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Background:
6 propeller drone w 20C 3s 6400 mAh 11.1 liPO battery
4 propeller drone w 25C 2s 5000 mAh 7.40 liPO battery
Behavior:
Drone 1 flies with ease
Drone 2 struggles hover 2-3 inches above ground
Question:
The microcontroller, all props, ESCs, and motors are the same. I'm thinking the reason the drones are fl... |
I need to build a conversion/mapping algorithm from a controller (PID etc.) output to the duty cycle in order to command my bldc motor via esc. I couldn't do it yet because l think l dont know the meaning of controller output. Anybody highlights my way?
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I have a 16 Channel Servo Driver board from Adafruit (see here), and I communicate to it via I2C using a Raspberry Pi. The servo board is controlling a Qbrain by sending a PWM pulse between 1ms to 2ms and it works great.
Problem is, I'm trying to create a kill switch such that the signal from the servo board would ceas... |
The task of the robot is as follows.
My robot should catch another robot in the arena, which is trying to escape. The exact position of that robot is sent to my robot at 5Hz. Other than that I can use sonsor to identify that robot.
Is that possible to estimate the next position of other robot using a mathematical model... |
I'm working on a 2-wheeled robot and have connected up a raspberry pi to an L298N motor driver.
I'm sending the enable pin of a particular motor a software-generated PWM signal at 100Hz with a 50% duty cycle. I observe with an osciloscope:
a fairly clean square wave going into the enable pin as expected.
a fairly dir... |
My Background:
My experience is in solid mechanics and FEA. So I have zero experience in robotics/controls.
Problem Description
I'm developing a control strategy to stabilize a complicated 6-legged dynamical system. Torques Ti from each leg's joints will be used to create a net moment M on the body, stabilizing the... |
I saw Buddy's page and want to purchase for my SLAM research. However, I wonder is it possible to program Buddy for SLAM?
According to Buddy's spec, they're only few IR's, sonars and a camera. As I know, most SLAM algorithms are implemented with powerful sensors such as RGBD/stereo camera, or even laser range finder.
... |
I am using ikfast in OpenRave for my inverse kinematics. This is an analytical solver, so if your robot's DOF matches the IK type's DOF, then you get all possible solutions. But if your robot has more DOFs, then you need to pick some joints to have a constant value. (However, if you use OpenRave's Python interface i... |
I try to find out the relation between rpm vs. thrust for a battery+motor+propeller combination. the image shows my setup and also the measurement result. Can anyone explain how l should use this datas (I know Kv.v gives the rpm but my voltage values decreasing because of P=V.I relation etc.)
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Can I connect a UDOO board to a PC using a straight-through ethernet cable? Or do I need a cross-over cable?
As far as I know, most modern devices can use the two interchangeably. However, I am not sure if a UDOO can do that. Anyone with any experience?
Thank you for your help.
(PS: I don't have a UDOO on me at the mom... |
Say I had an object with 4 motors/wheels attached (in a fairly standard arrangement).
I need to calculate the amount of torque required from the motors to be able to move the object of x kilograms consistently (without skipping any steps) at a velocity of y, travelling up a slope of angle z.
I'm guessing this would als... |
I am trying to implement an EKF-SLAM using the algorithm for unknown correspondences proposed in the book "Probalistic Robotics" by Sebastian Thrun in Table 10.2 .
By now I understand actually all of the algorithm except of the initialization of new landmarks in the covariance matrix $ P_{new} $.
In that algorithm wh... |
I'm using Matlab to suppress low frequency components with a high pass filter.
Objective
Filter angular velocity measurements affected by high frequency noise and bias in order to get the best estimate of the angular position.
The output when the gyroscope is still looks like this.
First Approach
The easiest way to... |
I have an arduino, wires, resistors, all of that good stuff. However, I don't have materials to build the structure of the robot. What do you guys recommend? I don't have a place to solder yet so I can't solder but is there a kit or material that you guys recommend? Will it work well with motors and other stuff? Thanks... |
I am working on a project that needs tracking location and speed of pedestrians/runners/athletes (so not really robotics, but I see a lot of related usage and posts in the robotics domain, and an answer to this question could help with follower robots). I'm interested in just the 2D location (latitude-longitude).
Using... |
I want to use a sensor to find displacement with accelerometer.
