TiLDA Balance: Difference between revisions

From Nottinghack Wiki
Jump to navigation Jump to search
m Danspencer101 moved page Project:TiLDA Balance to TiLDA Balance over redirect
 
(8 intermediate revisions by 3 users not shown)
Line 11: Line 11:
== First bot ==
== First bot ==
I want a quick and cheap entry point for people to achieve first before forking out for expensive parts.  
I want a quick and cheap entry point for people to achieve first before forking out for expensive parts.  
<gallery>
<gallery widths=200px >
File:msemtd-tilda-balance-IMAG1553.jpg | gearmotor, smooth side with m3 bolts
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-IMAG1554.jpg | gearmotor, side view
Line 41: Line 41:
* the motor driver can dangle below the platform, twixt the legs to "catch the breeze"!
* 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
* 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 ===
=== prototype software ===
Line 47: Line 56:
** e.g. do we want to just add RTOS tasks to the existing badge software?
** e.g. do we want to just add RTOS tasks to the existing badge software?
** the display driver and menu system would be handy
** 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/
* how is the MPU connected: See schematic [[File:TiLDA_Mk2_Prototype_v0.333.pdf]]


== Stretch Goals ==
== Stretch Goals ==
Line 52: Line 67:
* 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