Multirotor board - balancing robot

akhilzid · December 10, 2014, 02:41:37 PM

i think two pin mappings need to change like this.

MultiWii Board Peripheral Connection
-------------------------------------------------------------------------
#define DIR_L2 12 L293-Pin7
#define DIR_R1 8 L293-Pin15

sudhakar_yg · December 10, 2014, 02:53:59 PM

Thanks akhilzid, What about the Gyro/Acc pins is that ok?

sooraj.palakkad · December 10, 2014, 02:57:58 PM

The sensors (gyro / acc) are interfaced through I2C, so you don't need to do any thing there

Just do the modifications in code as suggested by akhilzid, and you are ready to go !

sudhakar_yg · December 10, 2014, 03:03:37 PM

Cool, Will try out & post my experiences..
Thank you team!!

sooraj.palakkad · December 10, 2014, 03:16:06 PM

Best of luck, and don't forget to post a build log so that others could get help from it .

saikat · December 10, 2014, 04:15:47 PM

You will not be able drive a l293 just by reassigning the pins in
the multiwii code .

the output for multiwii is ppm - used for driving servos and esc's (using write() and
writeMicroseconds() ) this will not work with l293 which requires PWM.(using digital write() )

You need to change some other parts of the code also - and
please let me know once you have found out.

sooraj.palakkad · December 10, 2014, 05:33:46 PM

Hey, dude, you should read the previous posts, we are not speaking about multiwii code, I have given link to a instructible , the code in it can be easily run in multiwii board.

saikat · December 10, 2014, 09:53:49 PM

yes .. my mistake

going to try out the program now

sooraj.palakkad · December 10, 2014, 10:01:16 PM

Best of luck,

sudhakar_yg · December 11, 2014, 02:12:41 PM

I tried uploading the code & rigged up the bot, but did not see any movement in bot. (Multiwii+L298+Motors+Battery)

Later I tried uploading the multiwii firmware with airplane configuration, This too did not make any difference. I dont see bot moving or cant even stand. (Multiwii+Single brushed ESC+2 DC Motors+Battery)

But my multiwii board seems to be working fine. I can see that on the multiwii tool.

Not sure what is the issue, will have to check it tonight..

akhilzid · December 11, 2014, 03:42:03 PM

can you post an image/drawing of that wiring?

sudhakar_yg · December 11, 2014, 04:43:44 PM

For L298, I have connected the same way as per definition in code.

I will share the circuit diagram in some time..

saikat · December 11, 2014, 04:44:09 PM

does the interrupt pin in the MPU need to be connected ?

akhilzid · December 11, 2014, 06:55:42 PM

i think no, code is using dmp to read values and yes that code is checking mpuinterrupt is active or not but cant find any code that mpuinterrupt is madatory.

sudhakar_yg · December 15, 2014, 11:16:31 AM

Hi Akhilzid,
Sorry for delay, PFA the wiring diagram.

akhilzid · December 15, 2014, 11:18:56 AM

cant see uploaded image, is zero KB? Please re upload.

Edit: Ok, i can see now.

sudhakar_yg · December 15, 2014, 11:27:42 AM

Ok, Just remembered, I have common grounded both boards.

sudhakar_yg · December 18, 2014, 10:25:44 AM

Hi Saikat,
Any luck with your bot?
Mine still having issues using L298.
BTW how did you wire your bot with servos? On multiwii board, which pins did you connect the servos to? Can you please share the schematic of your bot with servos?

sooraj.palakkad · December 18, 2014, 10:32:03 AM

HEy, what I have last heard, Akhil eattan (Akhilzid) Already made a prototype ! He send me a video of it last week - but it was not RC then- don't know whether he have added remote control now

sudhakar_yg · December 18, 2014, 11:26:40 AM

Wow!! thats a great news... Akhilzid, can you please share the video & the details of bot?

saikat · December 18, 2014, 01:27:34 PM

i have ha some success - with servo a amp board driving a l298 from multiwii.

that way I was able to use the multiwii code to drive a l298

i am away now - will post some pics when I get back.

sudhakar_yg · January 02, 2015, 10:41:50 AM

!!Wish You All Very Happy New Year!!
Did you all have any progress on this? Please post your update.
My progress is, wheels rotates to the direction either forward or backward the way multiwii board tilts to. But balancing doesn't happen. Looking into this issue.

Thanks
Sudhakar

akhilzid · January 02, 2015, 11:29:54 AM

here is mine
still need lot of tuning.

http://docs.google.com/file/d/0B83oq3WVM0KWQkRMN3JDU3VieDQ/edit?usp=docslist_api

sudhakar_yg · January 02, 2015, 03:00:33 PM

Good one Akhil.
Can you please share hardware & arduino code details of your build?

akhilzid · January 02, 2015, 04:08:00 PM

Hardware:

Arduino Mega2560 + MPU6050 (Can Replace With Multirotor Board)

Brushed ESC 20A Without Reverse

6v Relay (To Reverse Motor Direction)

Normal Toy Car Brushed DC Motor + Gears + Wheels (Taken as Whole assembly)

Firmware:

MPU 6050 Library

Kalman filter library (Kalman.h) is from https://github.com/TKJElectronics/KalmanFilter Doveloped ByKristian Lauszus.

And some Modifications From Me To Be Balanced.

And the code is attached here.
https://drive.google.com/file/d/0B83oq3WVM0KWMGZzSEhRM19Wb2c/view?usp=sharing