How can I use accelerometer to find displacement? I want to use this for a quadcopter.
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How quadcopter's arm length affect stability?
As per my view I'll have better control on copter with longer arms but with stresses in arms and also it doesn't affect lift capabilities.
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We're building an 6dof joystick, and we need to accurately measure the displacement of our central device. We can easily use a mechanical connection to the edges, but there has been some discussion about what the best way to achieve this is. The range of motion will be fairly small, but accuracy is incredibly important... |
I'm searching for a (commercial) projector that just projects a single laser point into the world (e.g. using two moving mirrors). However, I'm struggling because I'm not sure what such a thing is called. I either find area projectors that use lasers, party equipment or laser pointers.
What is the name for such a devi... |
How are the brushless motors in a gimbal assembly designed?
Obviously it doesn't need continual rotation, but it does need accurate control of precise position. I've noticed that the motors in my gimbal don't have the usual magnetic 'snap' positions that my other motors do.
What are the primary design differences in t... |
I have created a three wheeled omni robot like the diagram below. Now I am unsure of how to program it. I want to use a single joystick so one x and one y value. The values for x and y are between -1 and 1, also the motors can be set anywhere from -1 to 1. How do I use this data to make the robot move based on the joys... |
I'm working on a Python script which reads the data from the MPU6050 IMU and returns the angles using sensor fusion algorithms: Kalman and Complementary filter. Here is the implementation:
Class MPU6050 reads the data from the sensor, processes it. Class Kalman is the implementation of the Kalman filter. The problem is... |
I am currently working on a pose estimation problem for which I would like to use filtering. To explain the system briefly, it consists of two cameras and each has its own GPS/IMU module. The main assumption is that Camera1 is fixed and stable, whereas camera2 has a noisy pose in 3D. I am using computer vision to obtai... |
I am trying to build a 2-axis robot arm with pan and tilt mechanism. The gripper/holder will hold an object weighing 300 grams. The total weight of the arm including the motors will be around 2 kg. I have decided to use 180 degree servo motors. The maximum arm reach will be 340 mm.
what I want to ask is:
What kind of... |
Are there any standards regarding single vs multiple MCU in a robotic system? More specifically, if a single MCU can handle all of the sensor data and actuator controls, is it better to use a single MCU or multiple MCUs in a hierarchical manner? Are there any references/papers regarding this topic? What are the argumen... |
I am young researcher/developer coming from different (non-robotic) background and I did some research on camera localisation and I came to the point, where I can say that I am lost and I would need some of your help.
I have discovered that there is a lot of SLAM algorithms which are used for robots etc. As far as I kn... |
I want to control a brushless motor with the "EMAX Simon Series 30amp ESC" and Arduino (Leonardo) board. I am really confused how to do that. I can't understand which beep sounds mean what. I have tested many code examples but they weren't useful.
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Hi there I just found this old Rx & Tx in my loft and need to know weather it is compatible with my APM micro 2.7.2. I already have telemetry but that does not give me manual control. My guess is I need a new Rx because the current one will make a hash of the electronics on the APM. Thanks in advance[![enter image desc... |
Could I have your opinions on PID type selection?
System description
Here comes a very simple system: $\mbox{Output}(t) = k * (\mbox{Input}(t) + \mbox{systemVariable}(t))$. $k$ is constant and $\mbox{systemVariable}(t)$ is a system variable which may change according to time.
The goal of the whole system is to mainta... |
I am working with an STM32F103C8 which has a flash size of 64kBytes.
Now i am using ChibiOS 2.6 and the build file is a binary file of 82kBytes.
Using ST-Link Utility, the program is getting dumped into the microcontroller's flash.
My question is how come a 82kB code fits in the 64kB Flash?
How is the size of that .bi... |
I need an iRobot Create Serial Cable (one end 7-pin Mini-DIN Connector and the other end is USB) for Turtlebot I. How can I connect my bot to my PC?
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I know that RC servo motors are designed for precise movement, rather than a D.C. motor's continual rotation. Are most RC servo motors limited to movement within one rotation or can they actually be made to continually rotate? That is to say, is their movement limited to a specific arc? Or does it depend on the type of... |
I am currently working on a balancing robot project, which features fairly low-cost sensors such as an 9-Dof IMU with the measurement states
$\textbf{x}_\text{IMU} = \left[a_x, a_y, a_z, g_x, g_y, g_z, m_x,m_y,m_z \right]^\text{T}$.
