TiLDA Balance: Difference between revisions

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m Danspencer101 moved page Project:TiLDA Balance to TiLDA Balance over redirect
 
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== First bot ==
== First bot ==
I want a quick and cheap entry point for people to achieve first before forking out for expensive parts.
<gallery  widths=200px >
File:msemtd-tilda-balance-IMAG1553.jpg | gearmotor, smooth side with m3 bolts
File:msemtd-tilda-balance-IMAG1554.jpg | gearmotor, side view
File:msemtd-tilda-balance-IMAG1555.jpg | cheap L298N motor driver board (eBay)
File:msemtd-tilda-balance-IMAG1558.jpg | wheel, gearmotor, driver
File:msemtd-tilda-balance-IMAG1559.jpg | wheel mounted on gearmotor
File:msemtd-tilda-balance-IMAG1508.jpg | TiLDA
</gallery>
* Getting to grips with development on TiLDA: see EMF wiki for the most part (https://wiki.emfcamp.org/wiki/TiLDA_MKe)
* Getting to grips with development on TiLDA: see EMF wiki for the most part (https://wiki.emfcamp.org/wiki/TiLDA_MKe)
* https://github.com/emfcamp/Mk2-Firmware
* https://github.com/emfcamp/Mk2-Firmware
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** compare TiLDA usage with that of Sparkfun breakout schematic at https://cdn.sparkfun.com/datasheets/Sensors/IMU/Triple_Axis_Accelerometer-Gyro_Breakout_-_MPU-6050_v12.pdf
** compare TiLDA usage with that of Sparkfun breakout schematic at https://cdn.sparkfun.com/datasheets/Sensors/IMU/Triple_Axis_Accelerometer-Gyro_Breakout_-_MPU-6050_v12.pdf
** orientation of the device and mapping to "normal" badge orientation
** orientation of the device and mapping to "normal" badge orientation
* libs...
* libs... TODO
* Cheap little motors: almost ubiquitous little gearmotors with wheels £4.30 from China on eBay
** 2Pcs Smart Car Robot Plastic Tire Wheel with DC Biaxial Gear Motor for Arduino http://cgi.ebay.co.uk/ws/eBayISAPI.dll?ViewItemVersion&item=271534358812&view=all&tid=1348546156017
** Model : HC02-48, Working voltage: 3-6V, Specification: Biaxial, Reduction ratio: 1:48, 3V no load: 125 R/M, 3 V no load with 66 mm wheel: 26 m/min, 5 V no lode: 208 R/M, 5 V nolode with 66 mm wheel: 44 m/min, Torque: 0.8 kg/cm, Speed: fast
* Cheap motor drivers: ubiquitous L298N module
** £3.59 http://www.ebay.co.uk/itm/371130909842?_trksid=p2059210.m2749.l2649&ssPageName=STRK%3AMEBIDX%3AIT
** https://www.sparkfun.com/datasheets/Components/General/L298N.pdf
* Battery power: separate power supply from rechargeable AA batteries direct to motor driver.
 
=== prototype body ===
 
* Laser cut (naturally!) from 3mm ply. Acrylic may be a bit brittle for the crashing that will occur!
* box out the motors as "legs" and form pegs to connect those to a smallish horizontal platform
* the motor driver can dangle below the platform, twixt the legs to "catch the breeze"!
* the TiLDA will be mounted above the platform in a variety of orientations configurable in the software
<gallery widths=200px>
File:msemtd-tilda-balance-IMAG1563.jpg | laser leg development - cutouts for bits
File:msemtd-tilda-balance-IMAG1564.jpg | leg 3-sided box
File:msemtd-tilda-balance-IMAG1565.jpg | wraps around gearmotor body and bolts on
File:msemtd-tilda-balance-IMAG1566.jpg | platform designed - dry fit
File:msemtd-tilda-balance-IMAG1567.jpg | glue up
File:msemtd-tilda-balance-IMAG1568.jpg | with motor driver board
File:msemtd-tilda-balance-IMAG1569.jpg | upright
</gallery>
 
=== prototype software ===
 
* choose how much of the emfcampbadge software to integrate
** e.g. do we want to just add RTOS tasks to the existing badge software?
** the display driver and menu system would be handy
 
* basic PID (proportional-integral-derivative) controller - see http://en.wikipedia.org/wiki/PID_controller
 
* existing instructable using MPU6050: http://www.instructables.com/id/Balancing-Instructable-Robot/


Cheap little motors: I want a quick and cheap entry point for people to achieve first before forking out for expensive parts. With this in mind I am trying out these little almost ubiquitous gearmotors: zzzzzzzzzzz
* how is the MPU connected: See schematic [[File:TiLDA_Mk2_Prototype_v0.333.pdf]]


== Stretch Goals ==
== Stretch Goals ==
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* Total Segway domination - human or multi-human carrying!
* Total Segway domination - human or multi-human carrying!
* wheel-less eerie ball/egg
* wheel-less eerie ball/egg
[[Category:Projects]]

Latest revision as of 11:59, 5 February 2019

First entry of https://wiki.emfcamp.org/wiki/Badge_Creations !!!

I'm working on making use of the TiLDA with its MPU-6050 as the brains of a balancing platform (initially a little balance-bot but eventually a ridable Segway-like platform if all goes well). The MPU-6050 has a 3-axis gyroscope, 3-axis accelerometer, and a Digital Motion Processor(TM) (DMP) integrated into a tiny little package on the back of the badge (IC2). It can do a lot of the grunt work leaving the badge micro plenty of space and time to do the other cool stuff.

--Michael Erskine (talk) 4 September 2014

First bot

I want a quick and cheap entry point for people to achieve first before forking out for expensive parts.

prototype body

  • Laser cut (naturally!) from 3mm ply. Acrylic may be a bit brittle for the crashing that will occur!
  • box out the motors as "legs" and form pegs to connect those to a smallish horizontal platform
  • the motor driver can dangle below the platform, twixt the legs to "catch the breeze"!
  • the TiLDA will be mounted above the platform in a variety of orientations configurable in the software

prototype software

  • choose how much of the emfcampbadge software to integrate
    • e.g. do we want to just add RTOS tasks to the existing badge software?
    • the display driver and menu system would be handy

Stretch Goals