I'm developing the Falling-Up Robot, a 6-foot tall balancing inverted pendulum bot, using the Teensy 3.6. I want to practice feedback control systems, and keep it from falling over. I eventually want to let it roam autonomously and I let it interact with it environment. I've done this with the Arduino Due, but now I'm a PRJC convert. I’m building this in stages - so far, the brain and chassis is in place.
The Teensy 3.6 is connected to an LSM6DS3 IMU with SPI to sense orientation, and iLi9341 display with SPI for status, CUI AMT10 encoders for wheel position, and stepper drivers to control a pair of 3A stepper motors.
The software is written in the Arduino 1.6.12 IDE with Teensy Loader 1.34. I use PRJC libraries for the display and encoder readings. I use the Eigen C++ library to calculate orientation angles with an Extended Kalman Filter (EKF).
After dealing with EMI issues, the system with operating steppers, is working very well. I basically use CAT5 or CAT6 cables and shielding where practical. The power source cables are only as long as needed and also shielded. Next step is to finish the chassis and have it operate without the umbilical (USB and desk power supply).
Pictures enclosed.
The Teensy 3.6 pin assignments page says "Cut to Separate VIN from VUSB...". Is this really necessary when I bring in regulated power (5V) to VIN? Will that damage the USB circuitry?
E.V.L.
(Escape Velocity Labs)
2/12/2017 Update. First video:
4/3/2017 Update. Part 2 video:
https://www.youtube.com/watch?v=QHb9eYAyGJc
The Teensy 3.6 is connected to an LSM6DS3 IMU with SPI to sense orientation, and iLi9341 display with SPI for status, CUI AMT10 encoders for wheel position, and stepper drivers to control a pair of 3A stepper motors.
The software is written in the Arduino 1.6.12 IDE with Teensy Loader 1.34. I use PRJC libraries for the display and encoder readings. I use the Eigen C++ library to calculate orientation angles with an Extended Kalman Filter (EKF).
After dealing with EMI issues, the system with operating steppers, is working very well. I basically use CAT5 or CAT6 cables and shielding where practical. The power source cables are only as long as needed and also shielded. Next step is to finish the chassis and have it operate without the umbilical (USB and desk power supply).
Pictures enclosed.
The Teensy 3.6 pin assignments page says "Cut to Separate VIN from VUSB...". Is this really necessary when I bring in regulated power (5V) to VIN? Will that damage the USB circuitry?
E.V.L.
(Escape Velocity Labs)
2/12/2017 Update. First video:
4/3/2017 Update. Part 2 video:
https://www.youtube.com/watch?v=QHb9eYAyGJc
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