About 555 FET pwm|http://electronics.stackexchange.com/questions/69687/pwm-control-with-mosfet-switch]]\n* [[Buck Converter?|http://en.wikipedia.org/wiki/Buck_converter]]\n* [[Basic FET Driving |http://reibot.org/2011/09/06/a-beginners-guide-to-the-mosfet/]]\n* [[FET Specification|http://www.wolfspeed.com/downloads/dl/file/id/173/product/13/c2m1000170d.pdf]]
''Ledroid Diagrams 2015-10-07''\n* [[Driver only Schematic|http://docbox.flint.com/~flint/ledroid/ledroid_2015-10-07-1_schem.jpg]]\n* [[Driver only Layout|http://docbox.flint.com/~flint/ledroid/ledroid_2015-10-07-1_bb.jpg]]\n* [[Driver only FZZ|http://docbox.flint.com/~flint/ledroid/ledroid_2015-10-07-1.fzz]]\n\n\n''Power Supply Designs''\n''Use these to construct 555 based prototype''\n* [[Power Supply Layout 2015-05-18 using 555 |http://docbox.flint.com/~flint/ledroid/2015-05-18_555_40v_bb.jpg]]\n* [[Power Supply Schematic 2015-05-18 using 555 |http://docbox.flint.com/~flint/ledroid/2015-05-18_555_40v_schem.jpg]]\n* [[Fritzing File 2015-05-18 using 555 |http://docbox.flint.com/~flint/ledroid/2015-05-18_555_40v.fzz]]\n* [[Power Supply Bill of Materials|http://docbox.flint.com/~flint/ledroid/2015-05-18_555_40v_bom.html]]\n''2015-05-20;;\n* [[Picture of working 555 Circuit with opto-isolator|http://docbox.flint.com/~flint/ledroid/pix_pwm_2015-05-20.jpg]]\n\n''Design using 555''\n* [[Power Supply Layout 2015-05-12 using 556 |http://docbox.flint.com/~flint/ledroid/2015-05-13_556_PWM_bb.jpg]]\n\n''2015-05-22''\n* [[Power Board Pix|http://docbox.flint.com/~flint/ledroid/ledroid_pix_20150522_123909.jpg]]\n\n''2015-05-26''\n* [[Beast Controller|http://docbox.flint.com/~flint/ledroid/beast_20150526_073012.png]]\n* [[Berserker Beast Wiring Diagram |http://docbox.flint.com/~flint/ledroid/2015-05-26_555_4bb_bb.png]]\n* [[Berserker Beast Fritzing File|http://docbox.flint.com/~flint/ledroid/2015-05-26_555_4bb.fzz]]\n\n''2015-05-27''\n* [[Beast Light Pix|http://docbox.flint.com/~flint/ledroid/bbb_20150527_112040.jpg]]\n* [[Labqueen |http://docbox.flint.com/~flint/ledroid/lab_queen_bbb_20150527_191712.jpg]]\n* [[Concept Light Instrument|http://docbox.flint.com/~flint/ledroid/40v_cover_20150527_193342.jpg]]\n* [[Concept Light Demo|http://docbox.flint.com/~flint/ledroid/40v_demo_20150527_193735.jpg]]\n\n''2015-05-28''\n\n* [[Labqueen Front|http://docbox.flint.com/~flint/ledroid/lab_queen_front_20150528_095011.jpg]]\n* [[Labqueen Back|http://docbox.flint.com/~flint/ledroid/lab_queen_back_20150528_095011.jpg]]\n
Currently, the LEDroid power supply needs to supply the following:\n* 0-40 Volts @ 150 Ma Power to the LED array.\n* [[12 Volt @ 200 Ma for fan cooling|12voltCooling]] \n* 5 Volts @ 100 Ma for Arduino Control\n\nWith the arrival of the FETs - any FETs, we are going to do th [[40 volt test|http://docbox.flint.com/~flint/ledroid/40v_20150514_072910.jpg]].\n\nThe subsequent current design is to use the [[Berserker Power Supply |http://docbox.flint.com/~flint/ledroid/berserker_20150514_072910.jpg]] with an [[Arduino powered PWM module|http://docbox.flint.com/~flint/ledroid/2015-05-13_556_berserker_bb.jpg]] . This will operate either in single or two stage PWM mode.
