3/24/2023 0 Comments Arduino csv coolterm![]() I also though it was very confusing, regarding to which hubs fitted which wheels, so I actually emailed robotshop asking if they were the right hubs for those wheels. BaneBots got there own system, so it’s possible to mix up different kinds of wheels – you could for instance mix up three types of wheels on a 3 wide hub. Because the wheels are 2 wide (they are in the “series 800”). The reason why I choose the “2 Wide” version, is pretty simple. Yes that was exactly the hubs i ordered, see the hardware section above for all the information about the hardware that I used. Feel free to post a comment below and I will answer as quickly as you. The next step would to build a full size one, but I don’t know if I will do it the near future – but hopefully some day □ It has been a really good learning experience for me and a really fun project to do, but also very time-consuming – I have spend many nights tweaking the PID values and adjusting tiny bits of the code before I accomplished the end result. ![]() Overall I am really happy about the end result – it balances pretty well and the remote control works perfect! Also my gyro got a resolution of ☓00 deg/s and I have seen people use gyro with a resolution as low as ±50 deg/s.Īnother aspect would to use belts to minimize backlash, instead of connecting the wheels directly to the motors – a bit like this one.Īlso I don’t compensate for the battery level in the code – so it behaves differently depending on the battery level. First of all I could try to use an accelerometer with a smaller resolution, as the one I got is a ☓g and ☑.5g would be sufficient for my needs. I have thought about how I could improve the performance of the robot. Here is a list of hyperlinks for all the repositories: Ĭheck out these rendered images of the robot:Īll the code and 3D model can be found at our github. The 3D model can also be viewed at the following site. I have created a 3D model in Autodesk Inventor with true dimensions, this will hopefully inspire other people for there robot design. In total the robot is 27cm high including the battery. The distance between the plates is 7cm at the bottom and 7.5 at the top. The robot itself is made of three pieces of 215x75x7.5mm MDF wood and four threaded rods. Alternativly you could use an inexpensive Bluetooth Serial module Two XBee modules for wireless debugging and setting the PID constants wirelessly.12V 3800mAh NiMH Batteries – I got two of them.Bluetooth dongle – it has to support bluetooth version 2.0+EDR. ![]() Arduino Duemilanove for PS3 bluetooth communication.BaneBots Wheels (These wheels are no longer available from the seller, but you can use these wheels and these hubs instead).Here is a list of all the hardware I used: Here is a short video demonstration of the robot and me explaining some of the concepts of the design and how it works: But as soon as it is released I think I will port the code to it instead. The mbed board actually has USB Host functionality, but I decided not to port the PS3 Bluetooth Library as my original thought were to use an Arduino Due, but as you might know it hasn’t been released yet, despite the Arduino team announced, that it would be released by the end of 2011. The robot also features an Arduino Duemilanove with a USB Host Shield on top running a sketch based on my PS3 Bluetooth Library. It might have been possible with just a normal Arduino (NB: I have now ported the code to Arduino, see update for the code), but I didn’t want the speed of the processor to be an issue, so I decided to go for the mbed. Also I was already using more than 10ms per loop, which I used as a fixed time loop, so I decided to step up a notch and go for a much more powerful device: the mbed microcontroller, which is an ARM Cortex-M3 running 96MHz. The original one had a FEZ Rhino as the main processor, but I discovered that it was not fast enough to read the encoders, as it is not running embedded code. It has been a long time since the sneak peak and the performance has been improved a lot since then. I have for a long time wanted to build a remote controllable balancing robot aka Segway – that’s was actually the main reason why I created the PS3 Bluetooth Library both for Arduino and the FEZ Devices. ![]() A balancing robot kit is now avaliable via Kickstarter. ![]()
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