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My implementations
08-25-2015, 05:38 PM (This post was last modified: 08-25-2015 05:50 PM by sasa999.)
Post: #1
My implementations



Acrilic + playwood body and wheels. O-ring tires.
Almost original B-Robot sketch with little changes.
My biggest trouble is that I almost did not familiar with programming Sad

Auto reset TouchOSC fadders
(ESP8266 + Leonardo micro.)


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08-25-2015, 08:39 PM
Post: #2
RE: My implementations
Very good job Sasa!
I really like the new shape! :-D
Just 2 shelves, I guess the bottom one for the motors+IMU, and the second for the Robot Brain+Leonardo+Batteries, isn´t it?
Are you using LIPO batteries?

Please fell free to share the OSC layout and code.
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08-28-2015, 07:19 AM
Post: #3
RE: My implementations
sasa999,
Your programs for Arduino and ESP8266 do not share?
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09-06-2015, 09:17 AM (This post was last modified: 10-18-2015 10:37 AM by sasa999.)
Post: #4
RE: My implementations
(08-25-2015 08:39 PM)jpedroc Wrote:  Just 2 shelves, I guess the bottom one for the motors+IMU, and the second for the Robot Brain+Leonardo+Batteries, isn´t it?
Are you using LIPO batteries? There is very much empty space.

Yes, I use very big Lipo 2200mAh. I can use it more than 1 hour Smile

[Image: IMG_4009.jpg]


Little brother was born! D-Robot2 Smile
[Image: IMG_4004.jpg]
[Image: IMG_20150905_124458.jpg]

3.7V/1000mAh LiPo
Regular 5V Leonardo/ProMicro work fine at 3.7V without any boost converter!
For motors DC/DC step-up converter to 10-12V
MPU6050 placed above motors, but this did not impair the robot's stability.
Angled plywood sides and wheels.
Testing KomX version of sketch with changes for my needs.
I don't know why, but this robot version run fine without any ferrite rings or clip-on noise suppressors
Can use ESP8266, esp-1 or esp-12 with converter
[Image: IMG_4010.jpg]
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10-04-2015, 02:24 PM (This post was last modified: 10-04-2015 02:32 PM by sasa999.)
Post: #5
RE: My implementations








D-Robot2 (little brother) test drive
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10-06-2015, 07:35 PM
Post: #6
RE: My implementations
Hey Sasa,

nice work. Your PIDs are very aggressive.

Do you changed some Motor Values or is this the original B_Robot Code?

Greetings from Germany

Wampo
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10-06-2015, 07:59 PM
Post: #7
RE: My implementations
(10-06-2015 07:35 PM)Wampo Wrote:  Hey Sasa,

nice work. Your PIDs are very aggressive.

Do you changed some Motor Values or is this the original B_Robot Code?

Greetings from Germany

Wampo

#define MAX_THROTTLE_PRO 1700
#define MAX_STEERING_PRO 300 //500
#define MAX_TARGET_ANGLE_PRO 80 //120

some part of code is from B-Robot, some KomX +my changes Smile
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10-07-2015, 10:41 PM (This post was last modified: 10-07-2015 10:47 PM by jcfs.)
Post: #8
RE: My implementations
Hello Sasa,

first of all, very nice job! Your robots look awesome.

I'm trying to build one myself with a setup very similar to yours. Although I'm having some troubles with my A4899 drivers - 2 burned already. I'm using 2 42BYGHM809 (nema 17) stepper motors and I'm also using a DC/DC step-up converter up to 12V supplying it to A4899 VMOT - Vref is at about 0.6v which should be ok to my motors.

Any clue to why the drivers keep burning? I see that you don't use any heatsink in yours, but mine get really really hot - too much current?

Do you use any decoupling capacitor in vmot to handle power spikes?

Best Regards,
J

Btw, I'm very sorry to hijack your thread with personal questions Smile
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10-08-2015, 07:03 AM
Post: #9
RE: My implementations
(10-07-2015 10:41 PM)jcfs Wrote:  Do you use any decoupling capacitor in vmot to handle power spikes?
I don't know they are decoupling or any other, but 220uF capacitors is parallel to each driver Vmot/GND. Without them spikes can burn your driver.
My Vref = 0.7V on both robots and I don't know why my drivers not very hot without heatsink on little brother. On first robot (bigger one) drivers are with heatsink and it stay pretty hot after 20-30 min driving. 42BYGHW609 motors on both robots. Only difference - first robot run on 11.1V LiPo, but second has DC-DC step-up from 3.7V to 12V.
I have DRV8825 - will test at weekend. They have 1/32 microstepping and higher max current.
[Image: 0J4122.200.jpg?3a35cf0bbb325fbdb4e043101e4607de]

Another puzzle for me is robot run time.
Bigger robot can run 30min. LiPo 11.1V x 2200mAh = 24.4Wh,
but "little brother" 15min. LiPo 3.7V x 1000mAh = 3.7W. (-step-up Conversion efficiency<94%)
Smaller battery has 6.5x less capacity, but run time is quite long. Perpetuum mobile Big Grin
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10-08-2015, 03:25 PM
Post: #10
RE: My implementations
Hi Sasa,
How does your robot to balance with the weight, I did not succeed, can you explain?
greetings VL
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