The 12 Volt Cooling Power Supply component as of 2015-05-12 is as follows:\n\n* Low Voltage Consolidation with 3 7812's [[Picture|http://docbox.flint.com/~flint/ledroid/20150512_094308.jpg]]\n* Consolidated within the 40 Volt Power System [[Diagram|http://docbox.flint.com/~flint/ledroid/2015-05-13_556_PWM_bb.jpg]]\n* [[PC Power Supply|PCsupply]]\n
To Use a PC Power Supply:\n\n# Get Power Supply Operational \n# Find ''unisolated'' voltage after rectifier (161 VDC)\n# Attach [[FET Power Modulator|http://docbox.flint.com/~flint/ledroid/2015-05-13_556_PWM_hv.jpg]]\n\n[[Moding PC Power Supply for start|http://www.instructables.com/id/How-to-power-up-an-ATX-Power-Supply-without-a-PC/]]\n\nYou will need to select a very high voltage FET\n|!Reference HTML|! Description|\n|[[Search NTE|https://www.google.com/search?client=ubuntu&channel=fs&q=buy+NTE+2935&ie=utf-8&oe=utf-8]]||\n|[[NTE2924|http://www.galco.com/scripts/cgiip.exe/wa/wcat/catalog.htm?searchbox=NTE2924]]||\n|[[NTE2395|https://www.google.com/search?client=ubuntu&channel=fs&q=nte+2395&ie=utf-8&oe=utf-8]]||\n|[[NTE2395|http://www.nteinc.com/specs/2300to2399/pdf/nte2395.pdf]]||\n|[[NTE2924|http://www.nteinc.com/specs/2900to2999/pdf/nte2924.pdf]]||\n|[[CREE MOSFET|http://www.mouser.com/ProductDetail/Cree-Inc/C2M0040120D/?qs=sGAEpiMZZMshyDBzk1%2fWi0ZY3fkOYxXIgwjH2NjZEItUAziltVdFkQ%3d%3d]]||\n|[[CREE Site|http://www.cree.com/Power/Products#SiCPowerModules]]||\n|[[Newark Electronics |http://www.newark.com/Search?st=transistors&mf=100566]]||\n|[[CREE C2M1000170D MOSFET, N CHANNEL, 1.7KV, 4.9A, TO-247-3 |http://www.newark.com/cree/c2m1000170d/mosfet-n-channel-1-7kv-4-9a-to/dp/08X1011?ost=CREE+C2M1000170D+MOSFET]]| $5.25 ea|
Parts to order 2015-05-15\n\n[[12-position-european-style-mini-terminal-strip|http://www.radioshack.com/12-position-european-style-mini-terminal-strip/2740680.html#.VVUFzDVFtC0]]\n[[silicon-switching-diodes-50-pack|http://www.radioshack.com/silicon-switching-diodes-50-pack/2761620.html#.VVUSYDVFtC0]]\n[[Opto Isolator TLP621|https://www.sparkfun.com/products/314]]\n\n\nCurrent Parts List\n\n\nBreadBoard :\nhttps://www.amazon.com/gp/product/B0040Z4QN8/ref=oh_aui_detailpage_o03_s00?ie=UTF8&psc=1 <-- random breadboard\n\nCases / Housing :\nhttps://www.sparkfun.com/products/12203 <-- alluminum servo blocks \n\nClamps :\nhttps://www.amazon.com/gp/product/B001KPVFJE/ref=oh_aui_detailpage_o07_s00?ie=UTF8&psc=1 <-- C-clamp\n\nControl :\nhttps://www.amazon.com/gp/product/B006H0DWZW/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1 <-- Atmega for controlling the dynamixel ax-12a servos\nhttps://www.amazon.com/gp/product/B006H06TVG/ref=oh_aui_detailpage_o09_s00?ie=UTF8&psc=1 <-- Arduino Uno for controlling the led diodes\nhttps://www.amazon.com/gp/product/B00I4WMOGE/ref=oh_aui_detailpage_o09_s01?ie=UTF8&psc=1 <-- 12bit 16 channel pwm shield\nhttps://www.sparkfun.com/products/10124 <------- Transceiver Breakout - RS-485\nhttps://www.sparkfun.com/products/11801 <------ tinyavr programmer\n\nFets :\n[[Amazon FETs (cheaper longer lead time)|https://www.amazon.com/gp/product/B008UTXK78/ref=oh_aui_detailpage_o09_s00?ie=UTF8&psc=1 <-- POWER MOSFET N-CHANNEL 60V ID=30A TO-220 CASE LOGIC LEVEL HIGH SPEED SWITCH]]\n[[Newark FETs (more expensive immediate supply)|http://www.newark.com/cree/c2m1000170d/mosfet-n-channel-1-7kv-4-9a-to/dp/08X1011?ost=C2M1000170D]]\n\n\nLed :\nhttps://www.amazon.com/gp/product/B00CZ75TWA/ref=oh_aui_detailpage_o04_s00?ie=UTF8&psc=1 <-- Lohas 100w , 7,500 lumen diodes\nhttps://www.amazon.com/gp/product/B00MEJEFSI/ref=oh_aui_detailpage_o08_s00?ie=UTF8&psc=1 <-- cree cxa3050 led , aprox 5,000 lumen but can be pushed to do more\n\nLed / Power Supply Combo :\nhttps://www.amazon.com/gp/product/B00LTM06PM/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1 <---- LOHAS 100W 100V~240V High Power LED Light Lamp Chip + LED Power Supply Driver Cool White -- Ultra