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Reaction wheels for beginners
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- Опубликовано: 6 ноя 2022
- I get a lot of questions from people who are trying to do my balancing things. Some of questions suggest that beginners also are trying to do it. I will try to answer the most common questions...
github.com/remrc
www.thingivers...
Great Q/A, thanks. I experienced that sometimes the cables unexpectedly helped keeping the stability/equilibrium but it was a false one. The dependency of the PID parameters on the battery voltage may sometimes gives trouble in my case (I have not tried your codes).
Yes, I tried to change the controller parameters depending on the battery voltage. Yes, it works. But it's not very important.
Hey, we are french people and we have a question: What is the PCB prototype what is his function. Thank you for amazing explanation!😁
What is the dimension of the cube or the skare!
Hello ReM-RC
I am a big fan of your videos and I find them very informative and entertaining. Thank you for all the hard work you put into creating them.
I have a question about cube calibration. When calibrating a cube, which points should I choose: Vertex, first edge, second edge, or third edge?
Thank you for your time and consideration.
:D
Definitely all of them. Only when all are calibrated it will start balancing.
Looks near future may applicable in certain application s 👍👍👍👍👍👍
Can I use an ESP8266 instead of an ESP32?
If you rewrite the program - it is possible. Direct replacement - no.
Great tips, thanks!
I am having trouble with the MPU 6050, when i run the program on bluetooth serial it reads as AngleX: -40.50, AngleY: 40.50
AngleX: -44.55, AngleY: 44.55
AngleX: -45.00, AngleY: 45.00 and then gets stuck at
AngleX: -45.00, AngleY: 45.00 no matter what orientation the MPU is in.
What should i test to determine the source of the error?
Nevermind, I fried my MPU6050. Now I'm stuck on "the angles are wrong"
Thanks ❤👍🏼🍻
Could you please share a link to buy your motor? Hope for your response
This is amazing! Could you share the exact part number of the Nidec 24H you use and where you usually buy them?
24H404H160 Aliexpress or Ebay.
Puikus filmukas!
Hi friend. I'm looking for one of these to make. but I wanted him to stand up on his own and balance himself. Is this possible with your model? Or do you need to start it by placing it in position?
What thing are you talking about? If you talk about cube, no, it can't stand up.
Hello Rem-RC
I have built the exactly same robot as like yours..but i am facing some troubles. How can i tune the k1.k2,k4 gains. Can you please help me..I have emailed you in details.
Thank you
do you happen to work on a version that can "stand up" or roll/walk as the cubli can? :)
Stand up is difficult. But... ruclips.net/video/PwZfTrd_3Jg/видео.html
Thanks for sharing! I keep getting "The angles are wrong" while calibrating , no matter which edge I keep the cube on. What could be the problem?
Send me email with calibrating output (e.g. photo). Email you can find in my RUclips "About".
Very common sense advice.
hey just wondering how much it actually costs to do this?
How much the parts cost, it's easy to look up on the Internet, and work... after all, it's just a hobby...
Hi remrc,
How can I make the motors spin at a constant rate while balancing? Just by tuning the LQR parameters?
You think this is better? I tried this: ruclips.net/video/DshWeMvtPqg/видео.html Isn't that what you meant?
@@ReMRC I'm referring to 3 minutes into that video, where the wheels are spinning all the time. I would like to experiment and see if that improves performance.
Thanks for your job🎉 have a n little question how you determine the circumference of your wheel , the weight on it and the right place?
Thank an advance
Nb: sorry for my English language and poor vocabulary
I've done quite a lot of things like that. I got the experience.
Hello, this is a great project! I've been trying to develope somenthing like that but i'll use a ESP32 to do the control. What could be difference ?
Yes, ESP32 I use for some projects. Cube, unicycle and others... ESP32 is better (at least in that there is bluetooth inside).
Hey Rem! Should the battery be plugged in when calibrating the cube with arduino nano or only connect it to PC when calibrating (when using C+ and C- commands) ?
I'm trying to calibrate it without success getting wrong angles error, might be wiring issue.
Only via Bluetooth! No wires!
@@ReMRC thank you for your reply! But then how can I calibrate it with arduino nano(which I am using? ) It has no bluetooth, and I dont see bluetooth adapter in the schematic? Thanks again for your feedback! 🙂
@@valko970 You have never connected Bluetooth module to Arduino?
