Johan Link

The interface has been written in Python

Hello,Could you give me more details about the servos: - Do you use exactly the same servos as me ? - what exactly do servos do ? - What is the position of the servos when you turn on the circuit

Hello, Glad to hear that you're making this robot ! Try to use the bottom.step and top.step files in step 2. I hope it helps you

Dans ton premier commentaire tu as écris Servo B sur le pin 10 mais il devrait être sur le pin 11.Effectivement le mdf est trop lourd.

Hello,Voilà mes idées de réponses à tes questions :- As tu utilisé du carton pour le plateau ? il doit être le plus léger possible pour que les bras ne se détachent pas du plateau.- Regarde les images ci-jointes pour connaître l'orientation de la caméra.- La fonction "tester les servomoteurs" n'utilise pas la caméra- Les branchements doivent être les suivants : A - 9 B - 11 C - 10J'espère que ces réponses t'aideront à faire fonctionner ton système :) Juste par curiosité : Peut tu envoyer une photo de ton système ?

What a beautiful and brillant project !!

Wow génial ! merci beaucoup pour la photo ! Heureux d'apprendre que le système fonctionne correctement !

thank you for the comment, yes I used the serial port for the communication

you don't need to do that

thanks for your comment !

Yes it should work with a pi zero. It would be even better !

Hi, you can just buy the pcb here : https://www.pcbway.com/project/shareproject/Ball_B...

Thanks!

Hello,Here are the dimensions of the pub : width 33.02mm length 48.26mm

Normally it works with any usb webcam, but I have never tested

Try to remove line 396 of the code python. (img = img[0:int(camHeight),int((camWidth-camHeight)/2):int(camWidth-((camWidth-camHeight)/2))])

It is a strange problem. The blue circles are correctly positioned and they have the right size. The program python changes the resolution of the camera on lines 22 and 23. Which version of OpenCV do you use?

It doesn't look normal ? Did you change anything in the code?

Are you sure that the text at the top right of the window is green?

hello, is it possible to speak via discord?

Do you use a power supply for the servo?

The laptop can not know if the tray is on or off.

Hello,Thank you for your question. It is perfectly normal for the wings to be down when you connect the cables. When everything is plugged in, the first thing to do is to press the button "Connexion". If everything works the red text at the top right turns green to show that the Arduino is well connected with the computer. Then you can press the button "Mettre en place le plateau". The warning message says that the tray must be removed so that the wings can rise properly. Once they are up, you can put the tray. To start the robot, press "Start". The "Tester les servomoteurs" button is not very useful... If you press it, the tray will move in all directions to show that everything is working properly.I hope it helps you. Do not hesitate to ask othe...

Hello,Thank you for your question. It is perfectly normal for the wings to be down when you connect the cables. When everything is plugged in, the first thing to do is to press the button "Connexion". If everything works the red text at the top right turns green to show that the Arduino is well connected with the computer. Then you can press the button "Mettre en place le plateau". The warning message says that the tray must be removed so that the wings can rise properly. Once they are up, you can put the tray. To start the robot, press "Start". The "Tester les servomoteurs" button is not very useful... If you press it, the tray will move in all directions to show that everything is working properly.I hope it helps you. Do not hesitate to ask other questions. And do not hesitate to send a picture of your robot if you want ;)

I use OpenCv 3.3.0

Really cool ! Good work !

Hello,Le but de toutes ces équations est de trouver le lien qui existe entre les angles alpha, beta (angles qui détermine l'orientation du plateau) et les angles teta des servomoteurs. J'ai fais un schéma qui devrait t'aider à comprendre d'où viennent les cos30 et sin30. Sache que même si tu n'arrives pas à utiliser mes équations tu peux directement utiliser le fichier "data.txt" qui est une table de correspondance entre les angles alpha, beta et les angles teta.J'espère que mes explications vont te permettre de mener à bien ce projet.N'hésite pas à m'envoyer des photos du projet, ça m'intéresse beaucoup :)

Hello,J'ai fais un long dossier qui explique le fonctionnement du système en détail, le voici : https://github.com/JohanLink/Ball-Balancing-PID-System/blob/master/TM%202.pdf

Hello,I noticed that you have to replace line 421 ("cnts = cnts [0] if imutils.is_cv2 () else cnts [1]") by "cnts = imutils.grab_contours (cnts)" when using OpenCV 4. This solution works for me, I hope it will work for you too.

Hi,There is no default color. You have to right click on a color to select it.

I think it should work.

Hi,Does the system work ? Is there latency with the Raspberry pie?It looks nice!

Hi,Did you write "print(p.description)" to print the port ?

Awesome! thank you very much for the photo!

