Segway on multiwii
Segway on multiwii
I'e got some servos, MiniPro and Gy-521 (mpu-6050) layin around.
Today i've got some time and build simple platform:
Servos already modded to 360 rotation.
I want to connect receiver.
I will also try to put on it small camera and make FPV segway
But i've got dilema how to connect it. ???
What model I can use ?
Maybe custom mixers ?
Today i've got some time and build simple platform:
Servos already modded to 360 rotation.
I want to connect receiver.
I will also try to put on it small camera and make FPV segway
But i've got dilema how to connect it. ???
What model I can use ?
Maybe custom mixers ?
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- Joined: Sat Feb 19, 2011 8:30 pm
Re: Segway on multiwii
This should be a very interesting project. The Bicopter Mixing would be a good foundation for starters.
Re: Segway on multiwii
I've made small board to connect servos, rx and BEC.
For testing purpose MiniPro, board and 6DOF are sticking by BlueTack
I uploaded Bicopter.
Done first test without RX - don't want to stay. Serwos spin in same direction so for now it spins around.
So for now, need to change direction of one servo.
It not looking nice, but ...
For testing purpose MiniPro, board and 6DOF are sticking by BlueTack
I uploaded Bicopter.
Done first test without RX - don't want to stay. Serwos spin in same direction so for now it spins around.
So for now, need to change direction of one servo.
/* Servosettings for DualCopter */
#define DUALCOPTER_SERVO {1,1} //Pitch,Roll
/* Use SERVO_OFFSET and SERVO_RATES in Heli and Airplane section for centering and endpoints */
It not looking nice, but ...
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Re: Segway on multiwii
Not sure why but it seems this would work less the throttle.
Code: Select all
#ifdef BI
//motor[0] = PIDMIX(+1, 0, 0); //LEFT
//motor[1] = PIDMIX(-1, 0, 0); //RIGHT
servo[4] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
#endif
Re: Segway on multiwii
Hi, it is a nice project you are proposing.
What about ?
#ifdef BI
// motor[0] = PIDMIX(+1, 0, 0); //LEFT
// motor[1] = PIDMIX(-1, 0, 0); //RIGHT
servo[4] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //RIGHT plus instead of minus
#endif
bartwaw wrote:So for now, need to change direction of one servo.
What about ?
#ifdef BI
// motor[0] = PIDMIX(+1, 0, 0); //LEFT
// motor[1] = PIDMIX(-1, 0, 0); //RIGHT
servo[4] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
servo[5] = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //RIGHT plus instead of minus
#endif
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Re: Segway on multiwii
That appears to me more of a servo centering issue to me and maybe XY sensing directions crossed. You may also want to play with changing the + to - for the Pitch.
Re: Segway on multiwii
Hi Patrik,
On which ports are servos ?
As I see i should choose MWII_ROBOT.
On which ports are servos ?
As I see i should choose MWII_ROBOT.
Re: Segway on multiwii
Servopins is A0 + A1.
I made a 3D printed robot and tested on a little.
But my servos is to slow it seems.
It can keep balance but when it starts to tilt the topspeed of the servos is not enough to compensate.
I made a 3D printed robot and tested on a little.
But my servos is to slow it seems.
It can keep balance but when it starts to tilt the topspeed of the servos is not enough to compensate.
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- Joined: Sat Feb 19, 2011 8:30 pm
Re: Segway on multiwii
Without having built one myself, it would seem increasing the height would solve this problem.
Re: Segway on multiwii
Looks to me like the issue is at least partly in using servos to drive the wheels. As you noted, full speed isn't enough to catch a fall. Also, servos have 3 discreet "settings": Full speed forward, stopped, and full speed reverse. This is the case whether the servo has been 360° converted or not. Even if the servo was fast enough to keep up, it would jam full speed forward or full speed reverse in response to any need for motion. Program needs to correct a 0.5° lean? Bam - Full speed forward.
What you need is proportional control of speed (a pair of small DC motors and forward/reverse speed controls). Or even better yet, proportional control of movement (such as with stepper motors or DC motors with an encoder setup).
What you need is proportional control of speed (a pair of small DC motors and forward/reverse speed controls). Or even better yet, proportional control of movement (such as with stepper motors or DC motors with an encoder setup).
Re: Segway on multiwii
Hi,
nice project!
That´s not right, ~15 years ago I used servo electronics as speed controllers for modding 1:72 plastic tanks to RC because other "micro hardware" was barely available. They gave a quite narrow control range but at least were somthing like proportional in this.
I think it´s a problem of speed, too.
Was also my first idea, but I think by this you also increase the needed travel for compensating a given angular failure (think about distance COG-wheel and angle to radius) -> need more speed on the wheels.
nice project!
iksbob wrote:Also, servos have 3 discreet "settings": Full speed forward, stopped, and full speed reverse. This is the case whether the servo has been 360° converted or not.
That´s not right, ~15 years ago I used servo electronics as speed controllers for modding 1:72 plastic tanks to RC because other "micro hardware" was barely available. They gave a quite narrow control range but at least were somthing like proportional in this.
I think it´s a problem of speed, too.
copterrichie wrote:Without having built one myself, it would seem increasing the height would solve this problem.
Was also my first idea, but I think by this you also increase the needed travel for compensating a given angular failure (think about distance COG-wheel and angle to radius) -> need more speed on the wheels.
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Re: Segway on multiwii
Those days it is probably better idea to look into brushless gimbal code/direction than using servos?!
Especially since HW is now really affordable! (http://www.goodluckbuy.com/cjmcu-ytv3-b ... v3-01.html + http://www.goodluckbuy.com/cjmcu-121-mp ... dule-.html)
Best Regards
Andrej
Especially since HW is now really affordable! (http://www.goodluckbuy.com/cjmcu-ytv3-b ... v3-01.html + http://www.goodluckbuy.com/cjmcu-121-mp ... dule-.html)
Best Regards
Andrej