Flying Ghost

A ghost that "flies" around the street on Halloween night

scott-duckworth

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Description

  • Components 0
  • Instructions 0
  • Discussion 5

November 1 update: IT WORKS!!!

It's a day late, but it works! I couldn't be happier!!!

Fixing that integer overflow bug did the trick!

I still need some tuning before I can call it reliable or smooth. But oh my gosh, it works!

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Halloween night update

I had a hunch at 3pm today, quickly confirmed the hunch, and was able to quickly fix the central controller crash. It wasn't a crash at all, but rather getting stuck in an infinite loop when the radio received an unexpected packet (this is the 2.4GHz ISM band, so that packet could have come from anywhere). This was an easy fix, and after a few minutes of steady operation in the garage I decided to give it a shot.

I shifted into high gear and contacted my neighbors, asking if I could still use their roof. Amazingly, they both said yes (they are very patient with me!) but I didn't have a ladder tall enough to reach one of their rooftops, and not enough time to borrow the ladder from another friend, so I had to use the highest point on the neighborhood playground instead. I was literally running all over the street with a ladder, clamps, power cords, and motor assemblies. I was sweating bullets.

I hooked up the ghost to perform initialization. The moment of truth. Everything seemed to go smoothly with the procedure! Initialization finished and it told me the distance between houses was...negative?

In a scramble, I wasn't thinking clearly and just overrode the value to the absolute value that I was given. I tried moving the ghost to a point and the motors were fighting one another. The position numbers didn't make sense.

I did some last minute hacking and debugging on the controller. I rebooted it so many times, my phone decided it just wasn't gonna talk to the ESP32 on the network any more, so I was typing commands on my desktop and running outside to see if it worked.

Nothing. Made. Sense.

As trick-or-treaters started walking down the street, I let out a giant sigh. So close!

I left the ghost hanging in mid-air with its red eyes  (flashing LEDs) turned on for a "normal" over-the-top Halloween decoration. Really, how many people string up a ghost from the rooftop of houses across the street?

Halloween night was still fun and chaotic. Lots of kids came, and we had friends over. Everyone enjoyed my Halloween props that I had made last year, including an automated coffin that opens with a skeleton that pops out and screams and sings, and some hidden spiders on stepper motors that drop from the ceiling of my porch. Some kids noticed and pointed at the ghost with flashing red eyes hanging way overhead.

But my mind was going a million miles an hour the whole time thinking what went wrong. I suspected integer overflow in the encoder counter, and snuck away from the chaos for a few seconds here or there to check various points in my code. Best I could tell, the encoder counter shouldn't overflow until it reached 214 meters, and the houses were much closer than that. Once the data was in the central controller, everything was in floating point, so an integer overflow wasn't possible there.

The chaos ended. Halloween was over. I sat down at my computer for 30 seconds of uninterrupted debugging and almost immediately found the bug.

That int16_t should be int32_t, as that's what the position fields are. This number represents the distance in millimeters between motors, so anything over 32.767 meters would be problematic. This is effectively the first step after receiving a packet in the central controller, as it is being converted to floating point.

Being on the central controller, this would have been fixable.

I just needed 30 seconds more...

Next year there will be a flying ghost on my street.

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flying ghost hack

Very cool, I actually wanted to do something similar at one point as my wife loves Halloween.  The question is how did you set the positions of all of your different actuators to crunch the tripod kinematics, or didn't you really care. Here is a link to me doing beer cans in my basement shop with actuators somewhat similar.  https://hackaday.io/project/166527-cable-robot

  Are you sure? yes | no

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Very cool! These seem like very similar implementations.

During my homing procedure, I measure the distances between each pair of motors A and B with the following steps:

1) Zero motor A 2) Disengage motor A 3) Zero motor B 4) Tension motor A (measuring tension with the load cell) 5) D(A, B) = the linear position of motor A (measuring linear position with the encoder)

With 3 motors, this leaves me with 3 distances representing the lengths of 3 sides of a triangle.

I define the coordinate of motor 0 to be at (0, 0).

I define the coordinate of motor 1 to be straight out the X axis at (D(0, 1), 0)

The coordinate of motor 2 can be derived using the law of cosines and rotating the vector (D(0, 2), 0) by gamma. I assume that the motors are ordered in a counter-clockwise layout.

I can then apply an arbitrary translation and rotation offset to the resulting points so that the cartesian system is positioned how I like it.

This all assumes a 2 dimensional basis, and you could project this onto 3 dimensions by fabricating a Z value (e.g. assume 0). I have plans to capture the Z height of each motor using differential barometric pressure sensors - I have implemented this, but haven't tested it yet.

Very interesting. I always started with known actuator points and never really considered a dynamic homing process. All of my actuators were in my shop at the same height on the wall, and I manually measured the distances. What I understand here is that the combination of an encoder and load cell is used to have the actuators measure their distances apart as part of an initial homing procedure. That is a neat idea. 

