Black_Stork
Member
I need guidance with building(programing) my first balancing robot.
Tasks that I want to accomplish :
- program robot so it can stand on its own.
- then add remote control over bluetooth so it go forward/back, left/right
Initialy i want to do this with already avaible libraries, then maybe I'll try to to imlement PID from scratch.
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PARTS:
-Teensy 3.2
-Pololu DRV8835 Dual Motor Driver Carrier --> https://www.pololu.com/product/2135
-HC 05v2 x2 bluetooth modue --> https://botland.com.pl/moduly-bluet...05-v2.html?search_query=bluetooth&results=279
-SparkFun 9DoF Sensor Stick LSM9DS1 --> https://www.sparkfun.com/products/13944 --> LIBRARY: https://github.com/sparkfun/SparkFun_LSM9DS1_Arduino_Library
-DC Motors 120RPM x2 --> https://www.pololu.com/product/992
-wheels --> https://www.pololu.com/product/1420
-2AA battery holder + 2AA batteries,
-4AA battery holder +4AA batteries, or 9V battery
-breadbord
-2 plexi plates
-4 tapped rods
-16 nuts
PHOTOS:
https://drive.google.com/file/d/0B0iA-Iu_GinvQUFacGFuZ2VDcU0/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_GinvRXc1M2J4RWNiSWs/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_GinvdmU2SWVLOXAyRVE/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_Ginvd1RfQmw2T0ZFalk/view?usp=sharing ,(Orange cables on the photo are disconected form cicuit)
https://drive.google.com/file/d/0B0iA-Iu_GinvcmlkZ3FVSnRmWW8/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_GinvTDAxclNpRWZ4YmM/view?usp=sharing
WIRING:
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1. I want to mount IMU on top of robot, would it be better to mount it on th bottom?
2. How to calibrate IMU? How to analyze data from IMU?
3. What PID libraries do you recomend?
4. And how to use them?
I've already checked if if driver works correctly, i managed to spin engine back and forward with INPUT_PULLUP command. I was able to connect with slave module from my phone.
With IMU I uploaded I2C example and it reacted to pitch, and roll correctly, but yank acted weirdly, I guess that it needs proper calibration.
Tasks that I want to accomplish :
- program robot so it can stand on its own.
- then add remote control over bluetooth so it go forward/back, left/right
Initialy i want to do this with already avaible libraries, then maybe I'll try to to imlement PID from scratch.
------------------------------------------------------------------------------------------------------------------------------------------------------------
PARTS:
-Teensy 3.2
-Pololu DRV8835 Dual Motor Driver Carrier --> https://www.pololu.com/product/2135
-HC 05v2 x2 bluetooth modue --> https://botland.com.pl/moduly-bluet...05-v2.html?search_query=bluetooth&results=279
-SparkFun 9DoF Sensor Stick LSM9DS1 --> https://www.sparkfun.com/products/13944 --> LIBRARY: https://github.com/sparkfun/SparkFun_LSM9DS1_Arduino_Library
-DC Motors 120RPM x2 --> https://www.pololu.com/product/992
-wheels --> https://www.pololu.com/product/1420
-2AA battery holder + 2AA batteries,
-4AA battery holder +4AA batteries, or 9V battery
-breadbord
-2 plexi plates
-4 tapped rods
-16 nuts
PHOTOS:
https://drive.google.com/file/d/0B0iA-Iu_GinvQUFacGFuZ2VDcU0/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_GinvRXc1M2J4RWNiSWs/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_GinvdmU2SWVLOXAyRVE/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_Ginvd1RfQmw2T0ZFalk/view?usp=sharing ,(Orange cables on the photo are disconected form cicuit)
https://drive.google.com/file/d/0B0iA-Iu_GinvcmlkZ3FVSnRmWW8/view?usp=sharing
https://drive.google.com/file/d/0B0iA-Iu_GinvTDAxclNpRWZ4YmM/view?usp=sharing
WIRING:
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
1. I want to mount IMU on top of robot, would it be better to mount it on th bottom?
2. How to calibrate IMU? How to analyze data from IMU?
3. What PID libraries do you recomend?
4. And how to use them?
I've already checked if if driver works correctly, i managed to spin engine back and forward with INPUT_PULLUP command. I was able to connect with slave module from my phone.
With IMU I uploaded I2C example and it reacted to pitch, and roll correctly, but yank acted weirdly, I guess that it needs proper calibration.