Bright\n\nLenses:\nhttps://www.amazon.com/gp/product/B00HLBHLIA/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1 <-- collimator lens\nhttps://www.amazon.com/gp/product/B001988KR2/ref=oh_aui_detailpage_o06_s00?ie=UTF8&psc=1 <-- contact juggling ball , acrylic\n\nPower Stuff :\nhttps://www.amazon.com/gp/product/B00HHQ0VP4/ref=oh_aui_detailpage_o00_s00?ie=UTF8&psc=1 <-- Constant Current/Voltage DC Buck Converter 7-40V To 1.2-35V LED Driver Charger Module 8A\nhttp://www.amazon.com/gp/product/B0042PXK42/ref=oh_aui_detailpage_o07_s00?ie=UTF8&psc=1 <-- deep cycle 600watt\nhttp://www.amazon.com/gp/product/B00OZGVL4O/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1 <--- LM2596 Adjustable Voltage Regulator 4.0-40V to 1.25-37V DC 36V to 24V to 12V to 5V Variable Volt Power Supply Car Motor Buck Step Down Converter with Red Voltmeter Display\n\nServos :\nhttp://www.trossenrobotics.com/dynamixel-ax-12-robot-actuator.aspx <--- dynamixel AX-12a\nhttp://www.amazon.com/gp/product/B003T6RSVQ/ref=oh_aui_detailpage_o08_s00?ie=UTF8&psc=1 <-- Hitec 32645S HS-645MG High Torque 2BB Metal Gear Servo\n\nThermal Epoxy :\n[[Thermal Two Part Epoxy|https://www.amazon.com/gp/product/B0009IQ1BU/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1 <-- thermal epoxy]]
{{{ Here is the pin out for the LEDroid RJ-45: }}}\n|! Pin|! Description|! Color|\n|1| + Light (0-40 Volts PWM)| Red|\n|2| | Yellow|\n|3| - Light (0-40 Volts PWM)| Black|\n|4| | |\n|5| | |\n|6|+ Fan (12 Volts DC)| Red|\n|7| | Blue|\n|8|- Fan (12 Volts DC)| Black|\n{{{ This was wrong and corrected 2015-06-26 }}}\n
''Current Parts List:''\n* ''Bread Board:'' \nhttps://www.amazon.com/gp/product/B0040Z4QN8/ref=oh_aui_detailpage_o03_s00?ie=UTF8&psc=1]]\nrandom breadboard\n* ''Cases / Housing:'' \n[[alluminum servo blocks|https://www.sparkfun.com/products/12203]]\n* ''Clamps:''\n[[C-clamp|https://www.amazon.com/gp/product/B001KPVFJE/ref=oh_aui_detailpage_o07_s00?ie=UTF8&psc=1]] \n* ''Control:''\n[[Atmega for controlling the dynamixel ax-12a servos|https://www.amazon.com/gp/product/B006H0DWZW/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1]]\n[[Arduino Uno for controlling the led diodes|https://www.amazon.com/gp/product/B006H06TVG/ref=oh_aui_detailpage_o09_s00?ie=UTF8&psc=1]]\n[[12bit 16 channel pwm shield|https://www.amazon.com/gp/product/B00I4WMOGE/ref=oh_aui_detailpage_o09_s01?ie=UTF8&psc=1]]\n[[Transceiver Breakout - RS-485|https://www.sparkfun.com/products/10124]] \n[[tinyavr programmer|https://www.sparkfun.com/products/11801]]\n* ''Fets:''\n[[POWER MOSFET N-CHANNEL 60V ID=30A TO-220 CASE LOGIC LEVEL HIGH SPEED SWITCH\n|https://www.amazon.com/gp/product/B008UTXK78/ref=oh_aui_detailpage_o09_s00?ie=UTF8&psc=1]]\n* ''Led:''\n[[Lohas 100w , 7,500 lumen diodes|https://www.amazon.com/gp/product/B00CZ75TWA/ref=oh_aui_detailpage_o04_s00?ie=UTF8&psc=1]]\n[[cree cxa3050 led , aprox 5,000 lumen but can be pushed to do more|https://www.amazon.com/gp/product/B00MEJEFSI/ref=oh_aui_detailpage_o08_s00?ie=UTF8&psc=1]]\n* ''Led / Power Supply Combo:''\n[[LOHASA 100W 100V~240V High Power LED Light Lamp Chip + LED Power Supply Driver Cool White -- Ultra Bright|https://www.amazon.com/gp/product/B00LTM06PM/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1]]\n* ''Lenses:''\n[[collimator lens|https://www.amazon.com/gp/product/B00HLBHLIA/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1]]\n[[contact juggling ball , acrylic|https://www.amazon.com/gp/product/B001988KR2/ref=oh_aui_detailpage_o06_s00?ie=UTF8&psc=1]]\n* ''Power Stuff:''\n[[Constant Current/Voltage DC Buck Converter 7-40V To 1.2-35V LED Driver Charger Module 8A|https://www.amazon.com/gp/product/B00HHQ0VP4/ref=oh_aui_detailpage_o00_s00?ie=UTF8&psc=1]]\n[[deep cycle 600watt|http://www.amazon.com/gp/product/B0042PXK42/ref=oh_aui_detailpage_o07_s00?ie=UTF8&psc=1]]\n[[LM2596 Adjustable Voltage Regulator 4.0-40V to 1.25-37V DC 36V to 24V to 12V to 5V