Difference between revisions of "Open Source Self-balance Robot System"

==Outline==

*Project: Microduino Self-balance Car

*Objective: To make a self-balance car that can be controlled with a remote controller.  

*Difficulty: Middle

*Time-consuming: 2 Hours

*Introduction:

This two-wheel self-balance car is an integrated system with multiple functions, which is also a study subject focusing on automatic control theory, dynamics theory and technology theory. The essential problem is to solve self-balance and to complete tasks under various kinds of environment. In this tutorial, we adopt Microduino modules to build a self-balance car controlled by the Joypad remote controller. It enables users to play it in short time.

 

==Bill of Materials ==

|Module||Number||Function  

|[[Microduino-Core+]]||1||Core board  

|[[Microduino-USBTTL]] ||1||Program download

|[[Microduino-nRF24]] ||1||Wireless communication  

|[[Microduino-Robot]] ||1||Driving and connection board

|[[Microduino-Stepper]] ||2||Driving stepper motor

|2.4G Antenna||1||2.4G communication

|Frame ||1||For fixating

|Nylon screw ||4|| For fixating

|Nylon nut ||12|| For fixating

|Battery box ||1||Battery loader

|-

|Micro-USB cable ||1||Serial communication and program download

*Joypad Material

|[[Microduino-Core]]||1||Core module

|[[Microduino-nRF24]]||1||Wireless communication

|[[Microduino-Joypad]]||1||Remote controller

|[[Microduino-TFT]]||1||Display

|[[Microduino-USBTTL]]||1||Program download

|Lithium battery ||1||Power supply

|Acrylic panel ||1||Front panel

|Nylon column ||4||For fixating

|Long nylon screw ||4|| For fixating

|Short nylon screw ||4|| For fixating

|Nylon nut ||4|| For fixating

|Sponge panel ||1|| For fixating

[[File:平衡车物料.jpg||600px|center]]

[[Microduino-10DOF]]

Scan the project program address, click " Joypad_Balance_Reception.ino " and open.

[[File:Balancecaropen1.jpg||600px|center]]

*'''Step1''':First, connect A1 and A2, then plug the B1 and B2 into the two sides of A1.

[[File:Balancestep1.jpg||600px|center]]

*'''Step 4'''：Connect the other side of the Microduino-TFT cable to the right place of the base plate, then put the long screws into the four s of the panel. 

[[File:Joypadstep5.jpg|center|600px]]

*'''Step 6'''：Tear off the sticker of the antenna after installation and attach it to the base plate of the Joypad. Congratulations! You just completed the Joypad installation.

====Joypad Debugging====

*Key Setting

Press down Key1 within 4s after the open of the Joypad and enter Config mode.

[[File:Step1进入设置.jpg|600px|center|]]

*Enter Setting mode

[[File:Step1按键对应.jpg|600px|center|]]

Note: Please enter the setting mode before the OS interface. If not, please restart and enter.  

*Joystick Calibration

Press down Key3 and Key4 to move the cursor. The Key1 means "Return" and the Key2 means "Confirm".

Choose Joystick Correct to enter the calibration mode.

A After that, it'll appear the interface shown in the third picture with an initializing state of two crosses.

[[File:Step2摇杆校准.jpg|600px|center|]]

*Select the control mode

Press Key1 to return to the main page and select Protocol Config to enter mode selection.

Select the first Mode, then choose nRF24(namely, Robot control mode), press Key2 to confirm and return.

*Set communication channel 

Return to the secondary list, select nRF24 Channel and press Key2 to confirm.  

Select 70, which corresponds to the function setting of the nRF24 in Robot_Microduino.ino.

==Attention==

*Please make sure you only stack the Core (Core+) and the USBTTL modules when downloading the program. Although the nRF24 will not cause conflict, other communication modules may lead to serial conflict.  

*Make sure the right cathode connection of the lithium battery, or it'll burn the circuit.  

*After the debugging, please don't adopt USB power supply when running the program and use battery instead, or it may cause undervoltage.

Address of the baidu cloud disk:

http://pan.baidu.com/s/1eQBaMjg

Github address:  

https://github.com/wasdpkj/BalanceCar_Microduino/tree/master/BalanceCar_Microduino

#define MOTOR1_STEP 5  //PORTB,1

#define MOTOR2_STEP 6  //PORTB,2

#define LED -1

#include <RF24Network.h>

#include <RF24.h>

#include <SPI.h>

const uint16_t this_node = 1; //Set ID

//--------------------------------

struct receive_a //Receive

unsigned long clock; //Host machine running time

int tem_xuan = 0; //Host machine request schedule

//----------------------------

//=================================================================================

#include <Wire.h>

#include <I2Cdev.h>

#include <JJ_MPU6050_DMP_6Axis.h> // DMP working library's revised version.  

