Josh Pieper

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@하지훈-s9z 4 күн бұрын

Do I have to have a CAN controller like MCP2517FD to control the moteus in teensy 4.1? Can't we just do this since teensy 4.1 supports CANFD?

@awesjosh 3 күн бұрын

You may be able to use the CAN-FD controller built in to the teensy, but it still requires an external transceiver as the system in the teensy only operates at logic levels. Also, the moteus Arduino library will only work currently with the MCP2517FD and you would have to modify it to work with the teensy's built in controller.

@하지훈-s9z 3 күн бұрын

@@awesjosh It was very helpful!! Thank you.

@wzrobert1340 8 күн бұрын

amazing, thanks josh,where can I find the stewart platform?

@awesjosh 8 күн бұрын

It doesn't work well enough yet for me to have published anything!

@ericwilkins62 9 күн бұрын

what actuators are you using in this project?

@awesjosh 9 күн бұрын

The business end of this: mjbots.com/products/moteus-r4-11-developer-kit

@JeromeDemers 11 күн бұрын

I like the arbor press been used while the entire 3D printed part flex :P This is truly some impressive work! I would rather do a PCB re-spin with added test point and not mess with this mechanism with side actuation. yeah I don't know why can't you use "cup" pogo pin for the XT30 and use the 3 small pads for the CAN next to J2?!?

@awesjosh 11 күн бұрын

One observed failure mode is the CAN PH3 connector having one or more pins not soldered. You could imagine switching to a vertical PH3 connector, however part of the advantage of this specific board is the low profile when assembled.

@JeromeDemers 11 күн бұрын

@@awesjosh good point! that is a failure you hope the fab house would detect for you 😅 but that seems like a other fun project to create a visual inspection with the pi and chatgpt vision API!?!

@awesjosh 11 күн бұрын

Yeah, the AOI can only do so much! (And a homebrew one is unlikely to be better than the commercial offering the fab house uses)

@roboarjun 12 күн бұрын

Hey, I currently only know about arduino and am able to do control motors, relays, pair with bluetooth, work with sensors, motor drivers, servos and all that stuff. I've made a few helpful projects using it like 'smart' wheelchair and agriculture robot. But that's about it. All of them I've coded myself. I came across videos of James Bruton, your channel and many more. I was wondering, how can I get on that level where I can make my own 3d models on some 3d software, all that kinematics stuff. How do I develop the mechanics for it? Code for the balancing of Bipedal or Quadrupled robots. How do I use Computer Vision to control robots? I searched youtube for it but must of the videos are too small to explain the code and the structure. By that I mean, the logic and the thought process behind it. There is just the 3d files and the code. That wouldn't be innovating from a learner's perspective I think. There must be online courses I enroll do to achieve this. What are those? I couldn't understand which kind of course would be suitable for me. Please guide me.

@awesjosh 11 күн бұрын

I don't have much to offer you on that front. For robotics, I was largely self taught, and just kept grabbing projects that were a little bit harder than what I had done before.

@roboarjun 11 күн бұрын

Being self taught, i think you accomplished quite a feat. I'm currently in high school so I'll probably learn via youtube as well.

@roboarjun 11 күн бұрын

Thank you.

@harshdobariya1030 13 күн бұрын

Hey this looks good. Kinda looking for similar options. Can you say on what principle this sensor is working?

@awesjosh 13 күн бұрын

The sensor in this video is the iC-PZ from IC-Haus. www.ichaus.de/product/ic-pz-series/

@hakiki1518 20 күн бұрын

i believe that's very costly, how much you spend money to purchase those material?

@awesjosh 20 күн бұрын

Quite a lot! You can build it for a fair amount less now, buying the components from mjbots.com, although it is still not a cheap project.

@rafaelvillegas7425 25 күн бұрын

Donde se compran esos motores?

@awesjosh 25 күн бұрын

mjbots.com

@soumyamaitra5839 29 күн бұрын

Is there a contact details please ?