Variable Volt Power Supply Car Motor Buck Step Down Converter with Red Voltmeter Display|http://www.amazon.com/gp/product/B00OZGVL4O/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1]]\n* ''Servos :''\n[[Dynamixel AX-12a]]http://www.trossenrobotics.com/dynamixel-ax-12-robot-actuator.aspx]]\n[[Hitec 32645S HS-645MG High Torque 2BB Metal Gear Servo|http://www.amazon.com/gp/product/B003T6RSVQ/ref=oh_aui_detailpage_o08_s00?ie=UTF8&psc=1]]\n* ''Thermal Epoxy :''\n[[thermal epoxy|https://www.amazon.com/gp/product/B0009IQ1BU/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1]]\n
Light Emmiting Diode (LED) Element is an array of high power LEDs. These are characterized below:\n\n[[CREE|http://www.amazon.com/gp/product/B00MEJEFSI/ref=oh_aui_detailpage_o08_s00?ie=UTF8&psc=1]]\n\n[[LOHAS|http://www.amazon.com/gp/product/B00CZ75TWA/ref=oh_aui_detailpage_o04_s00?ie=UTF8&psc=1]]\n
The Light Head is where the light comes out. The light head is comprised of:\n\n# [[Cree Xlamp|http://www.cree.com/xlamp]] or ??Other brand?? Lamp\n# RJ-45 Jack\n# heat sink \n# Housing
Must be isolated via opto isolator
29 October 2017\n[[Ongoing Design Discussion|https://github.com/circusautomatic/cthuloid/issues/5]]\n\nEach of these elements is detailed below:\n[[Light Head|LightHead]] - Supplies cooling mounting, and housing for the [[LED element|LEDElement]]\n[[Cable|LEDroidPinout]] - {{{RJ-45}}} interconnect cable\n[[Power Supply|PowerSupply]] - Supplies power for [[cooling|LEDcooling]], [[control system processor|CSP]] and [[LED element|LEDElement]]\n\nNote this is the location of the fritzing file (look for *.fzz)\nhttp://docbox.flint.com/~flint/ledroid/2015-05-15_556_berserker_hv.fzz\n\n
Cooling Fans
[[Assembly Instructions|https://learn.adafruit.com/adafruit-16-channel-pwm-slash-servo-shield/assembly]]
FETS 60 Volt\nTue, 12 May 2015 13:45:30\nYour Amazon.com order of 4x "POWER MOSFET N-CHANNEL 60V..." has shipped!\n[[Expected delivery: Wednesday, May 20, 2015, by 8:00pm|https://www.amazon.com/gp/css/shiptrack/view.html/ref=TE_3p_typ?ie=UTF8&addressID=jironxksll&latestArrivalDate=1432191599&orderID=114-5882376-3915401&shipmentDate=1431586799&orderingShipmentId=1008159896025&packageId=1]]\n\n\nFETS 1.7KV\nOn Wed, 13 May 2015 15:46:15\n[[Cree FET|http://www.mouser.com/ProductDetail/Cree-Inc/C2M0040120D/?qs=sGAEpiMZZMshyDBzk1%2fWi0ZY3fkOYxXIgwjH2NjZEItUAziltVdFkQ%3d%3d]] Mouser price 34.00 each!!!\n\n[[Ordered from Newark 2nd day air|https://www.newark.com/webapp/wcs/stores/servlet/PFOrderSearch?storeId=10194&msg=&krypto=xtUe16EdAoTTi17nnZ5z7bVWVZBZWfGmAH4N%2FKAh4TDfCbSuOVG7zVgKdmhGCuhIcJ3gyH%2BuW%2BZo%0AWXeNx6oQQsCIwBVX4MjQDpsfSsvA7XxncOt0QmsTYgKXToJ9MlYY&ddkey=https:Logon]]\n[[UPS Tracking|http://wwwapps.ups.com/WebTracking/processInputRequest?HTMLVersion=5.0&sort_by=status&tracknums_displayed=5&TypeOfInquiryNumber=T&loc={1}=&InquiryNumber3=&InquiryNumber4=&InquiryNumber5=&track.x=48&track.y=11&InquiryNumber1=1ZX295600280660293]]\n\n\nThu Jun 18 18:07:45 EDT 2015\npfet_newark_2015-05-31.pdf\n[[Order Status and Tracking|https://www.newark.com/webapp/wcs/stores/servlet/PFOrderSearch?catalogId=15003&fromDate=&poNumber=&pageNumber=0&errorViewName=PFOrderListView&toDate=&langId=-1&storeId=10194]]
The Software is Arduino Sketch Based and uses the [[Adafruit Adafruit 1411 16-Channel 12-bit PWM/Servo Shield - I2C Interface|https://www.google.com/shopping/product/6353718171686361069?client=ubuntu&channel=fs&q=adafruit+16-channel+12-bit+pwm/servo+shield&ie=utf-8&oe=utf-8&sa=X&ei=V0hSVb-nE4WDsAW4qIGgCw&ved=0CHAQuSQ]] we used the following [[Adafruit Adafruit 1411 16-Channel 12-bit PWM/Servo Shield - I2C Interface|https://www.google.com/shopping/product/6353718171686361069?client=ubuntu&channel=fs&q=adafruit+16-channel+12-bit+pwm/servo+shield&ie=utf-8&oe=utf-8&sa=X&ei=V0hSVb-nE4WDsAW4qIGgCw&ved=0CHAQuSQ]], and now want to test.
Deliver 10 Lights to a show by 31 May.
