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Starting up the B-Robot
10-08-2015, 10:20 PM
Post: #1
Starting up the B-Robot
We have some problems setting up the B-ROBOT. We give some details.

Configuration Hardware:
- JJROBOTS BROBOKIT version v2.0,
- Arduino Leonardo,
- BROBOT electronics brain with WIFI ESP8266,
- 2 Pololu StepperMotorDrivers A4988
- MPU 6050 IMU.
- Steppermotors NEMA 17, 42BYGHW811
- 3D-Printed Frame Parts.

1st problem started with 1st assembly. Arduino Board became very hot and burned out. Replaced this board with a spare Arduino Leonardo. This Arduino board works fine, I think.

Upload B_ROBOT.INO, version 2.1 updated: 19/08/2015, installing Libraries. Compiling = ok
Serial Monitor provides:
-------------------------------------------------------------------------------------------------------------
BROBOT by JJROBOTS v2.1
Initializing I2C devices...
Initializing DMP...
Enabling DMP...
Gyro calibration!! Dont move the robot in 10 seconds...
Initalizing ESP Wifi Module...
WIFI RESET
AT+RST


OK
2KB+512KB)
jump to run user1 @ 1000

ŒÃÕ?MEM CHECK FAIL!!!
äslŽƒrô
Ai-Thinker Technology Co. Ltd.

ready
AT+GMR

AT version:0.25.0.0(Jun 5 2015 16:27:16)
SDK version:1.1.1
Ai-Thinker Technology Co. Ltd.
Jun 23 2015 23:23:50

OK
AT+CIPSTAMAC?

+CIPSTAMAC:"18:fe:34:e0:3d:15"

OK
MAC:18FE34E03D15

AT+CWQAP


OK
AT+CWMODE=2


OK
AT+CWSAP="JJROBOTS_15","87654321",5,3


OK
Start UDP server at port 2222
AT+CIPMUX=0


OK
AT+CIPMODE=1


OK
-----------------------------------------------------------------------------------------------------------

We have a MEM failure:
ŒÃÕ?MEM CHECK FAIL!!!
äslŽƒrô
Ai-Thinker Technology Co. Ltd.



The servo is doing it’s set-up ritual.
But the StepperMotors are only slow turning.

Any Ideas?
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10-08-2015, 10:56 PM
Post: #2
RE: Starting up the B-Robot
Hi Avcon,
Did you tried to adjust the voltages of the MOTOR DRIVERS (A4988)? There is some info about this in the "mounting instructions" webpage...
What do you exactly mean with "motors are only slow turning?" Aren´t they powerful enough or they seem to be "stuck" only spinning in one direction?
If the Leonardo first burnt, what have you changed? Any idea about why the first Arduino failed?
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10-09-2015, 05:22 AM (This post was last modified: 10-09-2015 05:32 AM by Avcon.)
Post: #3
RE: Starting up the B-Robot
Goodmorning JohnQ,
- Thanks for your reply,

- The reason why the original Arduino Leonardo, supplied by JJROBOT, overheated and burned is not known.
- We changed the Arduino Leonardo for a spare one. All other components we used originals. The overheating was only with the 1st board.
- StepperMororDriver Pololu A4988, both adjusted Vref, Motors have approximately same torque. Are running with same speed, it looks like the steppermotors receive the same stepper signal.

Continued.....
- We changed the power supply from LiPo S3 to a stable powersupply of 9.00 volt
- A9988 Pololu's Vref is NOT measured, but adjusted to the "feel" of the torque.

Continued.......
- The stepperMotors are turning the same speed, same torque by "feel" and direction of motor can be changed, when changing wires. They look ok.
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10-09-2015, 07:06 AM
Post: #4
RE: Starting up the B-Robot
Continued........
- The measured Vref on stepperMotor Drivers A9988 is 1.00 volt
- The calculated max current is then 2A.
- The rated current for the steppermotors is 3A.
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10-09-2015, 10:01 AM
Post: #5
RE: Starting up the B-Robot
(10-09-2015 07:06 AM)Avcon Wrote:  Continued........
- The measured Vref on stepperMotor Drivers A9988 is 1.00 volt
- The calculated max current is then 2A.
- The rated current for the steppermotors is 3A.