Normalement ça fonctionne avec tous les Arduino. Le problème se situe sans doute dans la fonction "connectArduino" ligne 267. Essaye d'ajouter "print(p.description)" dans la boucle for. Cela va te donner le nom des périphériques branchés aux ports usb. Il faudra alors peut être remplacer le "Arduino" ligne 273 par le nom de ton Arduino. (Obtenu avec print(p.description))

Hello,J'ai remarqué qu'il faut remplacer la ligne 421 ("cnts = cnts[0] if imutils.is_cv2() else cnts[1]") par "cnts = imutils.grab_contours(cnts)" lorsqu'on utilise OpenCV 4. Cette solution fonctionne pour moi, j'espère que ça fonctionnera aussi pour toi.

Same problem for me.

Yes it's correct.

Hi,Here is an explanation drawing(it misses the screw on the drawing)

Bonjour,Merci pour le commentaire.Voila les versions des librairies que j'utilise:Python : 3.6.4Numpy : 1.14.5OpenCV : 3.3.0Tkinter : 8.5PIL : 5.1.0imutils : 0.4.6serial : 3.4 N'hésite pas à m'envoyer une photo du projet, ça m'intéresse :)

Hi, Thank you very much for the picture.I may know where your problems come from.- Is there 18cm between the end of each arm. (see picture)- If you press the "Ranger les bras" button, all arms should be lowered as much as possible. (see picture)

Hi,You have to right click with the mouse on the ball so that the program detects the color of the ball. Did you do this right click? I hope it helpsFeel free to send me a picture of the project, I'm interested :)

Hi,The program "solveEquation.py" generates the file "data.txt". You can find it here: https://github.com/JohanLink/Ball-Balancing-PID-System/tree/master/additional%20codes

Hi,Thanks for the comment. I just added two .step files in step 2. I hope it will work.Good luck for the construction of this project. :)

Hi,At the beginning you have to put each coefficients (pid) to 0. Then you can slightly increase the coefficient p. At this point you have to put the ball in different places on the board and check if the board tilts in the right direction (no need to throw the ball, you can just hold it on top of the board). If the board moves in the right directions, you can increase the coefficient d. Then you have to do some tests by varying the value of p and d. Once this works you can increase the value of the coefficient i which is very sensitive. (the coefficient i is not necessary. You can set it at 0).I hope it helps!Do not hesitate to send me a picture of your construction. I'm interested :)

Yes!

Hi,If you want to have exactly the same pcb as me you can buy it here: https://www.pcbway.com/project/shareproject/Ball_B...Do not forget that you will receive a pcb without the components. You will have to buy and solder all components. If you want, you can do my project using just an arduino uno.

Hello,The part below the print3times.stl part is just an error on the drawing. Here are two images that should help you. The print3times.stl part and the magnet are glued to the bottom of the tray.

Hi, Thanks for the comment. I realized that the text on the pcb contains false information about the name of the servo pin. Here is an image that explains on which pin each servo must be connected.

Thank you for this modifications that will help many people !

Hello,I think the problem is the opencv version. Personally I have python 3.6.4 and I use version 3.3.0 of opencv. Try to use the same versions as me. I hope it helps :)

Hello,Which libraries you can't install? What error messages you have when you run the program? Maybe I can help you.

Bonjour, vous pouvez mettre le pdf sur dl.free.fr puis m'envoyer le lien de téléchargement, merci.

Merci beaucoup pour les liens. Je suis heureux de voir que mon travail puisse vous aider à compléter vos cours. Vos schémas m'ont l'air parfaitement corrects et correspondent bien à mon système.

Thank you!

You are right there are plenty of pieces that are not necessary. I made these pieces because I wanted to create a well finished and beautiful object. I used a camera because I wanted to learn how to use OpenCV.

You're right, I forgot them !! I will add the files. Thanks

Merci beaucoup!

Yes it's exactly the right servo.

I bought my servos here : https://www.brack.ch/fr/futaba-servo-s3003-analogi...Don't buy Chinese copies of this servo model.

Merci pour le commentaire!

You can download this (https://www.python.org/downloads/) to run my code.And you have to install all the libraries:import cv2import numpy as npimport timeimport imutilsimport tkinter as tkimport tkinter.messageboxfrom PIL import Image, ImageTkimport serialimport serial.tools.list_portsfrom math import *

Thank you so much for your comment. You are absolutely right, I didn't put much detail in the Instructable but I will try to add more explanations in the coming days. Unfortunately, the code I wrote is not very understandable because there is a mix of English and French... The mouse can do only one thing:With the Python program you can see live video of the webcam. Before starting the system you have to put the ball in front of the camera and on the computer you have to right click on the ball to indicate to the computer the color of the ball. (image in Step 5)

I never tried running the Python program on a Raspberry, but I'm sure it can work.

Thank you so much!

Merci !

Thank you. One day, I saw a video with a similar system. So I wanted to create my own machine :)

Thank you!

Thank you for your comment. I didn't use any formulas to determine the size of the shapes, I just did several tests with different sizes.