[[Cree Selection Chart|http://www.cree.com/LED-Components-and-Modules/Landing-pages/CXA]]\n\n\n|!Reference HTML|! Description|\n|[[XLamp CXA3050|https://www.google.com/search?client=ubuntu&channel=fs&q=buy+NTE+2935&ie=utf-8&oe=utf-8]]|9000 Lumen|\n|[[XLamp CXA3050|https://www.google.com/search?client=ubuntu&channel=fs&q=buy+NTE+2935&ie=utf-8&oe=utf-8]]|9000 Lumen|\n\n[[XLamp CXA3050 |http://www.cree.com/LED-Components-and-Modules/Products/XLamp/Arrays-NonDirectional/XLamp-CXA3050]]\n\n[[LEDs Magazine article|http://www.ledsmagazine.com/articles/2013/03/seoul-semiconductor-announces-high-voltage-led-for-street-lights.html]]\n[[LED that operates directly from the AC line|http://www.trpssl.com/pdfs/TRP-AC-LED_IntroBroch_4-2014.pdf]]\n[[General Article |http://www.reddit.com/r/HandsOnComplexity/comments/1rcgih/led_and_led_grow_lights_part_5_working_with_100/]]\n\n\n[[CXA3050|http://www.cree.com/LED-Components-and-Modules/Products/XLamp/Arrays-NonDirectional/XLamp-CXA3050]]\n\nVideos About LEDs\n[[Critic|https://www.youtube.com/watch?v=NjKgPLeJ79Q]]
Develop an inexpensive very hi lumen output robotically controlled light fixture.\n\n[[Implementation on flexitruss 2017-04-24|https://vimeo.com/204402154]]\n[[Latest Design 2017-03-27|https://vimeo.com/210203857]]\n\n\n\n* [[Track LEDroid software directed through blender|https://vimeo.com/201310706]]\n* [[Track LEDroid on bendy strut|https://www.dropbox.com/s/csctyo0cq8shtge/Video%20Jan%2025%2C%2005%2012%2027.mov?dl=]]\n* LEDroid Powered By Old ATX PC Power Supplies with ''"Berserker"'' modification.\n* LEDroid light head ''"the Beast "'' \n** {{{comprised of 5 Cree 100 Watt XLamp CXA3050s}}}. \n** {{{Light output 40K Lumen}}}\n* Dimmer Circuit fully operational, flicker free, efficient and in prototype stage. \n\n[[Result to Date 2015-07-06|https://vimeo.com/132668052]]\n\n[[Making LEDs Fade |https://techtutorialsx.com/2017/06/15/esp32-arduino-led-pwm-fading/]]\n
July 7, \n\n[[Research Lab Access|http://7rnx.net/]]\n\nIntegration test, flicker issue \n\nhttps://vimeo.com/132668052\n\nhttps://vimeo.com/132672334\n____________________________________________________________________________________________\n26 May 2015\nToday's diagrams:\n\n* [[Beast Light Pix|http://docbox.flint.com/~flint/ledroid/beast_20150526_073012.png]]\n* [[Berserker Beast Wiring Diagram |http://docbox.flint.com/~flint/ledroid/2015-05-26_555_4bb_bb.png]]\n* [[Berserker Beast Fritzing File|http://docbox.flint.com/~flint/ledroid/2015-05-26_555_4bb.fzz]]\n\nThis morning I built a 4 hi version of the light:\n\n http://docbox.flint.com/~flint/ledroid/beast_20150526_073012.png\n\n...and while this solves the problem, I am only driving the series array\nwith 125 Volts at 0.06 Amps through the FET. The FET is very cool and\nhappy and the 555 dims this very nicely with no flicker. If I short the\nFET Source to Drain, the current goes up a factor of 5 to 0.35 Amps, and\nthe LED array gains about 10 volts to operate at 135 volts.\n\nWeirdly enough the 4 hi LED array (nicknamed "The Beast") even at this\nme-Ger current level is really quite bright, and very dim-Mable with the PWM\ncontrol. Needless to say, I am casting about for a way to get the FET to\ngive me the extra 10 Volts and say north of 200 ma.\n\nThe design combination of the Berserker Power Supply and the Beast LED\narray is a hard one to beat from a value engineering standpoint.\n\nhttp://docbox.flint.com/~flint/ledroid/fet_opto_bb_2015-05-26_bb.png\n\nI am currently (no pun intended) rebuilding the system on a smaller\nbreadboard which will allow me to mount the entire beast to a heat sink.\n \nhttp://docbox.flint.com/~flint/ledroid/2015-05-26_555_4bb_bb.png\n \nI have done some research on "Buck Converters":\n\nhttp://en.wikipedia.org/wiki/Buck_converter\n\nNote if worse comes to worse I will add a relay to short the FET source-to-drain for \nthe really high power.\n\n27 May 2015\n* Changing FET resistor to 33k gives 10 v p-p at gate and full non-flickering range. See [[photo |http://docbox.flint.com/~flint/ledroid/bbb_20150527_112040.jpg]]\n* This will be turned into a brass board for production next.\n
sparkfun 50
Got 4 of these [[low voltage boost converters|http://mklec.com/modules/power-modules/voltage-current-regulators/oskj-150w-boost-converter]] maybe one idea is to modify these...\n\n\nFor the Butterfly Capacitor, I need [[P Channel FETs|]].\n[img[http://image.shutterstock.com/display_pic_with_logo/9/9/61386544.jpg]]\n