Currently I use the accelerometer and gyroscope readings, fused by a complimentary filt... |
I want to conduct the following experiment:
I want to set up a scene with a kuka lwr4+ arm, a 3D model of an object and a camera overlooking them. I want to find the pose of the object using some pose estimation algorithm and move the arm towards the object.
In general I want a piece of software or a combination of co... |
I am new to the create 2 and I downloaded real term to program, opened an interface to the robot and send numbers with it to the robot.
I can only get the drive command to work. I only know how to make the robot go faster, turning around or slower.
I would like to know how to make the other commands work along with mak... |
Recently we've encountered Kalman filter algorithm for state estimation in a course of Probabilistic Robotics.
After taking several days to try to read Kalman's original paper published in 1960, A New Approach to Linear Filtering and Prediction Problems, it firstly feels a bit difficult to read, and it seems the majori... |
Can anyone please explain me these lines found on page 5 of
Kinematics Equations for Differential Drive and Articulated Steering
by Thomas Hellström?
Note that plugging in $r$ and $v$ for both left and right wheel result in the same $\omega $ (otherwise the wheels would move relative to each other). Hence, the follow... |
I'm a agricultural engineering student and complete newbie trying to build a simple mechanism attached to a drone that dispenses a grease-type fluid. However, since I'm not familiar with the field, I'm having a hard time googling because I don't know the correct terms to search for.
I'm looking for a mechanism that wi... |
Suppose I have a 3 link(1 dimensional) chain in which all the joints are revolutes, the axis of first revolute joint is along Z-axis(global) and axis of second joint is along X-axis(global). The first link is along X-axis(global) and second link is along Z-axis(global).
Now in order to use DH representation I introduce... |
I try to read IMU sensor data from an Arduino mega 2560 UART with serial receive block of Arduino support package for simulink. The IMU can send binary packets and also nmea packets and I can configure it to any output. When the serial recieve block output is directly used, it displays just the numbers between 0-255. l... |
I was trying to reproduce this youtube tutorial in V-rep and I came across some problems concerning blob detection. There are some complaints on this matter under the video. I don't believe that blob detection stopped working in recent v-rep versions, but I was unable to make it work (as a new v-rep user myself). Has a... |
I'm trying to calculate the Jacobian for days now. But first some details. Within my Master's Thesis I have to numerically calculate the Jacobian for a tendon-driven continuum Robot. I have all homogeneous transformation matrices as I already implemented the kinematics for this Robot. Due to it's new structure there ar... |
I was wondering whether maybe you could help me with this problem. I have a double pendulum. I have set the origin of cartesian coordinates to be the "head" of the first arm, which is fixed. The end of the second arm is attached to a block that slides along the x-axis. What I want to do is to derive the equations relat... |
So, I need to know a couple of things about soldering. My primary workspace, robotics and otherwise, is a desk with a computer and only a little bit of free space (4 ft. by 6 in.). I am wondering if it is safe to solder in such a small area. Also, what level of ventilation do I need to solder safely? My desk is in a no... |
I've notice the IRobot Create 2 does not respond to the app's commands when it has been sleeping. If I press the Clean button and re-run the app then the robot is responsive to the commands.
My initialization sequence (Android/Java) using usb-serial-for-android:
port.open(connection);
port.setParameters(115200, 8, Usb... |
I am using 8051 microcontroller and a dc motor.What to do if i have to rotate the motor at any fixed rpm. Let's say 120rpm.
And if it is possible by generating pwm,how to do the calculations for the relation between duty cycle and rpm?
|
I want to create a rotating control mechanism that can turn a surface to face any direction in a sphere. My dad (an electrical engineer) said I can probably do it by connecting two servo motors together.
I am looking for a servo motor that can do what I want to do, which is moving the sphere with decent precision (wit... |
I'm a software developer not experienced in AI or machine learning, but I'm now interested in developing this kind of software. I want to develop software that recognizes some specific objects, specifically, animals from a video stream (or a sequence of static images).
I saw there's a library called openCV which is oft... |
Project Tango Development Kits come with a mini-dock (see picture below).
I am controlling the iRobot Create 2 by the mounted Tablet using the USB cable provided plugged into the mini-dock. (see docs).
