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  • ArduinoDeXXX commented on ArduinoDeXXX's instructable 半日で作る倒立振子8 hours ago
    半日で作る倒立振子

    これまでの投稿の内、上手く行かない原因のほぼすべては誤配線だった気がします。デジタル版のステップ6に、動作確認の動画を追加しているので、まずはこの動きを参照してください。その上で、もし意図した方向と逆に車輪が回転するようであれば、(1)モータの配線を逆にする(2つとも)、もしくは(2)スケッチの「analogRead(A5)」の符号を「-」に変える(たぶん2か所)、ことで回転方向を変えられるはずです。

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  • ArduinoDeXXX commented on ArduinoDeXXX's instructable 半日で作る倒立振子5 days ago
    半日で作る倒立振子

    > 重さを変えるとうまく自立しなくなります。プログラムのどこが悪いのですか?重量が増える分には比較的頑健な作りになっていると思います。イントロのデモ・ビデオで、鉄製の工具を2つ載せる所がありますが安定性の悪化は特に認められません。> プログラムの10〜12行目の係数のちょうど良い値を見つけるコツとかありますか?この2つの係数の値選択は試行錯誤で決めるのが一番簡単だと思います。

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  • The Making of A DIY Brushless Gimbal with Arduino

    As it is feared that floating point arithmetic needs longer time, Integer is used here. Hence scale-up is needed for some variables to keep good precision. ‘D’ means “deca” by ten times up.

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  • The Making of A DIY Brushless Gimbal with Arduino

    I think you could know the detail in practice. You should make your own 2axis gimbal and execute compensating with it. A practice is worth a thousand words.

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  • The Making of A DIY Brushless Gimbal with Arduino

    > L3GD20 doesn't have builtin quaternion though.Exactly. Hence two L3GD20s are attached to for each axis. One of them works to compensate roughly against handle rotation. The other gyro works to compensate finely against camera rotation. The first gyro on 3D gimbal executes only the former compensating. The fourth gyro executes only the latter compensating. The second or third gyro executes both compensating. Though all four gyros can measure rotations around 12 axes in total, they measure only 6 axes for 3D gimbal.

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  • The Making of A DIY Brushless Gimbal with Arduino

    All of gyro modules used here are L3GD20 carriers. A L3GD20 carrier can tell us three angular velocities simultaneously which are measured around three orthogonal axes. Hence it can substitute for two or three orthogonal gyros, each of which can tell us only one angular velocity.

    Do you know Quaternion? It is not easy to estimate the correct posture of rotating axes (or system) in the fixed 3D space.

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  • Another Easier Inverted Pendulum Robot

    > Why did you put velocity and position equal to zero?In Step5 and 6, we can get an “inverted following robot.” which cannot balance itself. There we put the estimates of velocity and position of the robot equal to zero. On the other hand, we try to get “inverted self-balancing robot” in Step 7 and 8, where we should estimate the velocity and position of the robot correctly.> How did you set up the K values?The original project of this article was started with a numerical simulation on PC. See (*1) in (3) in Introduction in this article. The near-proper values of two coefficients in Note 4 in Step 5, k1 and k2, were gotten by this simulation. See (2) in Step11. The remaining coefficients, k3 and k4, could be gotten by trial and error.

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  • The Making of A DIY Brushless Gimbal with Arduino

    > is there a way to get that a little bit more smooth?See Step8 in this article and the comments of vonkross and replies to them.> 2nd Question, i have a huge problem with Heat. Motor driver IC, like L298N, would become very hot in operation. Though it is tough against heating, you can attach heat sink to it against super-heating.

    > is there a way to get that a little bit more smooth?See Step8 in this article and the comments of vonkross and replies to them.> 2nd Question, i have a huge problem with Heat. Motor driver IC, like L298N, would become very hot in operation. Though it is tough against heating, you can attachheat sink to it against super-heating.

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  • The Making of A DIY Brushless Gimbal with Arduino

    Hi,You can post your questions as a comment here. I will reply with some answer(s). Also you can use contents described here if you indicate the source.