The more I look at your project, the more I realize we had similar thought patterns around stepper motor torque curve at different power and velocities. I found that once the ghost prop became saturated with rain and weighted down, the motors started stalling frequently (just a few minutes after I recorded the video of it working).

Like you, I also considered lower gearing, or just a smaller spool diameter, but was aware about the torque curve at higher speeds. I had mentally come to the same conclusion as someone commented on your project - it all just comes down to power (watts), so changing the mechanical advantage probably won't move the needle much.

Like you, I'm running my drivers at 36V. I have the drivers set for 2.69A per phase, which maxes out my power supply's rated current. My stepper motors themselves are rated for up to 4.2A, though my current stepper driver is only limited to 3.2A. I may need to beef up my power supply and motor driver to prevent stalling.

Although... I've configured my motors to slow down linearly between 30 and 40 pounds of line tension, and I noticed that the stall would happen right around when the motor started slowing down. My spool diameter is 50mm, so that's right around 30 inch-pounds of holding torque, which is already above the motor's claimed 26.5 inch-pound holding torque. So I may actually need a bigger motor, too.

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I honestly don't mind that bounciness at all -- ups the creep-factor a notch or two. And the stepper noise is perfect -- sounds like the witch is moaning or crying. Love it!

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About     Awards     Links     Suggest a site

The Monsterlist of Halloween Projects is the most complete collection of links to pages with do-it-yourself projects on them that I know of. These are not your little kids Halloween crafts, every scary devious seriously spooky prop and project designed for truly scaring people is listed here. Most importantly, the list is checked for accuracy. This is not an all-inclusive list of everything Halloween, the Monsterlist of Halloween Projects has no popup ads or sponsors, it is a volunteer site and will stay that way. It is not an index of professionals pushing their wares or a advertising link for haunted houses. It is simply a gathering place of projects and ideas that people who build their own Halloween props can use. Usually I have linked to the project page itself however I recommend browsing from there to the owners main Halloween page, there is usually plenty of interesting Halloween information. 

799 Project links validated at the last update

In the list below are plans and/or descriptions detailing how to build your own scares for Halloween. Each link opens in a new window. NOTE: The owners, developers, and authors of this web page and web site are not responsible for the misuse of the information provided on this page and web site and do not take responsibility for any use or outcome of the same. Please use common sense and the utmost safety precautions when designing and deploying special effects, props and decorations. 

flying ghost hack

How To : Make a flying crank ghost on Halloween

Make a flying crank ghost on Halloween

Check out this Halloween tutorial video to learn how to make a flying crank ghost. This is essentially like making a big Marionette ghost puppet. All you need is the following easy to find materials: a styrofoam skull, 7 wire coat hangers, black spary paint, pliers, cheese cloth, tacky glue, and laundry detergent. This flying crank ghost promises to be a delightful scare on Halloween trick or treaters!

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Halloween Props: Flying Crank Ghost

[Jake’s] projects have become regular features here on Hack a Day. He keeps the Halloween hack-fest rolling with his Flying Crank Ghost . For the ghost he used a store-bought skull but sculpted some hands himself out of Styrofoam. The body is fashioned from coat hangers with a bit of creepy fabric draped over the hole thing to complete the look.

He added some very convincing motion to the ghoul using a salvaged microwave turntable motor. The motor is mounted in the center of a two crossed boards, and has an armature attached to it. Three strands of monofilament attach to the end of the armature, run through eyelets on the ends of the crossed boards, then attach to the head, and each arm. When the motor is turned on, the armature turns, moving the head and hands up and down at different rates. Take a look at the embedded video after the break to see the final product.

[Jake] does mention that the motor he used is a bit underpowered. We figure this only needs to hold up for one night, so dig through your junk bin and see if you can throw one of these together in a few hours.

[vimeo=http://vimeo.com/7010705]

flying ghost hack

5 thoughts on “ Halloween Props: Flying Crank Ghost ”

Super creepy. Nice job!

CREEPY! But very awesome looking. Now add a motion detector and dimmer then slowly light it up and move it when kids get close to your house.

This is a good idea. I cannot try it without these tools. In my side, I search an idea on Halloween 2009

Wow, only 3 replies? I freaking love this project, I’m totally going to build it one day.

Anyone have information on how to power this microwave motor?

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    Idea: Make a ghost that "flies" around the cul-de-sac in front of my house on Halloween night. Concept: The ghost hangs from 3 (or more) fishing lines. Each line is connected to a spool driven by a motor that is mounted atop a high point somewhere around the cul-de-sac. By adjusting the length of line extended from each mounting point, the position of the ghost can be manipulated in 3 dimensions.

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