The USB 3.0 port on the mini-dock is only functional when the tablet is docked. The port can be used to attach an e... |
I have a dual (sequential) loop control system controlling the angle of a rotational joint on a robot using an absolute encoder. I have tuned the inner control loop (for the motor) and am now working on tuning the outer loop (for the joint).
Example of a dual loop controller
When I disturb the system the response isn'... |
Like the title says.. Will it work? I know about the due 3.3 volt limitations.
I want to build a hexapod with 18 servo's.
The shield I am looking at:
http://yourduino.com/sunshop2/index.php?l=product_detail&p=195
If it isn't compatible. Is there an alternative shield which will work? I can't seem to find much for the d... |
The transmission of telemetry data between the ground base station and APM 2.x (Arducopter), using XBee, is not well documented. The only documentation is Telemetry-XBee, but it does not specify what XBee version is used. I have been checking and I guess is version 1 (this one has P2P link and the others not), but I am... |
My 6 joint robot arm structure doesn't meet the requirements for a closed form solution (no 3 consecutive axes intersecting at a point or 3 parallel axes...).
What would be best method to adopt to get solution in 1ms or less? Estimation accuracy of 1mm. I'm assuming the computation is done on an average laptop Intel ... |
Is it possible to localize a robot without any sensors, odometer and servo motors?
Assume robot has dc motors and no obstacles.
|
I would like to locate the position of a stationary autonomous robot in x-y-z axis relative to a fixed starting point.
Could someone suggest sensors that would be suitable for this application?
I am hoping to move the robot in 3D space and be able to locate it's position wirelessly. The rate of position update is not i... |
My goal is to move robot in certain points as shown in the figure. It's initial position is (x0,y0) and move along other coordinates.
I am able to track robot position using a camera which is connected to pc and camera is located at the top of the arena. I've mounted a ir beacon on the robot, camera find this beacon a... |
Can i charge a lipo nano tech battery over imax b3 charger. 2650mah 35/70c 3s is the battery
|
Let's say I would like to use an EKF to track the position of a moving robot. The EKF would not only estimate the position itself but also variables affecting the position estimate, for example IMU biases, wheel radius, wheel slip and so on.
My question is, is it better to use one big EKF (state vector containing all e... |
I am new in this field, I am looking for some high precision gyroscopes and accelerometers for attitude measurements.The precision requirement is around 0.2~0.5 deg/s dynamic.
I have done some digging myself, not a single integrated MEMS sensor can do that without costing too much. So some heavy math is needed but ... |
I have a mobile robot and I would like it to follow the walls of a room.
I have:
A map of the room.
Wheel encoders for the odometry.
A Kalman filter for fusing data from wheel encoders and IMU.
A Hokuyo lidar for localization and obstacle avoidance
A Kinect to see obstacles which can not be seen by the Hokuyo.
Amcl... |
I'm building my first quadcopter, and these are the components I intend to buy:
Motor: EMAX BL2212 1400 KV Brushless Outrunner Motor around 0.9 kg thrust:
Flight Controller: Multiwii V2.5 Flight Controller
Propellers: I don't know which one to get: fut-electronics propellers collection
GPS: Skylab UART GPS Module S... |
Why are 'cell decomposition' methods in motion planning given the name, "combinatorial" motion planning?
|
Using an IMU (gyro, accelerometer and magnetometer), as found in most smartphones, can I detect the differences between tilting the device, say forward, along different (parallel) axis positions?
To clarify, if the axis of rotation is far from the sensor, the the motion contains a translational component.
Can the dist... |
I have a rig for which I have a pretty good estimate of the static transformation between the camera and a joint based off of the CAD. It has some errors though and I was hoping to fix it by doing a hand eye calibration. So, I started off with generating some data based off of the transformation that I have already. Fr... |
I wanted to know if there is any sort of archive of mechanisms that contains a brief description of mechanisms like there type of motion and forces involved. Not lengthy derivations and other stuff.
|
I am trying to make line following robot. I am using atmega328p mcu, pololu 10:1 motors, pololu qtr6-rc sensor, 2s li-po. Here is my code:
/*
* LineFollower.c
*
* Created: 30.04.2015 16:00:05
* Author: Mikk
*/
#define F_CPU 20000000 //we're running on 20mHz clock
#define numberOfButtons 1
#define READPORT ... |
I am a student of BE taking Mega-Quadcopter as my final year project.Can u please help me with the total hand calculations of the mega-copter i.e its procedure and formulaes? . I wanted to know how to calculate the dimensions of frame,specifications of motor and propeller,the rating of ESC's and the power rating of the... |
I recently discovered this ROS-package: http://wiki.ros.org/laser_ortho_projector .