''Testing set-up''\n* Use the Isolation Transformer\nALWAYS When testing a Berserker Mod power supply use and isolation transformer \n* Testing with Voltmeter\n* Testing with oscilloscope \n* [[Testing with oscilloscope program on Ubuntu.|http://docbox.flint.com/~flint/ledroid/test_setup_20150627_113526.jpg]]\n{{{\nsudo apt-get install xoscope\n}}}\n* Start xoscope\n** Testing the test equipment...\n** talk into the built in microphone till you see line movement on the screen\n** May need [[troubleshooting|]]\n* Operation\n** Connect to PC Microphone Input with 1/8' RTS RTS cable.\n** Connect Ground of RTS cable to ground (note MUST use Isolation Transformer)\n** Connect a 56K ohm to the audio input and connect other side of resistor to pin 7 of 555\n** Observe waveform. Set Horizontal Graticule of xoscope (9/0)\n** Adjust potentiometer\n
[[musco|http://www.musco.com/aboutus/overview.html]]\n[[musco LED design|http://www.musco.com/news/galleryImages/NRG_2.jpg]]
\n\nPhosphor LEDs Have can have a [[limited life|http://www.lrc.rpi.edu/programs/solidstate/pdf/narendran2004_jcrystalgrowth.pdf]] \n[[Solid State Lighting Degradation Presentation|https://www.ectc.net/files/63/5Mark_McClear.pdf]]\n[[Indicates Heat is the killer|http://www.omslighting.com/data/images/ledacademy/pdf/led_academy.pdf]]
Thursday, October 01 2015\n\nSo we get flicker out of the light by adding additional capacitance across the input voltage:\n\nSee this [[block diagram|http://docbox.flint.com/~flint/ledroid/ledroid_block_diagram.pdf]]\n\nHere is a [[picture of the parts|http://docbox.flint.com/~flint/ledroid/caps1.jpg]]
\n\n[[GLW 110V 20W LED Warm White CHIP 3000K + 20W Driver LED |http://www.amazon.com/GLW-White-Driver-Waterproof-Constant/dp/B00DLVI5AC/ref=sr_1_1?ie=UTF8&qid=1447007251&sr=8-1&keywords=110V+20W+LED+Warm+White]]\n\nReturn Policy Conflict:\n\n\nGLW 110V 20W LED Warm White CHIP 3000K + 20W Driver LED Waterproof Constant Curre...\nSold by: GLW Lighting\nShipped: May 24, 2015\nQuantity: 10\nThis item is no longer eligible for return.\nThe return window closed on Jun 28, 2015.\n\nProduct was Ordered on May 24, 2015 (116-3295526-2924240), after the return policy?\n\n{{{\nGreetings,\n\nI have had very high LED mortality rate on the GLW 110V 20W LED Warm White CHIP 3000K element. These LEDs seem to last about 50 days. I would like to send several LED elements back for refund, but even thought the product was ordered on May 24, 2015 (116-3295526-2924240), and shipped, I am prohibited from returning the LEDs covered under the 1 year warranty. When I attempt to return these LED elements for replacement the web site indicates that this item is no longer eligible for return, indicating that the return window closed on Jun 28, 2015, six months prior to my purchasing them. \n\nA retro-active return policy is simply not correct. Please contact me so that I can better understand this.\n\n}}}
[[Open Lighting |https://www.openlighting.org/ola/]]
'17 January 2016'\n\n[[Used Lancer |http://www.ebay.com/itm/Lancer-1200-Followspot-with-Road-case/181901553086?_trksid=p2045573.c100033.m2042&_trkparms=aid%3D111001%26algo%3DREC.SEED%26ao%3D1%26asc%3D20131017132637%26meid%3D658053a48f6e4eecb0f33ebd11db4884%26pid%3D100033%26rk%3D1%26rkt%3D1%26sd%3D181901553086]] \n\n[[Search for Altman Comet |https://www.google.com/webhp?sourceid=chrome-instant&ion=1&espv=2&ie=UTF-8#q=comet%20follow%20spot]]\n\n[[koby has|http://www.robertjuliat.com/followspots/followspots.html#.VpvRB_krKig]]\n\n
Type the text for '23 March 2016'\n\n[[12 Volt Strip LED|http://www.instructables.com/id/Make-Your-Own-Dimmable-LED-Workshop-Lighting-Extre/]]
The Berserker Beast is a 56,000 Lumen light source.\n\nHere is one manifestation of this design.
Type the text for '5 September 2016'\s\n\n[[100W 7-Band Multi-spectrum LED Growlight |http://www.ebay.com/itm/New-100W-100-Watt-Full-Spectrum-7-Band-High-Power-LED-Multichip-Array-Grow-Light-/231237517943]]
Type the text for '24 Decembrer 2017'\n\nhttps://www.tweaking4all.com/hardware/arduino/adruino-led-strip-effects/#rainbow_cycle\n\nType the text for '25 Septembrer 2017'\n\nhttps://learn.adafruit.com/adafruit-neopixel-uberguide/downloads\n\nType the text for '2 July 2017'\n\n[[NeoPixel Spac Ws28128|https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf]]\n[[Adafruit NeoPixel Library|https://learn.adafruit.com/adafruit-neopixel-uberguide/arduino-library]]\n[[Amazon Q&A|https://www.amazon.com/240pixels-programmable-Individually-addressable-Waterproof/dp/B00K7UHPEC/ref=sr_1_5?ie=UTF8&qid=1499008413&sr=8-5&keywords=neopixel#Ask]]\n\n[[SOURCE:|https://learn.adafruit.com/adafruit-neopixel-uberguide/arduino-library]]\nNeoPixels that are connected. In most cases you can leave this off and pass just two arguments; the example code is just being extra descriptive. If you have a supply of classic "V1" Flora pixels, those require NEO_KHZ400 + NEO_RGB to be passed here.\n\nThis is all based upon the [[WS2811 IC|https://cdn-shop.adafruit.com/product-files/1378/WS2811.pdf]]\n\n\n[[100PCS WS2811S WS2811 SOP-8 WORLDSEMI CHIP IC top|https://www.ebay.com/p/100pcs-Ws2811s-Ws2811-Sop-8-Worldsemi-Chip-IC-Top/1045801930]] vs {{{100PCS WS2811S WS2811 DIP-8 WORLDSEMI CHIP IC top }}}\n\n
