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Only You, or ESP8266 Forever!
01-28-2017, 10:36 AM
Post: #61
RE: Only You, or ESP8266 Forever!
Dear komx,

here is the first test video.
https://www.youtube.com/watch?v=-YXO_B_A...e=youtu.be


issues remaining....
1.balancing is not smooth
tried changing the Kd parameter up and down between 26 to 30. Not much improvements.

2.once started after a while it stops balancing and fall down. At this time both steppers are rotating slowly. (you can see at the end of the video)
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01-30-2017, 07:14 AM
Post: #62
RE: Only You, or ESP8266 Forever!
Dear Shivakumar,

1.1. You fight with the investigation of choice 1/8 microstepping.
1.2. Kd - a factor differential component of the control signal. The higher it is, the less the robot moves smoothly.

2. Check your changes mainly sketch and quality of connections in the circuit. For angles over 74 degrees (the robot is down) motor driver turned off and no movement should not be.
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01-30-2017, 11:44 AM
Post: #63
RE: Only You, or ESP8266 Forever!
Dear komx,

I am already in 1/8 micro stepping only. (1/16 micro stepping is not working properly. start rotating and start buzzing).

Angles over 74 and under 74 the motor stops properly until some error situation like i shown in the video.

i power up when the robot is lay-down and leave for 10 seconds..for IMU initialise.
when i start slide lifting the robot starts balancing no issue.
when i push the robot to lay-down (<-74 && >74) motors shutoff. No issue.

but when in the working angles sudden errors pushes the robot down.(this is happening very randomly).

When doing remote controlled mostly it is working (working very smoothly) and the falling downs are very very minimal.

IMU is installed in the base between motors with a ribbon cable of about 15cm.
will try to short is down and see.

i am doing one more built with Arduino micro to study the behaviour...
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02-05-2017, 04:16 PM
Post: #64
RE: Only You, or ESP8266 Forever!
Good evening everyone,
What I noticed with esp12e WHEN equilibrium of the robot is stopped and the engines are reversed to counterbalance he falls, I use a4988 and I have a pull down resistor 10k.
What can it be?
greetings VL
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02-17-2017, 01:53 PM (This post was last modified: 02-17-2017 01:57 PM by thebestvip84.)
Post: #65
RE: Only You, or ESP8266 Forever!
hi friend, can you help me, i have:
1. wemos d1 r2
2. CNC shield
3. A4988 driver
4. nema17
5. MPU 6050
6. brobot frame 3D print

Here is how I wired mine after tracking each wemos pin trace to the CNC shield. This is for a Wemos D1 R2. Note that R1 has different pinout.

WEMOS D1 R2 PIN --> CNC SHIELD FUNCTION --> BROBOT PIN
---------------------------------------------------
D0 --> X-STP --> MOTOR1-STEP
D1 --> Goes to SCL and Y-STP --> SCL
D2 --> Goes to SDA and Z-STP --> SDA
D3 --> X-DIR (Jumper with A-DIR to make common DIR pin) --> MOTORS-DIR
D4 --> Y-DIR (use wire to connect with A-STP) --> MOTOR2-STEP
D5 --> Goes to Z-Dir and also spindle direction --> NOT USED
D6 --> Goes to MOTOR ENABLE and spindle enable --> MOTOR ENABLE
D7 --> Goes to X-Lim and Z-Lim --> SERVO1
D8 --> Goes to Y-Lim --> SERVO2


I am using KomX's firmware


The only modification (besides the ones suggested on the thread) are the eX_ESP_pins.h file as follows:

#define MOTORS_ENABLE_PIN D6
#define MOTORS_DIR_PIN D3
#define MOTOR1_STEP_PIN D0
#define MOTOR2_STEP_PIN D4

#define SONAR_TRIG_PIN -1
#define SONAR_ECHO_PIN -1
#define SDA_PIN D2
#define SCL_PIN D1

#define SERVO1_PIN D7
#define SERVO2_PIN D8
#define BATTERY_PIN A0

Try every wiring but the motor even can not move
Best regard!

p/s i notice when set dir pin and step pin to d5 and d6 and do a test code, the motor can spin, but with other pins the motor can not move. I wonder if i have to use a logic converter?

Then i cut the pin on the cnc that connect to D0 on wemos and use D5 as motor1 step pin, but nothing move. PLease help me solve the problem. Thank you a lot!
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02-18-2017, 04:27 PM
Post: #66
RE: Only You, or ESP8266 Forever!
(02-17-2017 01:53 PM)thebestvip84 Wrote:  hi friend, can you help me, i have:
1. wemos d1 r2
2. CNC shield
3. A4988 driver
4. nema17
5. MPU 6050
6. brobot frame 3D print

Here is how I wired mine after tracking each wemos pin trace to the CNC shield. This is for a Wemos D1 R2. Note that R1 has different pinout.

WEMOS D1 R2 PIN --> CNC SHIELD FUNCTION --> BROBOT PIN
....

Where I can find the complete arduino code to use with Wemos board?
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02-19-2017, 03:56 PM
Post: #67
RE: Only You, or ESP8266 Forever!
Hello Komx,
I have a problem with esp12, when the robot is moving everything works fine, however when stopped falling after the oscillations. I have tried to adjust the most pd but nothing, what can be?
vl greetings
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02-20-2017, 07:38 AM
Post: #68
RE: Only You, or ESP8266 Forever!
Dear followers.
I find it difficult to advise anything about the use of different variants of the ESP module you. In various embodiments, the modules may be at different symbol pins (applies Vemos D1), and a variety of basic firmware (if I am not mistaken in the ESP-12e in NodeMCU used as the base firmware).
In the first case, I can only recommend to make a table of correspondences pins Dxx and pins IOxx and connect the pins according to my sketch. For your modification I do not take any responsibility.
In the second case, I recommend to sew a standard AT firmware.


Now the bad news.
As it turned out, the forum is very non-forest speak of the unit in general and the use of it as a controller of anything in particular.
Closeness of basic functionality in the SDK does not allow to eliminate this unpleasant effect is the loss of podvisanie module Wi-Fi connection with the prohibition of all interrupts.
In short, this module is suitable not only for control anything but also as a communication module UART it is also unsuitable.

Therefore, I look towards the RTL8710 ... On the results let you know.
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04-13-2018, 11:19 AM
Post: #69
RE: Only You, or ESP8266 Forever!
Hi,
Thank you for sharing this great project!

I'm trying to run it on nodemcu and it almost works but after power up, both motors running at max speed since control_output reach over 32000 (i saw value in serial monitor - it tooks ~30 seconds). After that robot starts balancing. I saw that someone has similar problem before, but I can't recognize what problem was.
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03-15-2019, 05:11 AM
Post: #70
RE: Only You, or ESP8266 Forever!
I use esp12e, but not working?
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