@awesjosh 29 күн бұрын

[email protected]

@SoumyaMaitra2008 29 күн бұрын

@@awesjoshthanks for the response. Let’s discuss on the email thread. Best Shomu

@AerialWaviator Ай бұрын

An excellent design/build. Appreciate you taking time to explain your thought process and detail the build. Looking forward to seeing how it evolves as you learn and experiment. That hoverbot has a fun factor, I'd expect you probably already have ideas as to future mods.

@sangvominh7622 Ай бұрын

Can you show me how to measure the current pulse from the oscillocope? Where do I need to wear extra straps?

@awesjosh Ай бұрын

I'm not sure exactly what you are referring to. What current pulse are you trying to measure and why would you be wearing straps to do it?

@sangvominh7622 Ай бұрын

@@awesjosh I need to measure the current pulse on the oscillocope, what should I do? Can you guide me?

@awesjosh Ай бұрын

Is this something to do with moteus, or just how to measure current with an oscilloscope generally?

@sangvominh7622 Ай бұрын

@@awesjosh yesssss. Can you help me?

@awesjosh Ай бұрын

Unfortunately, I'm not really set up to give that kind of tutorial. If you google for "how to measure current with an oscilloscope", you can find many resources, including this article from tektronix: www.tek.com/en/blog/how-can-an-oscilloscope-measure-current

@correiaivan Ай бұрын

I believe if you change the walking pattern to trottle it could achieve greater speeds! However i can't stress enough how impressive is this work. Lovin it!

@sangvominh7622 Ай бұрын

I want to export the motor current graph, what should I do?

@awesjosh Ай бұрын

Are you using an Arduino? If so, just print the current value to the serial console!

@DMike92. Ай бұрын

Looks its moving even better than SPOT!

@ruhtraeel Ай бұрын

I have to disagree with putting solder in the cup before putting the wire in. This makes it so that if the solder in the cup ever hardens, it makes it nearly impossible to put the wire fully in the cup after that.

@yunustalhaerzurumlu6547 Ай бұрын

Hi man! I love what you build! I am waiting for more videos (maybe like the type of DevLogs, similar to the robot dog video.)

@jonwatte4293 Ай бұрын

Looks like fun! What's the power distribution (?) board beside the pi?

@awesjosh Ай бұрын

Thanks! You called it, it really just does pre-charging and over-current faulting: mjbots.com/products/mjbots-power-dist-r4-5b

@jonwatte4293 Ай бұрын

@@awesjosh I end up building something like that into almost every board I make, so it makes a lot of sense to have that as a stand-alone unit 🙂 Those who haven't struggled with power management might wonder why they'd need to spend money on a glorified power switch; I think it's up to us who have stubbed our toes to explain why ...

@Jp-ue8xz Ай бұрын

put a claymore on it o_o

@yoggi56 Ай бұрын

Hi! Thank you for sharing this video! Do you use any observers or filters to obtain wheel velocities?

@awesjosh Ай бұрын

moteus uses a pll filter on the hall effect sensors for commutation purposes, and that is the reported velocity that was used for the outer velocity control loop. The bandwidth of that filter was somewhere between 50-100Hz, so it doesn't do much at low speed with the coarse resolution of the hall encoders.

@yoggi56 Ай бұрын

Thank you! I do similar project and for now use the similar control approach but with some differences kzfaq.info/get/bejne/grOmeNZ3nr-WcY0.htmlsi=PAa4gED8A2Uu-Ezu In the future I'm going to ustilize mpc for increasing the stability and the robot's speed

@awesjosh Ай бұрын

Cool! Thanks for sharing! As you can see from my video, you don't need to go to MPC to get significantly improved results. Probably the easiest ways to improve your system would be to see if the structure of your control laws can be improved (or perhaps copy the ones here), and the second would be to ensure your attitude and attitude rate solution are operating well and with a sufficiently high bandwidth. It could also be that your tuning is just sub-optimal. Are you using integrative terms anywhere (you probably shouldn't)?

