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Dec 22, 2010
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Comment: I don't know of any books in particular, but many of the links at the bottom of Step 1 …
Comment: The weighted IMU sat on top of the foam loop. I also have a Talon v1...it's a great fr…
Comment: Yes, all DNP and zero-ohm resistors are for configuring the various settings on the TB6…
Comment: The controller on this project is different from the one on the "DIY Segway" project, w…
Comment: This gearbox is epic.
Comment: Yes, that's the exact one I used.
Comment: I'm using the version 1, but I think the version 2 would also work fine.
Comment: For this size quadrotor, there weren't many options. But in general, you would choose t…
Comment: Thank you! I'm glad people like it and I hope there will be swarms of PCB quadrotors in…
Comment: The total cost for everything including the ground station transmitter hardware (XBee, …
Comment: Steps 9 and 10 have all the details for how the accelerometer and gyro are merged toget…
Comment: Thanks! No, I haven't tried any Kalman filtering. The complementary filter handles gyro…
Comment: Thanks! Putting the ATmega328 on-board is definitely something I want to do in a future…
Comment: I mean that this quad isn't autonomous. It will self-level, but if the trims are off or…
Comment: Seems like you got the 18v25 Motor Controller instead of the 18v25 Motor Driver. Pololu…
Comment: The steering pot applies a differential command to the motors, after all the balancing …
Comment: No, it's not necessary to connect the other four IMU outputs to the Arduino. I connecte…
Comment: They came from a scrap bin, but any old heat sink should work. A processor heat sink mi…
Comment: Cool project! It sounds like you're running up against what I call the "robot segway" p…
Comment: Am I correctly reading the datasheet for the gyro that it has:Sensitivity: 0.67mV/(deg/…
Comment: Okay, I understand now. One thing you can do is modify the software to take an average …
Comment: Yes, your LSB calculation looks correct assuming 10-bit ADC. Do you mean how to make it…
Comment: Looks good! How are the leaning wheels working out? Does it feel natural to turn?
Comment: I would agree with jaysetlle. From my own experience, if it's balancing itself without …
Comment: With 16 bits, the denominator would be 65536LSB instead of 1024LSB.Not sure about the d…
Comment: Anything from 1-100k should work. I used 5k. You can calibrate the center and the endpo…
Comment: What you're seeing is normal behavior. The analog input will have a bit of noise on it,…
Comment: That sounds correct. I don't remember whether positive is forward or backward, and it d…
Comment: It looks like you have everything right, to within a minus sign that you'd have to dete…
Comment: Oh okay, you're working with Victor 883s...that's a whole different ballgame. We built …
Comment: Does it balance well once you are on it? Or is it impossible to get to that point?I fin…
Comment: I find it pretty easy to get on, but I've had a lot of practice...
Comment: It is important that the combined rider + vehicle C.G. be roughly above the wheels, or …
Comment: Without the power on? Only if you have really good balance!It will definitely be jerky …
Comment: The gyro generates a signal proportional to angular rate, and to the extent which the p…
Comment: Sweet! Lemme know if it balances!
Comment: Ok so it sounds like the sensor values are the proble, not the motor outputs. I'd first…
Comment: How about the filtered angle and rate variables? Do these look to be correct?What if yo…
Comment: So, if you checkSerial.println(output_left);orSerial.println(output_right);right after …
Comment: Not sure then..the only thing I can think of is to go back up a few lines at a time and…
Comment: Okay so I'd say take a step back and use the Serial.println() to check that the PWM val…
Comment: What voltage? Is it stuck at 9V?
Comment: You should be able to see the motor output voltage (measured from OUTA to OUTB) ramp fr…
Comment: Great! Good luck!
Comment: I don't understand the data either.You can't filter the gyro_raw and the accel_raw toge…
Comment: It doesn't matter how you mount the board, because you can change which axes are used i…
Comment: Both KP and KD are used to balance the platform. The difference is that KP creates a co…
Comment: Regarding the delay time, DT: it should reflect the total loop time, yes. For segstick,…
Comment: You can use Serial.prinln() to print the analog value of the sensor readings to the Ard…
Comment: Yes, all the control equations assume a small angle approximation, which would only be …
Comment: Yep.
Comment: Do you mean the P and D gains? I honestly just picked numbers that sounded reasonable:T…
Comment: Yeah, LOW is 0V and HIGH is 5V. They are just signals, so very little current flows int…
Comment: Nope, that's an Allen wrench set I got in Tokyo.
Comment: That's correct. The Pololu motor driver boards are H-bridges, so they can drive the mot…
Comment: Thanks! The LOW and HIGH arguments change the polarity of voltage applied to the motor …
Comment: 10A probably is not sufficient to drive the drill motors. It's also only $10 less expen…
Comment: Not sure what the pitch on the motor sprockets are. The first one just says "3M". The s…
Comment: Oh, also, MOSI and MISO correspond to D11 and D12, the DIR outputs.
Comment: Definitely. In fact, if I were starting from scratch that's probably how I would do it.…
Comment: Sure. They would need to be geared down at least about 5:1, even for small wheels. Timi…
Comment: I think either of those would be fine. The 50A version might be good for a larger balan…