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Segway clone
Make gyro calibration work properly
Add PID control for the motorcontrol and tune it.
For tuning procedure se: http://sites.google.com/site/vilorei/fischertechnik/m--models/m11--playing-with-an-accelerometer/08--the-pid-controller
Make a function to calibrate the gyro drift and set the gyro angle to match the accelerometer raiting.
When turning off pin 2 on the motorboard the gate of the FET is still on for some time.
It is the same on the other H-brigde, the same with a new optocoupler,
For some unknow reason the gyroAngle is about two times as large as expected.
Build the first version of the motorboard
Add the Kalman filter on the accelerometer- and gyro-data.
Redo the motorboard with an additional stage of HEX FETs to drive PWM. Closes #28
Make a mechanic lock for the handlebar
If the PC can't keep up with the recived data the dataClean() will fail to split the data correct.
Design, build and debug the mainboard.
Make the onboard software work with the radio on the new mainboard.
Redo the mainboard and pin assignments to fit the new motorboard #30.
Add two LEDs to each motor output so it is easy to see what directions the motor travels.
The source and dran on IRF4905 on the motorboard v1.0 are connected opposite. (The eagle symbol and the datasheet symbol are opposite)
There's need for a main contact for the 24V system.
After recieving data in some time, the software is getting slow. Most likely due to the tbMonitor getting filled.
Add 5ร2 pinheader to the mainboard to connect two photointerrupters for seering.
Three trimpots are needed on the main board, in order to tune the Kalman filter correctly.
Make a new heatsink to fit the new motorboard. #30
The mainboard covers the reset button on Arduino UNO R2. Add one on the mainboard.
Add a contact and a status led on the mainboard
All of the copper are removed when vias are drilled with a 0,8mm drilbit.
Make a graph for testing the Kalman filter
Add some distance between the capasitor pad and the net beside it on the motorboard.
Add LEDs to the Motorcontroller so it is possible so se what optocouplers are HIGH
Design and build a solution for the seering.
Possible solutions:
Radial potentiometer
Linear potentiometer
Two opto interupters
Steppermotor
Straingate
Ultrasound range detector
LDR, LED and a thin wegde
Connect the batteries, motors, circuit breakers, fuses,
Make clearence for mounting holes
Design, buld and debug the display board.
Make some kind of balance weights
Add a female pinhead to the mainboard to put in a radio.
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