@yoggi56 Ай бұрын

Thank you for recommendations! Yes, I use integrative terms both in attitude loop and in velocity control loop. I have some suspicious about imu. It outputs data only with 100hz. Probably if I replace IMU to better one, the whole system will be more stable.

@awesjosh Ай бұрын

I'm not sure an integrative term for attitude is useful, certainly this robot does not use one. A feedforward term is probably a lot more valuable there if a plain PD is insufficient. While a 100Hz IMU update rate is borderline feasible, there are lots of things that could potentially make it problematic. That could be if you are just using pitch and not pitch rate, or if the IMU has a software configured low-pass filter, or if it is poorly mounted, or a host of other things. This robot uses a 400Hz update IMU for instance with a 200Hz onboard filter, uses the pitch rate in addition to the pitch, and is known to work well at up to that rate.

@ohaginias6609 Ай бұрын

Excellent! Nice work Bro!!

@awesjosh Ай бұрын

Thanks!

@amorpheuses1627 Ай бұрын

Thanks for another interesting project! Question: can the pi3hat be used with a raspberry pi 5? Wouldn't think there would be a problem - but would like to check.

@awesjosh Ай бұрын

Unfortunately no, it can't be used with a raspberry pi 5. It only works with a pi3 or pi4.

@amorpheuses1627 Ай бұрын

Opps checked the manual and it clearly states it isn't.

@bylolo4964 Ай бұрын

C'est juste splendide ❤

@oracid Ай бұрын

💙🤍❤ 🗼

@rudisoft Ай бұрын

Good to hear you're still doing awesome stuff. Keep it going, make more updates!

@awesjosh Ай бұрын

I'm working to keep them coming!

@googleyoutubechannel8554 Ай бұрын

Thanks for including the design, checking it out now, looks solid

@krosaen Ай бұрын

Super cool! Appreciate all of the details being included about the development process.

@awesjosh Ай бұрын

Nice to hear from you Karl! This was one of those projects where making the video and explaining it was 4x the work of actually building the thing, so it is great to see it appreciated!

@sermadreda399 Ай бұрын

Great video thank you for sharing

@hankb7725 Ай бұрын

in the example at the end 1.5 was a fault because the range was set to -1 to 1. however after you power down completely, will it still remember that it was at fault? while its on its recording how much the position has changed and knows the position went beyon the bounds. but will it still be at fault after cycling the power?

@awesjosh Ай бұрын

Faults are cleared by sending a stop command, in tview that would be: d stop Power cycling will also work, but with the devkit you will need to remove power from the PSU for some time before it discharges completely. Also, don't hesitate to join and ask questions in the mjbots Discord, it is a lot easier to get support there than in youtube comments! discord.gg/W4hUpBb

@markusweber1060 Ай бұрын

Awesome feature! That will be very useful for us :).

@spanishjo4282 2 ай бұрын

Can you built one for me

@awesjosh 2 ай бұрын

Sadly no. You can get cheap options with more capabilities from Unitree now for instance.

@yoggi56 2 ай бұрын

Balancing robot is amazing! What algorithm for balance control do you use? Do you have other videos or information about this robot?

@awesjosh 2 ай бұрын

Thanks! Not much other info or video yet, but @mjbotsrs on x/twitter does have a video with a few new cuts. The control is just an inner pitch PID loop using the pi3hat ARS, and then an outer PID loop that controls velocity through selecting pitch.

@yoggi56 2 ай бұрын

Thank you!

@Neumi 2 ай бұрын

Very cool! Impressive specs. I love that we all use XT30 connectors! The only thing it misses is an Ethernet connection. Absolutely phenomenal that it's all open source!