//=================================================================================

#define CLR(x,y) (x&=(~(1<<y)))

#define SET(x,y) (x|=(1<<y))

 

//=================================================================================

 

#define Gyro_Scaled(x) x*Gyro_Gain //Return the original data of the gyroscope

#define RAD2GRAD 57.2957795//57.2957795

 

 

bool dmpReady = false;  // Set as True if DMP initialization is ready.

uint8_t devStatus;      // Each deveice will return to the original status after operation. (0=Ready! 0=False)

uint16_t packetSize;    // Predict DMP packet(Here is 18 bytes.

uint8_t slow_loop_counter; // Slow loop 2HZ

// The default I2C daddress is 0X68

uint8_t dir_m[2];            // Actual rotation direction of the stepper motor

uint16_t counter_m[2];        // Cycle of the counter

  extern int __heap_start, *__brkval;

//This function defines the weight on the accelerated sensor.

  mpu.setMemoryStartAddress(0x60);

  mpu.resetFIFO(); //Reset FIFO

  //Return ( asin(-2*(q.x * q.z - q.w * q.y)) * 180/M_PI); //roll

 

  //Only adopt parts of the sensor input ranther than the maximum set value (T-2).

  PID_errorOld = input;  // Error is the only input component of Kd. 

 

 

 

 

 

  subperiod = ((1000 % absSpeed) * 8) / absSpeed; // Optimize code to calculate the sub-period. (Integer arithmetic)

void setMotorSpeed(uint8_t motor, int16_t tspeed)

  calculateSubperiods(motor);  //We adopt four sub-periods to enhance resolution.

    digitalWrite(MOTOR_EN, HIGH);  //Don't use the motor

 

 

 

 

 

 

 

 

 

 

 

    // turn on the DMP, now that it's ready

 

      // (if it's going to break, usually the code will be 1)

 

 

 

  Serial.print("Free RAM: ");

 

  // verify connection

  Serial.println("Testing device connections...");

  Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

 

 

  dmpSetSensorFusionAccelGain(0x40);//0x20///////////////////////////////Adjust the sensor

  Serial.println("Initializing Stepper motors...");

 

 

  // The vibration of the motor indicates the robot is ready.

 

    setMotorSpeed(1, -3);

 

 

  //nRF==============================

  SPI.begin(); //Initialize SPI bus

  radio.begin();

  network.begin(/*channel*/ 70, /*node address*/ this_node);

 

  Serial.println("===========start===========");

    Serial.print(Speed_need);

    Serial.print(",");

    Serial.println(Turn_need);

 

 

 

 

  fifoCount = mpu.getFIFOCount();

    if (fifoCount > 18) // If we have one or more data packets, we can adopt the simplest way to dump the buffer zone.  

      mpu.resetFIFO();

 

    Serial.println(angle_adjusted);

    mpu.resetFIFO();  // Rest FIFO

    int16_t angular_velocity = (angle_adjusted - angle_adjusted_Old) * 90.0;

    estimated_speed_filtered = estimated_speed_filtered * 0.95 + (float)estimated_speed * 0.05;

 

 

    motor2 = -control_output + steering;  //Motor2 rotates conversely.  

 

 

        if (pushUp_counter > 60) // 0.3 seconds

 

 

 

boolean nRF(float * _speed, float * _turn)

 

    _i[0] = map(rec.rf_CH1, 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE);

 

    node_STA = (rec.rf_CH7 > 1500 ? true : false);    //Receive the assigned

 

 

      //Serial.print("Sending...");

      }; //Send out the data corresponding to the previous sending array.

 

 

 

 

#include <Adafruit_ST7735.h> // Hardware-specific

#include <SPI.h>

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

    network.begin(/*channel*/ nrf_channal, /*node address*/ this_node);

 

  Serial.println("===========start===========");

 

 

 

 

 

 

 

  //Node checking -------------------------------

 

 

 

 

BAT.h

<source lang="cpp">

 

boolean mcu_voltage = true; // 5.0 or 3.3

#define _V_fix 0.2  //fix battery voltage

#define _V_math(Y) (_V_fix+((Y*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f))))

 

  //_V_bat=10*((voltage*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f)));

 

#ifdef Serial_DEBUG

   Serial.print("_V_bat: ");

 

 

 

 

 

 

 

 

 

#define interval_TIME1 2000    //setup delay

<source lang="cpp">

 

 

#define EEPROM_write(address, p) {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) EEPROM.write(address+i, pp[i]);}

#define EEPROM_read(address, p) {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) pp[i]=EEPROM.read(address+i);}

 

 

  //EEPROM reads assigned values.

 

  for (uint8_t a = 0; a < 4; a++)

    joy_correct_max[a] = config_readback.eeprom_correct_max[a];