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const {
    aws_route53: route53,
    aws_certificatemanager: acm,
    aws_ecs: ecs,
    aws_ec2: ec2,
    aws_ecr_assets: ecr_assets,
    aws_elasticloadbalancingv2: elbv2,
    Stack,
    CfnOutput,
    IgnoreMode,

SharpCoder

A 2D (XY) Robotic Platform

Here are the files for my 2d robotic platform. Each file is meant to be fabricated on a 3d printer (except the assembly.scad file, which is really just a visualization for the final build).

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function getAABB(rect: Cuboid) {
    const result = {
        min: [rect.x, rect.y, rect.z],
        max: [rect.x + rect.w, rect.y + rect.h, rect.z + rect.d],
    };

    // Swap the vertices if the min/max is reversed
    // because of orientation or whatever.
    for (let i = 0; i < 3; i++) {
        if (result.max[i] < result.min[i]) {

SharpCoder

Absolute Orientation Problem

This project is all about calculating the position of a telescope. I derive absolute orientation using a magnetometer sensor and accelerometer sensor. By absolute orientation, I mean deriving the euler angles of the telescope. The root problem I'm facing is that the yaw reading experiences a mostly linear error after pitching the device beyond a specific threshold. (About 50 degrees or so).

Reproducing the Problem

To consistently observe the error, a simple experiment can be performed which reliably yields the problem.

Experiment

SharpCoder

#![allow(unused)]

use chrono::prelude::*;
use std::f64::consts::PI;

type Float = f64;

#[derive(Copy, Clone)]
pub struct GpsCoordinate {
    pub latitude: Angle,

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SPACING = 1.5;
W = 25;
H = 100;

module grate(W, H, SPACING) {
    for (i = [0:W/SPACING/2]) {
        translate([(SPACING * 2 * i) - ((W-SPACING)/2), 0, 0])
        square([SPACING, H], center=true);
    }
}

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Bit Smoosher

This algorithm will take a 10/12/14 bit word and distribute it among 2 8-bit words. But in a lossless, efficient way. Why might someone want this? Well, it lets you stream uniquely sized words over 8-bit serial. That's why I need it anyway. Here's an example:

Suppose you have an 8-bit serial port and you want to stream 12-bit audio at 8kHz. Well, serial is typically maxing out around 115200 bits/s. You can't just use 2 bytes per datapoint, because you'll generate too much content. In order to solve

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$fn=100;

mount_base_w = 32.4;
mount_top_w = 23.8;
mount_depth = 10.0;

splitter_stem = 7;
splitter_height = 30;
platform_length = 45;
platform_angle = 22.5;

SharpCoder

@font-face {
  font-family: 'Roboto-Regular';
  font-style: normal;
  font-weight: 400;
  src: url('/custom/fonts/Roboto-Regular.woff2') format('woff2');
}

:root {
    --main-bg:         var(--white);
    --main-text:       #000;

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pub fn interpolate(start: u32, end: u32, elapsed: u64, duration: u64) -> u32 {
    // Calculate step
    let x0 = 0f32;
    let y0 = min(start, end) as f32;
    let x1 = duration as f32;
    let y1 = max(end, start) as f32;
    let x = min(elapsed, duration) as f32;
    let delta = (x  * ((y1 - y0)/(x1 - x0))) as u32;
    if start > end {
        return start - delta;