@awesjosh 2 ай бұрын

Yeah, standard ethernet connectors are very large for many of the applications moteus is used in, besides that since the micro mjbots has standardized on doesn't have an ethernet controller it would require either an external controller or a switch to a different micro. ethersweep is looking cool, keep up the good work! If you ever need performance beyond what steppers can provide, moteus is there for you!

@WATCHMAKUH 2 ай бұрын

Do you offer brushless out runner drivers for smaller diameter pancake motors? Like a 1803 motor? Would love to drive small robot parts (like in animatronics) in place of noisy traditional servos.

@awesjosh 2 ай бұрын

The smallest driver mjbots offers currently is this moteus-c1, which is 38mm x 38mm.

@uthvfyrekbnm6008 2 ай бұрын

In the balancing robot, are you using C++ or Python?

@awesjosh 2 ай бұрын

C++, although it would likely be just as possible with python.

@uthvfyrekbnm6008 2 ай бұрын

@@awesjosh Will wait the code for building

@magnumoppai159 2 ай бұрын

I almost bought a bunch of them for my company, but It has no Rust bindings. 😑

@awesjosh 2 ай бұрын

Heh, I guess that will severely limit your choices!

@magnumoppai159 2 ай бұрын

@@awesjosh Absolutely. We are memory safety first. Security is our highest priority. We just ended up designing our own Rust based ESC!

@awesjosh 2 ай бұрын

Yep, it is the way of things! In any event, bindings are not really a big effort and I would expect writing the rust code to generate and parse frames for the things you are using would not be a significant fraction of your integration effort.

@BAMrobotics 2 ай бұрын

ahhhh yessssssss

@hamidsk2573 2 ай бұрын

wonderful, excellent Josh

@GavinRemme 2 ай бұрын

I want to build a steer by wire steering rack for a go kart and am considering this. Can it monitor and send output torque back to the Arduino?

@awesjosh 2 ай бұрын

Yep, you can.

@SLAVKINGRED 2 ай бұрын

damn, this is so awesome....... too bad im poor

@adamhung4595 2 ай бұрын

Nice!

@Build_the_Future 2 ай бұрын

Stupid question here, but why couldn't you just add more MOSFETs in parallel to be able to control more current or in series to control more voltage?

@awesjosh 2 ай бұрын

You can't really put FETs in series, or at least not in a practical implementation. Putting FETs in parallel is common, but to a point you can also just use bigger ones. For instance, the moteus-n1 has about 5x the peak current output capability of the moteus-c1, and has a higher voltage rating (54V vs 51V) to boot.

@rudisoft 2 ай бұрын

All the best from Germany!

@awesjosh 2 ай бұрын

Thanks!

@zxcaaq 2 ай бұрын

Get out Nazi

@zubrkabbi 2 ай бұрын

Great project and a very nice video!

@hansjohrend 2 ай бұрын

Ugh, why not put that dial at zero? :)

@awesjosh 2 ай бұрын

To get comments like this? :)

@hansjohrend 2 ай бұрын

@@awesjosh Fair :)

@Build_the_Future 2 ай бұрын

Nice work! For my needs I would like to see a little more voltage, 60v or more and higher amps. I would be willing to pay more if it had that capability.

@awesjosh 2 ай бұрын

You might be interested in something like SOLO: www.solomotorcontrollers.com/shop/ However, you will find very few inexpensive drives that go all the way up to 60V.

@MrFoxconnChannel 2 ай бұрын

The small hoverboard robot looks amazing! Do you plan on releasing the buildfiles for it? The moteus-c1 lookes really nice for this application.

@awesjosh 2 ай бұрын

Yes, eventually! Thanks!

@Jayang5540 2 ай бұрын

Looking good

@OhHeyTrevorFlowers 2 ай бұрын

Solid work

@Tamingshih 3 ай бұрын

Thank you so much for sharing such wonderful developing experience. It is really a great job. How come I didn't find it for the last two years?

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