neic/swagway

Segway clone

swagway's Issues

Distance around the capasitor pads

Add some distance between the capasitor pad and the net beside it on the motorboard.

Debugging software is getting slow

After recieving data in some time, the software is getting slow. Most likely due to the tbMonitor getting filled.

Circuit around boards

Connect the batteries, motors, circuit breakers, fuses,

Pins for radio

Add a female pinhead to the mainboard to put in a radio.

Handlebar lock

Make a mechanic lock for the handlebar

Make the rolling graph work

GyroAngle is ~2 times to large

For some unknow reason the gyroAngle is about two times as large as expected.

Main contact: 24V

There's need for a main contact for the 24V system.

LED and contact: 9V

Add a contact and a status led on the mainboard

New heat sink.

Make a new heatsink to fit the new motorboard. #30

Calibrate gyro

Make gyro calibration work properly

Display board

Design, buld and debug the display board.

Balance weights

Make some kind of balance weights

Add connectors to steering

Add 5×2 pinheader to the mainboard to connect two photointerrupters for seering.

Make the polar plot work

Motorboard

Build the first version of the motorboard

Add PID control

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

Kalman filter

Add the Kalman filter on the accelerometer- and gyro-data.

+ is at the wrong pin on the motorboard v1.0

Logic for the motorcontroller on the mainboard is wrong

New steering component

Gyro calibration

Make a function to calibrate the gyro drift and set the gyro angle to match the accelerometer raiting.

The motorcontroller wont turn OFF fast enough

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,

Graph for testing

Make a graph for testing the Kalman filter

Add LEDs to optocouplers

Add LEDs to the Motorcontroller so it is possible so se what optocouplers are HIGH

Optocoupler pre-resistors has to be moved to motorboard

Make the auto scroll checkbox work

Vias are to small on mainboard

All of the copper are removed when vias are drilled with a 0,8mm drilbit.

Main board

Design, build and debug the mainboard.

Steering

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

Inconsistent motor speed

Trimpots

Three trimpots are needed on the main board, in order to tune the Kalman filter correctly.

Design the PID tab

Add reset button

The mainboard covers the reset button on Arduino UNO R2. Add one on the mainboard.

Redo mainboard and pin assignments

Redo the mainboard and pin assignments to fit the new motorboard #30.

Support for radio

Make the onboard software work with the radio on the new mainboard.

Redo motorboard

Redo the motorboard with an additional stage of HEX FETs to drive PWM. Closes #28

Motorcontroller mounting holes

Make clearence for mounting holes

Vias are to small on motorboard

New IMU mount

Make the accelerometer data processing work as in the gyro libary

Make dataClean() more robust

If the PC can't keep up with the recived data the dataClean() will fail to split the data correct.

9V header is too close to gyro header on mainboard

LEDs on the motorboard

Add two LEDs to each motor output so it is easy to see what directions the motor travels.

Make the functions behind the PID tab work

Source and drain are connected opposite

The source and dran on IRF4905 on the motorboard v1.0 are connected opposite. (The eagle symbol and the datasheet symbol are opposite)