For you knowledge, this project is a remix from the original project. I had just built a new firmware and included some hardware to cooperate with it.
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Walk / 0 -> Stopped function, 1 -> forward, -1 -> back
- This function controls all the execution of steps, in any direction, even curves.
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As the basic guidelines are no longer a mystery.
- I will try to explain a little about how I tried to solve the curve problem, as follows:
- I noticed that one of the wheels needs to take fewer steps than the other, of course according to the direction, so I found a reason given by the parameter _freqRot, he is responsible, for inhibiting certain steps with a ratio between the steps to walk and the rest comparable to 1, in this rhythm, when varying this division, we can get drives that vary from 1 step each 2, such as 1 step every 5 and so on, so, the larger _freqRot, the longer the activation time for 1 step and the circumference / curve radius decreases, that is, it is inversely proportional.
- All calculations for making circular movements, that is, curves, must be used as a variable parameter, e_360, because it is there that we have the steps, taking into account the axis of the car and all to follow in a straight line, either backwards or forwards, has as parameter / variable r_360.
- Other calculations are just simple rules 3. In the function Shapes case 4, Sine and Tagente were used, because to perform it is necessary to create a Rectangle Triangle just specifying the type of the notable triangle and the opposite side measurement, to obtain the other measures .
- Anyway, I saw that we have a lot to do, both for an open version, as for a commercial version better elaborated in the sense (precision).
- Over in the Air with HC 05 / The entire implementation followed the guidelines of the links I made available, there are details that need to be studied further. Example: time spent in pairing. Pair automatically with a predefined list of devices.
- I will try to explain a little about how I tried to solve the curve problem, as follows:
- The main code;
- External reset button when something went wrong, like a bug;
- MPU 6050
- Posicion Corret MPU6050
- Examples code to simulate individual part of the code:
- Libraries Created
- SoundCod.h
- ButtonCod.h
- RecordFlash.h
- SoundCod2.h
- License from: https://creativecommons.org/licenses/by-sa/4.0/
- Part of the code from: https://github.com/OttoDIY/DIY
- BatLevelCod.h
- BlueDebug.h
CodeDomino Acording of the test made at 25/10/2018 at 23:07. The power consumption was around ~95mA when it is stopped waiting to receve the first command, however, when the first command comes up, The power minimun consumption when it was working at around 495mA e max was 700mA at the end of the way. There is a pico of energy, when the bobine of the motors turns off. The Lipo Batery 2S de 1300mAh has a range aprox in 4 hours of work. O.B.S.: It's still necessary wacht his behavior, because all of the informatios is just piece of ideia, however, i considerated all experience that i had at the long way doing the tests.
- Calculate Base when it is stopped: Lipo 1000mAh--> 1 / 0,095 = 10.526 * 60min = 631 minutes ou 10 horas stopped.
- Calculate Base when it is works: Lipo 1000mAh--> 1 / 0,5 = 2 * 60min = 120 minutes ou 2 hours.
- --> May you can ask <--
- How many steps are to turn the wheel self around into 360º? --> go to **step number 2 **
- How many steps are to turn the robot self around into 360º?? --> go to step number 4
Step 1 - Motor
1º We need to know, which will be the model of the step motor to know how many degrees per step.
2º We are going to divide 360° by degrees steps of the type of motor to get how many steps are necessary to turn the wheel self around into 360°.
O.B.S.: It is important to add one variable to incrise(+) a margin of error, because there are few oscillations.
| Exemples | Type of motor | Stpes |
|---|---|---|
| FullStep = 11,25° / 64 => 0.1757° | 28BYJ-48 | 0.1757° |
| 1Step = 5.625 --> FullStep = 2 * 5.625° => 11,25° ---> 360 / 0.1757° | 28BYJ-48 | p' = 2000 steps |
Step 2 - The Wheel
1º We need the information of the diameter of the wheel to get radius.
2º At the formula C" = 2 * PI * r --> we can get the log distance at 360°.
Step 3 - The Car
1º We need to get the diameter between of the two wheel, to get radius.
2º t the formula C' = 2 * PI * r --> we can get the log distance at 360°, however, on its own axis.
Step 4 - Revolution
1º revolution = C" / C' --> How many stpes the wheel of the car, will have to do to the car turns 360° on its own axis.
Step 5 - Steps
1º P" = p' * revolution --> At P" We can get how many steps to turn 360°.
O.B.S.: It is important to add one variable to incrise(+) a margin of error, because there are few oscillations. Recomended >= 0.01
Important details, everything that go to relate about moviment of the curve, we use the variable called e_360 and straight movement r_360.
- The main board from the original project;
- Bluetooth HC 05 plus General Components;
- MPU6050.
- VsCode;
- Arduino IDE;
- SolidWorks.
- https://youtu.be/TjC3F9sj-x0
- https://www.youtube.com/watch?v=3iHUX_oOcX0
- https://www.dobitaobyte.com.br/sirene-com-arduino/
- https://youtu.be/xXUKfTNHkKE?list=PL4vok-JSscqD_f4F9JEucI_fXp49GaD4L
- https://sites.google.com/site/wayneholder/inexpensively-program-your-arduino-via-bluetooth
- Posicion Corret MPU6050
- Simples Tests
- First tests using the MPU6050 into the project CodeDomino
- Great results with MPU6050
Atention If you go email me, please put as subject the name of the project, in this case: (CodeDominor Remixer) Requests
| Name | Mobile | |
|---|---|---|
| Yuri Lima | y.m.lima19@gmail.com | +353 83 419.1605 |