Which is basically exactly what I need. However I am not using ROS, so I need to do what is been done in this package myself.
Basically the information I have is the range measurement r and the angle theta for every measurement point of... |
I have built quadcopter but the problem is of balancing. It doesn't goes up. I am using PID technique for balancing. But I am not finding the suitable values for PID tuning. I am using mpu6050 as a sensor. I get the accelerometer values of x and y axis and find the error from them. That is lets say if accel on x is not... |
I need a basic erector set that the parts will fit with servo motors and dc motors. Preferably below $100. I've looked at Minds-i basic set and it looks good except I don't know if it will function with my servos without hot glue or extensive modifications.
If it matters, I am making a bipedal robot so I don't require... |
Is there a firmware upgrade for available for the Create 2? I had some issues in March when using these for assigning a University of Tennessee programming project. We are getting ready to use them again (we have 10 now) and I'd like to get them all updated to the latest firmware.
|
I'm not sure if this is the right place to post this but here goes.
So, as the title states, I'm planning on building a desk that doubles as an air hockey table which has a robot on the other side.
The robot would be mounted on a rail which should be able to go left and right using a linear actuator. It should be able ... |
I'm building a robotic tea-maker/watchdog robot and have a power problem. I would like to be able to have the robot approach a socket and insert the power cord of a cheap immersion heater (120V, 300W, see links below) to turn the heater on. However, the force and precision required to plug it into the wall is beyond th... |
I would like to know how to calculate the distance to each car when I run my application for an autonomous vehicle in real-time. In addition, I want to know how to implement the calculation in C++.
You can see in the images we can know the distance for each vehicle but I don't know what code I should use to make all th... |
I have two Series 1 XBees that won't be in transparent mode because they are in AT command mode when I'm not in X-CTU. I had asked for help elsewhere and no one had the answer except telling me about flow control.
The XBees had been configured properly with the MY and DL settings. I'm thinking maybe I should shorten ... |
Having a camera mounted on my robot and looking upwards, I want to estimate the distance of the ceiling as the robot moves and also the position of landmarks observed on the ceiling (lamps for example).
I know this is a structure from motion problem but I was very confused on how to implement it. This case is a much si... |
I've been looking at parts for a beginners robotics kit (I teach at a museum) and have been wondering about servos.
You can buy continuous servos with relative position encoders. But I can't find continuous rotation servos with absolute position encoders. Do these exist? If not, why not?
I understand that some forums d... |
This is a simple question that I can't seem to find the answer for but when setting up the weave function how exactly does frequency (Hz) determine how fast it moves back and forth?
In other words if I raise frequency will it move quicker or slower and what factors must I consider?
|
Is there any way to add a reset button to the Create2 that would be the equivalent of temporarily disconnecting the battery?
|
I am on the project quadcopter. So i have to use PID for stabalizing it. I think i am going wrong because i am adding the pid output to motors thrust. While the motors thrust means to be its acceleraTion. The reason of my previous statment is that when the quad is static in air(not goin up nor below), that time the thr... |
I was trying to implement the IBVS algorithm (the one explained in the Introduction here) in MATLAB myself, but I am facing the following problem : The algorithm seems to work only for the cases that the camera does not have to change its orientation in respect to the world frame.For example, if I just try to make one ... |
Is there a way I can control my arduino robot from anywhere in the world. The robot goes out of range of my home wifi so my wifi shield can't help. Is there a way to make sure the robot is always on the Internet no matter where it goes?
|
I'm looking for a complete tutorial textbook for how to build and control a quadrotor (dynamics, control, etc.).
I'm an engineer with a broad background in programming, mechanics, and control but it's been several years and I'm rusty. I was just wondering if anyone knew of a great "from the ground up" tutorial for quad... |
Which method is better, in term of accuracy, for detection of indoor localization of a drone. Camera based system or wireless techniques like WLAN or Bluetooth?
|
I want to control the attitude(roll, pitch, yaw) of a vehicle capable of pitching and rolling. To do this I have created a quaternion PID controller. First I take the current attitude of the vehicle converting it to a quaternion Qc and do the same for the desired attitude with the quaternion Qd. I then calculate the in... |
I'm implementing an extended Kalman filter and I'm facing a problem with showing the covariances to the user.