But, when the motors are spinning... are they powerful enough to keep your robot in balance? Or they are just rotating in one direction no matter the angle of your robot?

I had some problem with my first stepper motors due to EM interferences. Could you try to place the IMU away from the motors (on the top shelf for example) or use a very short cable to connect the IMU to the I2C socket in the Brain Shield?
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10-09-2015, 10:46 AM
Post: #6
RE: Starting up the B-Robot
(10-09-2015 10:01 AM)JohnQ Wrote:  
(10-09-2015 07:06 AM)Avcon Wrote:  Continued........
- The measured Vref on stepperMotor Drivers A9988 is 1.00 volt
- The calculated max current is then 2A.
- The rated current for the steppermotors is 3A.

But, when the motors are spinning... are they powerful enough to keep your robot in balance? Or they are just rotating in one direction no matter the angle of your robot?

I had some problem with my first stepper motors due to EM interferences. Could you try to place the IMU away from the motors (on the top shelf for example) or use a very short cable to connect the IMU to the I2C socket in the Brain Shield?
Thanks for your reply.
- The B-Robot has never been in balance.
- The wheels are spinning one speed, one direction, with enough torque
- IMU tested with supplied test.ino; appears to be ok
- No response at any IMU-movement to motors
In short:
- IMU looks ok
- StepperMotorDrivers A4988 looks ok
- StepperMotors look ok
- but no balancing activity at all
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10-09-2015, 10:53 AM
Post: #7
RE: Starting up the B-Robot
(10-09-2015 10:46 AM)Avcon Wrote:  
(10-09-2015 10:01 AM)JohnQ Wrote:  
(10-09-2015 07:06 AM)Avcon Wrote:  Continued........
- The measured Vref on stepperMotor Drivers A9988 is 1.00 volt
- The calculated max current is then 2A.
- The rated current for the steppermotors is 3A.

But, when the motors are spinning... are they powerful enough to keep your robot in balance? Or they are just rotating in one direction no matter the angle of your robot?

I had some problem with my first stepper motors due to EM interferences. Could you try to place the IMU away from the motors (on the top shelf for example) or use a very short cable to connect the IMU to the I2C socket in the Brain Shield?
Thanks for your reply.
- The B-Robot has never been in balance.
- The wheels are spinning one speed, one direction, with enough torque
- IMU tested with supplied test.ino; appears to be ok
- No response at any IMU-movement to motors
In short:
- IMU looks ok
- StepperMotorDrivers A4988 looks ok
- StepperMotors look ok
- but no balancing activity at all

Try to place the IMU away from the motors (on the top shelf for example) or use a very short cable to connect the IMU to the I2C socket in the Brain Shield.
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10-09-2015, 01:09 PM (This post was last modified: 10-09-2015 01:12 PM by sasa999.)
Post: #8
RE: Starting up the B-Robot
Try debug.
1. Does angle_adjusted have any changes when you manualy rise up robot?
2. if (question1 == yes) try turn MPU6050 at 180 degrees and/or check motor drivers connection.
else {
look for right connection to mpu6050,
shorten motor wires,
shorten mpu6050 wires.
.
my first robot worked only wirh noise suppressors on all wires - motors, mpu6050, battery.
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10-09-2015, 09:53 PM
Post: #9
RE: Starting up the B-Robot
(10-09-2015 01:09 PM)sasa999 Wrote:  Try debug.
1. Does angle_adjusted have any changes when you manualy rise up robot?
2. if (question1 == yes) try turn MPU6050 at 180 degrees and/or check motor drivers connection.
else {
look for right connection to mpu6050,
shorten motor wires,
shorten mpu6050 wires.
.
my first robot worked only wirh noise suppressors on all wires - motors, mpu6050, battery.

Thanks for your reply.
- Your replies have set me on the right path to solutions!
- 1st : We increased the distance between the Motors and EMU, EMU is now positioned 10 cm above top-shelf. This provided some response.
- 2nd : We used cupper-wire shield cables around the wires to the motors and EMU, this would stop most inteference. Now the WIFI link became stable.

WE HAVE CONTROL, and WE HAVE BALANCING!

We continue building, but at least we now have something to play with as well. Thanks to you all.
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