Reaction wheels for beginners

Рет қаралды 12,549

Жыл бұрын

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.thingiverse.com/remrc/des...

Пікірлер: 84

@aethernaught Жыл бұрын

Great tips, thanks!

@liemph Жыл бұрын

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).

@ReMRC Жыл бұрын

Yes, I tried to change the controller parameters depending on the battery voltage. Yes, it works. But it's not very important.

@haph2087 Жыл бұрын

Very common sense advice.

@prabhakararaon1649 Жыл бұрын

Looks near future may applicable in certain application s 👍👍👍👍👍👍

@ha34741669 5 ай бұрын

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

@ReMRC 5 ай бұрын

Definitely all of them. Only when all are calibrated it will start balancing.

@gintarasbaranauskas2035 Жыл бұрын

Puikus filmukas!

@danialdadkhah4146 6 күн бұрын

Thanks ❤👍🏼🍻

@hoathai7657 Ай бұрын

Could you please share a link to buy your motor? Hope for your response

@miguelsampaio6199 Ай бұрын

What is the dimension of the cube or the skare!

@stefsnow9440 Жыл бұрын

Hey, we are french people and we have a question: What is the PCB prototype what is his function. Thank you for amazing explanation!😁

@geobiologygeochemistryatcu6954 6 ай бұрын

This is amazing! Could you share the exact part number of the Nidec 24H you use and where you usually buy them?

@ReMRC 6 ай бұрын

24H404H160 Aliexpress or Ebay.

@valko970 Жыл бұрын

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.

@ReMRC Жыл бұрын

Only via Bluetooth! No wires!

@valko970 Жыл бұрын

@@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! 🙂

@ReMRC Жыл бұрын

@@valko970 You have never connected Bluetooth module to Arduino?

@valko970 Жыл бұрын

@@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!

@josuemanuelparejacontreras6004 Жыл бұрын

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

@ReMRC Жыл бұрын

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.

@josuemanuelparejacontreras6004 Жыл бұрын

@@ReMRC thanks for the reply, one last question, are you powering them with 24 volts, or what is your power source?

@ReMRC Жыл бұрын

@@josuemanuelparejacontreras6004 3S LiPo battery - 11,1V (from 9 to 12.6V).

@robertdrechsler9833 Жыл бұрын

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!

@ReMRC Жыл бұрын

DC motor single axis. You mean this? kzfaq.info/get/bejne/rceTqLGWqrWWqnk.html

@robertdrechsler9833 Жыл бұрын

@@ReMRC yes. Do you happen to have the code for that version?

@ReMRC Жыл бұрын

@@robertdrechsler9833 Yes, it is on github.

@robertdrechsler9833 Жыл бұрын

@@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

@ReMRC Жыл бұрын

@@robertdrechsler9833 github.com/remrc/One-Axis-Self-Balancing-Stick-DC

@Alicia.-ve6qx 10 ай бұрын

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?

@ReMRC 10 ай бұрын

Send me email with calibrating output (e.g. photo). Email you can find in my KZfaq "About".

@user-ns7qw9hd5y 5 ай бұрын

do you happen to work on a version that can "stand up" or roll/walk as the cubli can? :)

@ReMRC 5 ай бұрын

Stand up is difficult. But... kzfaq.info/get/bejne/ht2KmbejycWXeps.html

@airtonsilva5743 10 ай бұрын

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 ?

@ReMRC 10 ай бұрын

Yes, ESP32 I use for some projects. Cube, unicycle and others... ESP32 is better (at least in that there is bluetooth inside).

@nafisfuadjim4817 3 ай бұрын

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

@nickp7339 Жыл бұрын

Hi remrc, How can I make the motors spin at a constant rate while balancing? Just by tuning the LQR parameters?

@ReMRC Жыл бұрын

You think this is better? I tried this: kzfaq.info/get/bejne/etmYish-29q0oZs.html Isn't that what you meant?

@nickp7339 Жыл бұрын

@@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.

@johnsonbio 9 ай бұрын

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?

@ReMRC 9 ай бұрын

What thing are you talking about? If you talk about cube, no, it can't stand up.

@Pyromaniac176018 3 ай бұрын

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?

@Pyromaniac176018 3 ай бұрын

Nevermind, I fried my MPU6050. Now I'm stuck on "the angles are wrong"

@gorceadanut6131 Жыл бұрын

Library for nidec 24h brushless motor in fritzing?

@ReMRC Жыл бұрын

I didn't find it anywhere. I tried to draw it, but it didn't turn out very well.

@Nick-wl4qr Жыл бұрын

The tuning function for the esp32 cube seems to exit the loop after entering c+ and I have to keep restarting it

@Nick-wl4qr Жыл бұрын

It worked after I added a return statement to the end of the tuning function

@ReMRC Жыл бұрын

@@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.

@josue9254 Жыл бұрын

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

@ReMRC Жыл бұрын

I've done quite a lot of things like that. I got the experience.

@henriqueaugusto3062 Жыл бұрын

Can I use an ESP8266 instead of an ESP32?

@ReMRC Жыл бұрын

If you rewrite the program - it is possible. Direct replacement - no.

@nyinyanlinalex7302 Жыл бұрын

I tried testing nidec 24h but it doesn’t even spin. Do you happen to have a code to test only one motor?

@ReMRC Жыл бұрын

It's very simple if you look at my sources. ESP32? Arduino?

@nyinyanlinalex7302 Жыл бұрын

@@ReMRC I am using arduino uno.

@nicholaspalladino1319 Жыл бұрын

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.

@ReMRC Жыл бұрын

This has never happened to me. Try loading any MPU6050 test.

@nickp7339 Жыл бұрын

@@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!

@ReMRC Жыл бұрын

@@nickp7339 Cube with Arduino nano? Great!

@nickp7339 Жыл бұрын

@@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!

@ReMRC Жыл бұрын

@@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?

@brunoeddie Жыл бұрын

😀😀😁😁😍😍👍👍Watch How

@steve5nash 10 ай бұрын

what type of fasteners do you use?

@ReMRC 10 ай бұрын

Fasteners? Which place?

@steve5nash 10 ай бұрын

@@ReMRC The nuts and bolts on the wheels

@ReMRC 10 ай бұрын

@@steve5nash M4

@steve5nash 10 ай бұрын

@@ReMRC thank you. I'm new to Arduino and your project completely wow me. Hopefully I can follow along.

@steve5nash 10 ай бұрын

@@ReMRC is it possible to build 2 if these and stack them on top of each other?

@BARCINO-du4dg 7 ай бұрын

hey just wondering how much it actually costs to do this?

@ReMRC 7 ай бұрын

How much the parts cost, it's easy to look up on the Internet, and work... after all, it's just a hobby...

@jcleektube Жыл бұрын

I got it working but is it normal to have to recalibrate every time I charge the battery?

@ReMRC Жыл бұрын

Not normal. But how it can be related to battery charging - I don't understand.

@jcleektube Жыл бұрын

@@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.

@ReMRC Жыл бұрын

@@jcleektube What version? Arduino? ESP32?

@jcleektube Жыл бұрын

@@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.

@ReMRC Жыл бұрын

@@jcleektube Strange. Calibration values must be written to the EEPROM. Maybe something wrong with EEPROM library. My version 2.0.0.