The covariance matrix estimate contains all the information we have about the current value estimate, but that is too much to display.
I would like to have a single number that says "our estimate is really good... |
What subjects are involved in robotics. If I want to build robots then what necessary things I need to learn consecutively as a beginner.
|
As far as I know, a robot sends orders as discrete signals. However, isn't computer simulation based on continuous simulation? Do you know if it may happen any important difference when comparing reality to simulation in some cases? I heard that cable-driven robots were quite sensitive.
|
I have recently built a raspberry pi based quadcopter that communicates with my tablet over wifi. The problem is that it drifts a lot. At first I thought that the problem was vibration, so I mounted the MPU-6050 more securely to the frame. That seemed to help a bit, but it still drifts. I have tried tuning the PID, tun... |
I currently have a description of my 22 joint robot in "classic" DH parameters. However, I would like the "modified" parameters. Is this conversion as simple as shifting the $a$ and $alpha$ columns of the parameter table by one row?
As you can imagine, 22 joints is a lot, so I'd rather not re-derive all the parameter... |
I am taking part in a robotics competition, where the challenge is to create a pair of robots which successfully navigate a series of obstacles. However, the rules state that of the two robots, only one must have a driving actuator. The other must somehow be moved by the other robot, WITHOUT PHYSICAL CONTACT.
I could ... |
I am the moment learning about rotation matrices. It seems confusing how it could be that $R_A^C=R_A^BR_B^C$ is the rotation from coordinate frame A to C C to A, and A,B,C are different coordinate frames.
$R_A^C$ must for a 2x2 matrix be defined as
$$
R_A^C=
\left(
\begin{matrix}
xa⋅xb & xa⋅xb \\
ya⋅yb & ya⋅yb
\e... |
// MPU-6050 Short Example Sketch
// By Arduino User JohnChi
// August 17, 2014
// Public Domain
#include<Wire.h>
#include <Servo.h>
Servo firstESC, secondESC,thirdESC,fourthESC; //Create as much as Servoobject you want. You
const int MPU=0x68; // I2C address of the MPU-6050
int speed1=2000,speed2=0,speed3=0,speed4;... |
I don's seem to be able to get any battery power from Create 2. I spliced the original cable it came with, and tried to use the power from red/purple(+) and yellow/orange(-) to power a Raspberry Pi2, with no luck. While the serial-to-USB cable still works, and I am able to command the robot via Python, there seems to b... |
What is the maximum rotational velocity of miniature ball-screw (diameters up to 12mm) for approximately 1000 thrust cycles, and which type/brand would that be, if the speed is limited by the ball return mechanism? The fastest I could find was 4000 rpm at 3000 N thrust, but this was from a datasheet with a big safety m... |
I am trying to understand how to use, what it requires compute the homogenous transformation matrix.
I know 2 points from 2 different frames, and 2 origins from their corresponding frames.
I how transformation matrix looks like, but whats confusing me is how i should compute the (3x1) position vector which the matrix... |
I'm currently undertaking a project to build remote controlled shades from scratch. I currently have every piece figured out except I don't know know much about the motors involved in something like this. I am looking for suggestions on what type of motor to search for. I imagine I need a type that can go forward and b... |
I'm developing a small scale cart-pole balancing robot consisting of two wheels driven by a single motor at the base (essentially like a unicycle, but with two wheels to constrain balance to a one dimensional problem).
I'm not sure what qualities to look for in that motor. I think the motor should be able to accelerat... |
Say we have a line-following robot that has a moving obstacle in front, that is a one-dimensional problem. The moving obstacle is defined by its initial state and a sequence of (longitudinal) acceleration changes (the acceleration function is piecewise constant). Let's say the robot can be controlled by specifying agai... |
These days I'm trying to build IR 40kHz long range receiver. I use ir phototransistor. I don't want to use components like TSOP... I need to make
daylight filter and intensify filtred signal because out of this sensor I wanna use with some microcontroller. Can someone help me? Any idea? Thanks.
|
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