@@ReMRC I am sorry, I am fairly new to arduino, so I didn't know I had to connect one, as I was following the schematic and didnt see a bluetooth module listed. Sorry once again, will connect to bluetooth and try again. Thanks!
The tuning function for the esp32 cube seems to exit the loop after entering c+ and I have to keep restarting it
It worked after I added a return statement to the end of the tuning function
@@Nick-wl4qr Yes, that's my mistake. This function should return a result. I don't use it anywhere, but it should be like that. This function stops working after upgrading the ESP32 board package. It worked for my without return before… But, of course, "return 1;" needed.
Bro thanks for this content, one question ,do you have any idea why second hand Nidec motors would not work? We bought some and 2 are not working, maybe you can give some tips on how too energize it, o connections considerations
I have bought new and second-hand - they all work. If one works, and when you connect the other to the same place and it does not work - nothing will help here.
@@ReMRC thanks for the reply, one last question, are you powering them with 24 volts, or what is your power source?
@@josuemanuelparejacontreras6004 3S LiPo battery - 11,1V (from 9 to 12.6V).
Library for nidec 24h brushless motor in fritzing?
I didn't find it anywhere. I tried to draw it, but it didn't turn out very well.
I tried testing nidec 24h but it doesn’t even spin. Do you happen to have a code to test only one motor?
It's very simple if you look at my sources. ESP32? Arduino?
@@ReMRC I am using arduino uno.
Thank you so much for this. I would like to attempt a single axis with a BLDC motor. Do you happen to have the code for your DC motor version of the single reaction wheel? It would be a good starting point for the brushless version.
Thank you again!
DC motor single axis. You mean this? ruclips.net/video/wacuNeEO2zE/видео.html
@@ReMRC yes. Do you happen to have the code for that version?
@@robertdrechsler9833 Yes, it is on github.
@@ReMRC thank you. Under which name? The single axis seemed to comment on things like the brake which is not a function of those motors. Thank you again for the help
@@robertdrechsler9833 github.com/remrc/One-Axis-Self-Balancing-Stick-DC
I have built the cube following your design with an Arduino nano to control it. When I run the code, it stops on line 5 of functions.ino (Wire.endTransmission();). The function does not return anything, so I cannot debug it. Has this happened to you before? I tested the MPU so I believe it is not a hardware issue.
This has never happened to me. Try loading any MPU6050 test.
@@ReMRC I ran a simple test on the MPU and it was broken. Swapped it out for a new one and now it's balancing. Thanks!
@@nickp7339 Cube with Arduino nano? Great!
@@ReMRC I'd like to balance your cube with Maxon EC motors and separate BLDC drivers. I was wondering if it's possible to do so without re-tuning the LQR parameters. I have tried changing the motor_control functions to control my motors rather than the duty cycle of the PWM input to the Nidec motors, but I'm having trouble. Do you have experience balancing with motors other than the Nidec ones? Thanks!
@@nickp7339 Without re-tuning? No. Nidec motors - simple way. Motors with separate drivers can be used, but it is much more complicated. What problems do you have?
I got it working but is it normal to have to recalibrate every time I charge the battery?
Not normal. But how it can be related to battery charging - I don't understand.
@@ReMRC I can calibrate it to stand on the sides and point. When I come back later it has lost calibration or at least will not stand up. I have to redo the calibration. I have a switch that disconnects the battery without unplugging it and I am assuming that the disconnection of power is causing the loss of calibration.
@@jcleektube What version? Arduino? ESP32?
@@ReMRC Arduino. What is weird is that it doesn't happen every time. I will keep poking at it and see if I can figure out how to consistently reproduce the problem.
@@jcleektube Strange. Calibration values must be written to the EEPROM. Maybe something wrong with EEPROM library. My version 2.0.0.
what type of fasteners do you use?
Fasteners? Which place?
@@ReMRC The nuts and bolts on the wheels
@@steve5nash M4
@@ReMRC thank you. I'm new to Arduino and your project completely wow me. Hopefully I can follow along.
@@ReMRC is it possible to build 2 if these and stack them on top of each other?
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