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FLL EV3 Robot

This blog post is about our current EV3 robot we're planning to use in the 2023/2024 FLL competition. Some features: 2 large motors for steering. 2 medium motors for attachments.  2 colour sensors for picking up the white and black lines, also used for line squaring. 1 gyro sensor. To enable attachments to be changed as quickly as possible we're using gravity to keep the gears connected, i.e. you don't need to fasten anything to the robot. Every attachment has 2x 12 tooth double bevel gear (part 32270) which comes in contact with the 2x 20 tooth double bevel gears (part 32269) on the robot. The medium motors are horizontally aligned on the robots, but we use 12 tooth double bevel gears to convert that to vertical alignments. These in turn are connected to 20 tooth double bevel gears, and the attachments in turn connect to these 20 tooth double bevel gears with their 12 tooth double bevel gears.  The complete robot is modelled in Bricklink Studio 2 . You can download the rob...

Connect from Windows 8.1 to Hyper-V 2012 Server using Hyper-V Manager

Let’s assume you have a HyperV 2012 server available and trying to connect to it from a Windows 8.1 machine. First you need to install the Hyper-V Manager tool. Go to Control Panel – Programs – Programs & Features – Turn Windows features on or off. Expand Hyper-V and select Hyper-V Management Tools. Once installed run Hyper-V Manager and click on Connect to Server… Specify your server name or IP address (in my case it’s HYPERV2012) and click on OK. It will try to connect but give you the following error: Access denied. Unable to establish communication between ‘HYPERV2012’ and ‘WIN81’. To help in setting up a connection there is a nice tool available from https://code.msdn.microsoft.com/windowsdesktop/Hyper-V-Remote-Management-26d127c6 . You need to download hvremote.wsf (it’s a Windows Script File) and run it on both the server & the client. There are various options between server and/or client on a domain, but in this example I’ll assume both ar...

Install & configure Hyper-V Server 2012 R2

Hyper-V Server 2012 is a free edition of Server 2012 with fully functional Hyper-V capabilities. It excludes the GUI from the server edition, but you can administer the box from any external computer running Windows 7 or higher. It’s also possible to enable file sharing, implying the server can act as a backup machine. In addition it’s possible to install third party software which will give you a GUI-like experience at no cost.  First you need the Hyper-V 2012 ISO which can be downloaded at https://www.microsoft.com/en-us/evalcenter/evaluate-hyper-v-server-2012-r2. You’ll need to register before you can download. After downloading you’ll need to write this ISO either to a DVD or USB drive. For both options you can use the Windows USB/DVD download tool available at https://www.microsoft.com/en-us/download/windows-usb-dvd-download-tool. Boot your server with this ISO and you’ll get the following screen: Click Next and on Install Now. You’ll have to accept the licen...

Linksys WRT54GL wifi access point with Power over Ethernet (POE)

To add another wifi access point to my existing network I've used an old  Linksys WRT54GL. I've installed OpenWRT 10.03.1 because later versions doesn't fit on the 4MB flash. First this router should only act as an access point on the existing network, i.e. we don't need any NAT or a new network subnet with it's own DHCP server set up. We'll connect this router via an ethernet cable to the existing network. Because we don't need a WAN port we can first set up the switch that all ports all equal. Then secondly we can simply bridge our ethernet ports to the LAN interface. Your etc/config/network should have these sections: config 'switch' 'eth0'         option 'enable' '1' config 'switch_vlan' 'eth0_0'         option 'device' 'eth0'         option 'vlan' '0'         option 'ports' '0 1 2 3 4 5' config 'interface' 'lan'         option ...

OpenWRT router connected to two networks

This post will explain how to set up your OpenWRT router to connect to two networks and configure it to route the traffic to the correct network. In this case we will connect both to a corporate network (i.e. enabling you to access the corporate network) and the internet (via an Internet Service Provider). Although most corporate networks allow you to access the internet they usually block specific ports (e.g. for Remote Desktop) and apply all sorts of weird and wonderful restrictions. I'm using an old Linksys WRT54GL with OpenWRT Backfire 10.03.1. Later OpenWRT releases can't run on the WRT54GL due to limited memory, but OpenWRT 10.03.1 is capable enough of doing this type of work. To access the corporate network I'm using the WAN port on the router (eth0.1), mapped to interface WAN. For access to the internet I'm running Wifi in client mode (wl0), mapped to interface WWAN. In principle it does not matter how you connect to the different networks - it could be ...

Install OpenWRT 14.09 on TP-Link MR3420 with Huawei E353 3G dongle

This post will describe how to install OpenWRT 14.09 on a TP-Link MR3420 router, plus configure it to use a Huawei E353 3G dongle to connect to the internet. First download the firmware, plus extra packages we'll need later. Store this on your computer: http://downloads.openwrt.org/barrier_breaker/14.07/ar71xx/generic/openwrt-ar71xx-generic-tl-mr3420-v1-squashfs-factory.bin http://downloads.openwrt.org/barrier_breaker/14.07/ar71xx/generic/packages/base/kmod-mii_3.10.49-1_ar71xx.ipk http://downloads.openwrt.org/barrier_breaker/14.07/ar71xx/generic/packages/base/kmod-usb-net_3.10.49-1_ar71xx.ipk http://downloads.openwrt.org/barrier_breaker/14.07/ar71xx/generic/packages/base/kmod-usb-net-cdc-ether_3.10.49-1_ar71xx.ipk http://downloads.openwrt.org/barrier_breaker/14.07/ar71xx/generic/packages/base/kmod-usb-net-rndis_3.10.49-1_ar71xx.ipk http://downloads.openwrt.org/barrier_breaker/14.07/ar71xx/generic/packages/base/libpthread_0.9.33.2-1_ar71xx.ipk http://downloads.openwrt.org/...

Raspberry Pi: Configuring MPD to transmit FM

Using PiFmRds  you can use your Raspberry Pi to send out FM radio signals. It's using a GPIO pin originally designed to generate spread-spectrum clock signals, but by modulating the clock frequency you can create FM radio signals. Note that the signal is a square wave, implying you'll transmit radio energy not only on the primary frequency but also on harmonics which could cause interference on other devices. Usually this will not be a problem because of the low power output, but you have been warned. MPD is an excellent music player with various user interfaces  on all types of devices. So the idea was to configure MPD to output to FM radio. First of all you need to install   PiFmRds . Make sure you can send FM radio using the sample files. For some reason stereo audio gave issues, so I'm using mono audio for the moment. Secondly you need to have MPD installed and running. It implies you need to have some audio files in your library to play, plus you need a client...

Network simulator: DummyNet on Hyper-V

DummyNet allows us to shape a network (latency, upload & download speeds). It runs on FreeBSD. In this example Hyper-V will be used to create a VM that acts as a bridge between two networks (switches). Based on http://www.packetu.com/2014/01/01/building-bad-network-dummynet/ and adapted for Hyper-V. Create new private switch You also need to create a new private switch. The idea is that DummyNet will be installed between a server and your normal network (switch). So instead of connecting the server to your normal switch, connect it to the private switch. DummyNet will act as a bridge between the private switch & normal switch, meaning traffic on one network will be replicated to the other network and vice versa, plus it will shape the traffic. Install FreeBSD Download FreeBSD 10. You only need the CD ISO as we’ll install a bare system. Create a new VM called DummyNet with 128 Mb RAM, 2GB harddisk and...