Type the text for '13 October 2017'\n\n|!Reference HTML|! Description|\n|[[esp32-arduino-led-pwm-fading |https://techtutorialsx.com/2017/06/15/esp32-arduino-led-pwm-fading/]]||\n|[[tida |https://www.ti.com/tool/tida-01415]]||\n|[[tlc59711.pdf |http://www.ti.com/lit/ds/symlink/tlc59711.pdf]]||\n|[[adafruit |https://www.adafruit.com/product/1455]]||\n|[[github |https://github.com/ulrichstern/Tlc59711]]||\n|[[gitnub |https://github.com/ulrichstern/Tlc59711/wiki]]||\n
The ESP32 is a 32bit Micro-Controller made by ExpressIF\n\nWe are currently using the [[NodeMCU|http://www.nodemcu.com/index_en.html]] version of the board... The [[ESP32S|https://www.aliexpress.com/item/ESP-32-ESP-32S-Development-Board-WiFi-Bluetooth-Ultra-Low-Power-Consumption-Dual-Cores-ESP32-Board/32827002263.html]]\n\n\nThe big key we found for flicker free light control is to run the PWM at 480 Hertz\n\nhttps://www.adafruit.com/product/3320\nhttps://www.adafruit.com/?q=esp32&gclid=EAIaIQobChMIjeCNqKDO1wIVC0sNCh2CFQz8EAAYASAAEgKRQ_D_BwE\nhttps://www.esp32.com/\n\n\n<html>\n\n<iframe width="560" height="315" src="https://www.youtube.com/embed/dbVwNfIUD-Y" frameborder="0" allowfullscreen></iframe>\n<iframe width="560" height="315" src="https://www.youtube.com/embed/3MpYq21AD14" frameborder="0" allowfullscreen></iframe>\n\n</html>\n
The following code is used to control the ESP32 \n\nIt currently controls 4 channels of PWM 12, 13, 14, 5 \n\nTo control it manually, Connect via telnet and send it a string formatted thusly\n{{{pwm 0 25550 65535 1000}}}\n\nPWM outputs are wired directly into the PWM+ side of the Fleeky-Single channel PWM driver board w/ opto-isolator.\nPWM - is connected to an ESP32 GND pin\n\nmake sure to change SSID and PASSWORD\n\n{{{\n\n// Arduino sketch which outputs PWM for a set of channels based on serial input.\n\n\n#include <WiFi.h>\n#include <ESPmDNS.h>\n#include <WiFiClient.h>\n\nconst char* ssid = "****************";\nconst char* password = "*******************";\n\n// TCP server at port 80 will respond to HTTP requests\nWiFiServer server(23);\n// Serial commands accepted:\n// - pwm <pwm1> <pwm2> ..., where <pwmN> is 0-65535 and N is up to NumChannels\n// - pwm <index1>:<pwm1> <index2>:<pwm2> ..., where <indexN> is 1-based index into the PWMPins list\n// - plevel <level>, change the amount of response text\n//\n// NOTE: initHRPWM and myHRWrite are set specifically to work on MEGAS. It could be tuned to work on\n// unos.\n#include <SC.h>\n#include <PrintLevel.h>\n#define INVERT_HIGH_AND_LOW\n#define RED_MAX_PWM 65535\n#define MAX_PWM 65535\n//////////////////////////////////////////////////////////////////////////////////////\nint freq = 480;\nint res = 16;\n\nint ledChannel = 0;\nint ledChannel2 = 1;\nint ledChannel3 = 2;\nint ledChannel4 = 3;\nconst int PWMPins[] = {14,12,13,5};\nconst int NumPWMPins = sizeof(PWMPins) / sizeof(*PWMPins);\n// this flag will invert PWM output (65535 - PWM), for active-low devices\n\n\n\n\n\n\n\nconst char *MsgPWMTupleFormatError = "Error: takes up to 6 arguments between 0 and 255";\n\n/////////////////////////////////////////////////////////////////////////////////////////\n// Command Manager and forward declarations for commands accessible from text interface\n/////////////////////////////////////////////////////////////////////////////////////////\nstruct IDTuple {\n int id;\n long value;\n};\nint parseID(const char *arg);\nint parseListOfIDs(int *outIDs, int maxIDs);\nvoid cmdUnrecognized(const char *cmd);\nvoid cmdPWMPins();\nvoid cmdSetPrintLevel();\nvoid cmdServo();\nSerialCommand::Entry CommandsList[] = {\n {"plevel", cmdSetPrintLevel},\n {"pwm", cmdPWMPins},\n {"s", cmdServo},\n {NULL, NULL}\n};\nSerialCommand CmdMgr(CommandsList, cmdUnrecognized);\n\n\n/////////////////////////////////////////////////////////////////////////////////////////////\n// helpers\n/////////////////////////////////////////////////////////////////////////////////////////////\n\nunsigned long invertPWM(unsigned long c) {\n#ifdef INVERT_HIGH_AND_LOW\n c = 65535 - c;\n#endif\n return c;\n}\n\n\n\nvoid myHRWrite(int pin, unsigned value) {\n printAlways("setting pin to value: ");\n printAlways(pin);\n printAlways(" ");\n printlnAlways(value);\n\n switch (pin) {\n case 13: ledcWrite(ledChannel, value); break;\n case 14: ledcWrite(ledChannel2, value); break;\n case 12: ledcWrite(ledChannel3, value); break;\n case 5: ledcWrite(ledChannel4, value); break;\n default: printlnError("invalid pin");\n }\n}\n\n// Takes a string of an integer (numeric chars only). Returns the integer on success.\n// Prints error and returns 0 if there is a parse error or the ID is out of range.\nint parseID(const char *arg) {\n char *end;\n int id = strtol(arg, &end, 10);\n\n if (*end != '\s0' || id < 1 || id > 253) {\n printlnError("Error: ID must be between 1 and 253");\n return 0;\n }\n\n return id;\n}\n\n// Takes a string of an integer (numeric chars only). Returns the integer on success.