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  • ArduinoDeXXX commented on ArduinoDeXXX's instructable 半日で作る倒立振子1 month ago
    半日で作る倒立振子

    状況が良く分からないのですが、シリアルモニターで変数powerの値を見ているのでしょうか?もしそうならば、一行上の変数powerScaleの値が常に255を超えていることになります。その場合、ジャイロの出力値の異常が考えられます。

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  • The Making of A DIY Brushless Gimbal with Arduino

    In Step10, Gyro(1) catches the rotation of handle or base, and Gyro(2) catches the rotation of camera mount. Though major disturbance can be compensated with only Gyro(1), the fine compensation needs Gyro(2). See “Line B” in “void chkAndCtl ( ) { }” in the sample sketch. It works as PD control. P is measured by “thetaM + thetaMa” and D is measured by “omegaDa”. Here ‘a’ means the output of Gyro(2).

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  • The Making of A DIY Brushless Gimbal with Arduino

    Hi,You can see the action of BLDC at step by step in the eLABZ’s site. Though a 9N12P BLDC motor is used in the site, your motor would have 12N14P. However you could visualize the action of yours with 12N14P at step by step.

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  • The Making of A DIY Brushless Gimbal with Arduino

    Hi,See Step10. There you can get sample sketch and schematic for a single axis brushless gimbal. It is easy to replace Arduino Uno with Mega2560.It is your own project adding more axes to the single axis one. See comments of TomaszT3, KurtB17 and ooboob and replies for them.About battery, you should read the datasheet of your BLDC motor.

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  • The Making of A DIY Brushless Gimbal with Arduino

    Hi,I have gotten messages from TomaszT3 five month ago. He told that his DIY 2axis gimbal did not work well. I think that these messages and the replies for them could help you.

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  • ArduinoDeXXX commented on ArduinoDeXXX's instructable 半日で作る倒立振子2 months ago
    半日で作る倒立振子

    選択できるギア比が異なるので何とも言えないですが、10~13行目の係数の値の変更は必要だと思います。この記事のタイトル「半日で・・・」と「ツインモーター・・・」等のキーワードで検索して情報を集めてはいかがでしょうか。

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  • The Making of A DIY Brushless Gimbal with Arduino

    1. Copy the sample sketch “BLDC_with_3phase_square.pdf ” in Step6 and paste it onto Arduino IDE.2. Correct the three effective lines (from the second line to the fourth line) in it as bellow. -- "const int motorPin1 =3; "-- "const int motorPin2 =5; "-- "const int motorPin3 =6; "3. Upload the corrected sketch above to Arduino Uno.4. Connect materials with L298 following the picture in Step10.-- The positive electrode of outer battery is connected to “Vs” pin of L298.-- Both the negative electrode of outer battery and all of three “GND” pins of L298 are connected with GND in Arduino UNO.

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  • The Making of A DIY Brushless Gimbal with Arduino

    Hi,Three sample sketches for Arduino are attached in this article. You can see them in Step6 and 10. I think you use the sketch in Step6 in your question.See the top picture in Step10 to use outer batteries with motor driver IC L298. You should ignore two gyros in this picture when you use the sketch in Step6. Also “pin-3, 5 and 6 (Arduino)” in this picture should be change “pin-9, 10 and 11 (Arduino)”.

    Hi,Three sample sketches for Arduino are attached in this article. You can see them in Step6 and 10. I think you use the sketch in Step6 in your question.See the top picture in Step10 to use outer batteries with motor driver IC L298. You should ignore two gyros in this picture when you use the sketch in Step6. Also “pin-3, pin-5 and pin-6 (Arduino)” in this picture should be replaced with “pin-9, pin-10 and pin-11 (Arduino)”.

