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]]

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

[[File:Joypadstep2.jpg|center|600px]]

*'''Step 3'''：Put the two Joystick keys, batteries and four white keys in the right place, then install the nRF24 module and Core module on the base plate of the Joypad.

[[File:Joypadstep3.jpg|center|600px]]

*'''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.

==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_DIR A1   //PORTA,6

#define MOTOR2_STEP 6  //PORTB,2

#define MOTOR3_DIR A2    //PORTA,5

#define MOTOR3_STEP 7  //PORTB,3

#define LED -1

#include <RF24Network.h>

#include <RF24.h>

#include <SPI.h>

RF24 radio(9, 10);

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

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

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

#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.

uint16_t fifoCount;    // All bytes in FIFO.  

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.

  // Save energy and don't run it.

 

 

 

 

 

 

 

 

 

 

 

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

 

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

 

 

 

 

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

 

 

  //Adjust DMP sensor fusion

  Serial.println("Adjusting DMP sensor fusion gain...");

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

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

 

  digitalWrite(MOTOR_EN, LOW);  // Stepper driver 

 

 

    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);

    _i = _turn;

 

 

 

      //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];

 

 

 

  // Define structure variable config and its content

 

  for (uint8_t a = 0; a < 4; a++)

    config.eeprom_correct_min[a] = joy_correct_min[a];