\n// Prints error and returns -1 if there is a parse error or the PWM value is out of range.\nlong parsePWM(const char *arg, long maxPWM) {\n char *end;\n long v = strtol(arg, &end, 10);\n\n if (*end != '\s0' || v < 0 || v > maxPWM) {\n printlnError("Error: PWM value must be between 0 and ");\n printlnError(maxPWM);\n return -1;\n }\n\n return v;\n}\n\nvoid cmdUnrecognized(const char *cmd) {\n printlnError("unrecognized command");\n}\n\n// expects space-delimited ints 0-65535, or space delimited <index>:<pwm> pairs\nvoid cmdPWMPins() {\n const char *SetPWMUsageMsg = "Error: takes up to 4 arguments between 0 and 65535 (except argument 3's max is 45000).";\n\n long channelValues[NumPWMPins];\n int count = 0;\n\n char *arg = CmdMgr.next();\n if (arg == NULL) {\n printlnError("Error: no arguments");\n return;\n }\n\n do {\n int index;\n long value;\n\n if (count >= NumPWMPins) {\n printlnError(SetPWMUsageMsg);\n return;\n }\n\n char *end;\n index = count;\n value = parsePWM(arg, count == 0 ? RED_MAX_PWM : MAX_PWM);\n if (value < 0) {\n printlnError(SetPWMUsageMsg);\n return;\n }\n\n printInfo("Set pin ");\n printInfo(PWMPins[index]);\n printInfo(" to ");\n printlnInfo(value);\n channelValues[index] = value;\n count++;\n } while (arg = CmdMgr.next());\n\n for (int i = 0; i < count; i++) {\n unsigned long c = channelValues[i];\n //analogWrite(PWMPins[i], invertPWM(c));\n printlnAlways(c);\n myHRWrite(PWMPins[i], invertPWM(c));\n }\n\n printAck("OK set ");\n printAck(count);\n printlnAck(" pins");\n}\n\nvoid cmdSetPrintLevel() {\n if (char *arg = CmdMgr.next()) {\n if (CmdMgr.next()) {\n printlnAlways("Error: takes 0 or 1 arguments");\n return;\n }\n\n if (!PrintLevel::set(arg)) {\n PrintLevel::printErrorString();\n return;\n }\n }\n\n printAck("print level ");\n printlnAck(PrintLevel::toString());\n}\n\nvoid cmdServo() {\n Serial.print("Got Servo shit");\n \n }\n\n///////////////////////////////////////////////////////////////////////////////////////////////////////////\n// setup & loop\n///////////////////////////////////////////////////////////////////////////////////////////////////////////\n\nvoid setup() {\n Serial.begin(115200);\n ledcSetup(ledChannel, freq, res);\n ledcSetup(ledChannel2, freq, res);\n ledcSetup(ledChannel3, freq, res);\n ledcSetup(ledChannel4, freq, res);\n\n ledcAttachPin(13, ledChannel);\n ledcAttachPin(14, ledChannel2);\n ledcAttachPin(12, ledChannel3);\n ledcAttachPin(5, ledChannel4);\n WiFi.begin(ssid, password);\n Serial.println("");\n\n // Wait for connection\n while (WiFi.status() != WL_CONNECTED) {\n delay(500);\n Serial.print(".");\n }\n Serial.println("");\n Serial.print("Connected to ");\n Serial.println(ssid);\n Serial.print("IP address: ");\n Serial.println(WiFi.localIP());\n\n // Set up mDNS responder:\n // - first argument is the domain name, in this example\n // the fully-qualified domain name is "esp8266.local"\n // - second argument is the IP address to advertise\n // we send our IP address on the WiFi network\n if (!MDNS.begin("esp32")) {\n Serial.println("Error setting up MDNS responder!");\n while (1) {\n delay(1000);\n }\n }\n Serial.println("mDNS responder started");\n\n // Start TCP (HTTP) server\n server.begin();\n Serial.println("TCP server started");\n\n // Add service to MDNS-SD\n MDNS.addService("telnet", "tcp", 23);\n}\n\nvoid loop() {\n CmdMgr.readSerial();\n WiFiClient client = server.available();\n if (client) { // if you get a client,\n Serial.println("New Client."); // print a message out the serial port\n String currentLine = ""; // make a String to hold incoming data from the client\n while (client.connected()) { // loop while the client's connected\n if (client.available()) { // if there's bytes to read from the client,\n char c = client.read(); // read a byte, then\n CmdMgr.handleChar(c);\n Serial.write(c); // print it out the serial monitor\n }\n }\n }\n}\n\n\n}}}
\nThe page used for controlling the RGB LED shown is available here\n\n\nhttps://github.com/cpyarger/rgbSlider
<html>\n<h4> Three RGB LED boards</h4>\n\n<img src="http://docbox.flint.com/~cpyarger/pwmboard/IMG_20171120_164417.jpg" height="50%" width="50%">\n<h4> Overview of the three channels and the ESP32S Micro-Controller</h4>\n<img src="http://docbox.flint.com/~cpyarger/pwmboard/IMG_20171120_164425.jpg" height="50%" width="50%">\n<h4> Close-up of the Blue Channel</h4>\n<img src="http://docbox.flint.com/~cpyarger/pwmboard/IMG_20171120_164600.jpg" height="50%" width="50%">\n<h4>Close-up of the Red Channel</h4>\nNotice the Voltage divider, in place because while the Green and blue channels can run at 36v the red Channel requires 26 Max\n<img src="http://docbox.flint.com/~cpyarger/pwmboard/IMG_20171120_164739.jpg" height="50%" width="50%">\n</html>
Type the text for '7 May 2018'\n\nhttp://organize.7rnx.net/projects/sad-robot-workspace/wiki/Together-test