Great - have started planning my balancing robot project. I have an original Pixracer that I can use - if not I`ll get a Pixhawk.
My inspiration for this project = ArduRoller = a great project, but hope to use supported controller…
I try to find information that can help me decide if I should use geared DC motor or Stepper motors?
I have Nema17 + a lot of different stepper drivers + have found information about how to control a Stepper motor with PWM signals using a Teency LC… (http://www.instructables.com/id/Control-a-Stepper-Motor-With-PWM/) - but need more time before I decide.
Here are what i use. Dc motor with AB encoder.
The motor drive is A4950. It’s an PWM input driver. Means that APM can driver it directly.
APM cannot driver stepper motor unless you find the right stepper motor drive.
That sounds good. Good to see you’ve selected motors with wheel encoders. that’s not a requirement but that will help.
Here is what the balance bot my main support (elab.co.jp) is building for me. This one is missing the GPS in the picture (it has one now) but also the wheel encoders… wheel encoders will be added later.
I’m working on the Balancebot for GSoC. I’m planning to use this motor driver: goo.gl/sczkXH Looks like your list of parts is good enough, but I’m not sure if your motor driver is supported: https://github.com/ArduPilot/ardupilot/issues/7616
I am waiting for the parts to arrive right now, so there isn’t really much to write a blog but I’ll put one up as soon as we make some progress
I think it may need to be taller. I’m not an expert but I don’t think it matters where the controller is but I think the vehicle needs to be taller and needs some weight near the top. I think the amount of weight at the top affects the top speed - a higher weight leads to a potentially higher top speed (or acceleration?)
Imagine if the body had almost no weight - i.e. it was just the motors connected to a tubular frame, when the motors spun the frame between the motors would just spin in the opposite direction. As the weight and height of the weight are raised, I think the downward pull of gravity gives the wheels something to push against. There’s probably an ideal balance depending upon the power of the motors and how far over you want the vehicle to lean when accelerating.
I agree it may need to be taller - this is only the base.
I think there should be some distance between the motors/motor controller and the Pixhawk/Pixracer/GPS/Compass… to reduce the electromagnetic noise?
The original ArduRoller seems to have a body height something like 20-25 cm based on the image and that the wheels are 120mm