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  • もう一つの倒立振子(デジタル版)

    ご指摘の点、普通は良くないですね。ただ個人的になるべく簡素な工作が好きなので、信頼性を考慮しながら経験的に不要なものは外しています。> 動作が不安定になるのもこれが原因では、、、レベルシフトは試していないので分かりませんが可能性はありますね。(滅多に出ない症状ですが)

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  • ArduinoDeXXX commented on ArduinoDeXXX's instructable 半日で作る倒立振子3 months ago
    半日で作る倒立振子

    短いプログラムなので内容を良く見てください。たぶん分かると思います。一度組み立てた後、プログラムの一部を省略したり数値を変えたりすれば、直観的な理解も容易になると思います。

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  • ArduinoDeXXX commented on ArduinoDeXXX's instructable 半日で作る倒立振子3 months ago
    半日で作る倒立振子

    Arduino言語(以下引用)Arduino言語はC/C++をベースにしており、C言語のすべての構造と、いくつかのC++の機能をサポートしています。また、AVR Libcにリンクされていて、その関数を利用できます。参考サイト

    Arduino言語(以下引用)Arduino言語はC/C++をベースにしており、C言語のすべての構造と、いくつかのC++の機能をサポートしています。また、AVR Libcにリンクされていて、その関数を利用できます。リンク:参考サイト

    Arduino言語(以下引用)「Arduino言語はC/C++をベースにしており、C言語のすべての構造と、いくつかのC++の機能をサポートしています。また、AVR Libcにリンクされていて、その関数を利用できます。」リンク:参考サイト

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  • Another Easier Inverted Pendulum Robot

    Hi, I don’t know MPU5060 well, sorry. Though SPI interface is used in the sample sketch in Step5, I2C interface should be used for MPU5060 or 6050. You can find good information in other web sites with searching “MPU5060”.

    Hi, I don’t know MPU5060 well, sorry. Though SPI interface is used in the sample sketch in StepX, I2C interface should be used for MPU5060 or 6050. You can find good information in other web sites with searching “MPU5060”.

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  • ArduinoDeXXX commented on Imetomi's instructable TV Remote Controlled Paper Planes4 months ago
    TV Remote Controlled Paper Planes

    Hi, I met your great article by viewing a similar article in Instructables. I thought that the original is yours. Therefore I ask a question to you.It seems that the PNP transistor is connected in the un-usual direction against current in the diagram in StepX. Something important is attempted in it?I tried the diagram in attached picture below. It works well. It contains only LED but not motor and 5V power supply instead of 3.7V. Because I don’t have either an IR receiver working with 3.7V or a small motor working with a little current.May I ask you to tell me why the un-usual direction was selected? Thank you.

    Hi, I met your great article by viewing asimilar article in Instructables. I thought that the original is yours. Therefore I ask a question to you.It seems that the PNP transistor is connected in the un-usual direction against current in the diagram in Step3. Something important is attempted in it? I tried the diagram in attached picture below. It works well. It contains only LED but not motor and 5V power supply instead of 3.7V. Because I don’t have either an IR receiver working with 3.7V or a small motor working with a little current. May I ask you to tell me why the un-usual direction was selected? Thank you.

    Hi, I met your great article by viewing a similar article in Instructables. I thought that the original is yours. Therefore I ask a question to you.It seems that the PNP transistor is connected in the un-usual direction against current in the diagram in Step3. Something important is attempted in it? I tried the diagram in attached picture below. It works well. It contains only LED but not motor and 5V power supply instead of 3.7V. Because I don’t have either an IR receiver working with 3.7V or a small motor working with a little current. May I ask you to tell me why the un-usual direction was selected? Thank you.

    Hi, I met your great article by viewing a similar article in Instructables. I thought that the original is yours. Therefore I ask a question to you.It seems that the PNP transistor is connected in the un-usual direction against current in the diagram in Step3. Something important is attempted in it?I tried the diagram in attached picture below. It works well. It contains only LED but not motor and 5V power supply instead of 3.7V. Because I don’t have either an IR receiver working with 3.7V or a small motor working with a little current.May I ask you to tell me why the un-usual direction was selected? Thank you.

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  • ArduinoDeXXX commented on soleil123's instructable THE Cleaner4 months ago
    THE Cleaner

    May I ask you how you got the tank which is used as body? I am seeking small and tough crawler system used in house. Thank you.

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