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- Видео 106
- Просмотров 1 419 839
ReM-RC
Литва
Добавлен 25 сен 2006
RC models, electronics, robotics, programming.
I tried to make my self balancing cube better
I tried to make my cube balance better. I also redesigned it to make it easier to assemble.
ESP32 controller,
MPU6050 sensor,
three Nidec 24H brushless motors,
450-500 mAh 3S1P LiPo battery.
Cube frame is 3D printed.
This project is open source:
github.com/remrc
3D print files
www.thingiverse.com/remrc
Instagram remrc
ESP32 controller,
MPU6050 sensor,
three Nidec 24H brushless motors,
450-500 mAh 3S1P LiPo battery.
Cube frame is 3D printed.
This project is open source:
github.com/remrc
3D print files
www.thingiverse.com/remrc
Instagram remrc
Просмотров: 2 777
Видео
RC self balancing bike with EDF engine
Просмотров 9395 месяцев назад
ESP32, SimpleFOCMini drivers, MPU6050, MT6701 magnetic encoders, GBM2804H-100T motors, 30mm 6 Blades EDF, 12A BLDC controller (ESC for EDF), 1000 mAh 3S1P battery. Remote control by phone. Instagram remrc
Drifting with a balancing robot
Просмотров 1,5 тыс.6 месяцев назад
ESP32, SimpleFOCMini drivers, MT6701 magnetic encoders, GBM2804H-100T motors. What will happen if omni wheels are placed on a two wheel balancing robot? I liked the result, maybe you will too... Instagram remrc
Unicycle with two reaction wheels
Просмотров 2,5 тыс.7 месяцев назад
ESP32 controller, MPU6050 sensor, three Nidec 24H brushless motors, 500 mAh 3S1P LiPo battery. Unicycle frame is 3D printed. If you did self balancing cube before, you can transform it to unicycle. The electronics are the same. I also made two different unicycles before: ruclips.net/video/AV_gpJPhp-s/видео.html ruclips.net/video/YOR9 x-a_Y/видео.html This project is open source: github.com/remr...
Self balancing triangle (reaction wheel)
Просмотров 4,8 тыс.8 месяцев назад
ESP32 D1 controller Simple FOC Mini BLDC driver MT6701 magnetic encoder EMAX 2806-100KV motor MPU6050 3 WS2812B leds 3S 500 mAh LiPo battery. It is an open source project: github.com/remrc/ 3D print files: www.thingiverse.com/remrc
Two wheel balancing robot and a bit of acrobatics
Просмотров 3,9 тыс.10 месяцев назад
I did it just to test ESP32 with SimpleFOCMini drivers and MT6701 magnetic encoders. It works very well, so I tried to make that it could stand up and roll over on its own.
Self balancing bike
Просмотров 43 тыс.Год назад
Nidec 24H motors. Arduino nano. MPU6050. TowerPro MG995 servo. 1000 mAh LiPo battery. It can be different - 500-1200 mAh. This is the same bike with omni wheel, just removed omni wheel, printed some extra parts and added servo with front wheel. It is an open source project: github.com/remrc/ 3D print files: www.thingiverse.com/remrc Bikes with gimbal controller and BLDC motor. ruclips.net/video...
Self balancing bike with omni wheel
Просмотров 6 тыс.Год назад
Arduino nano, MPU6050, Nidec 24H motors, LiPo 1000 mAh battery. All parts 3D printed. It is an open source project: github.com/remrc/ 3D print files: www.thingiverse.com/remrc How to print similar omni wheels ruclips.net/video/qEYSifzOH54/видео.html
Balancing with propellers
Просмотров 3,1 тыс.Год назад
Some experiments in trying to balance while blowing air. ESP32C3, MPU6050, one cell LiPo battery.
Self balancing with reaction wheels (open source)
Просмотров 27 тыс.Год назад
Self balancing with reaction wheels (open source)
Reaction wheel unicycle robot with remote control
Просмотров 3,8 тыс.2 года назад
Reaction wheel unicycle robot with remote control
DIY reaction wheel bike - what inside
Просмотров 7 тыс.2 года назад
DIY reaction wheel bike - what inside
DIY two axis self balancing stick (open source)
Просмотров 6 тыс.2 года назад
DIY two axis self balancing stick (open source)
Reaction wheel cube - attempt to jump
Просмотров 4,9 тыс.2 года назад
Reaction wheel cube - attempt to jump
DIY Arduino self balancing robot with reaction wheel
Просмотров 15 тыс.2 года назад
DIY Arduino self balancing robot with reaction wheel
Self balancing in tandem (reaction wheels)
Просмотров 4,4 тыс.3 года назад
Self balancing in tandem (reaction wheels)
LEGO Mindstorms Ev3 - self balancing with reaction wheel
Просмотров 2,5 тыс.3 года назад
LEGO Mindstorms Ev3 - self balancing with reaction wheel
Unicycle balancing robot with reaction wheel (open source)
Просмотров 30 тыс.3 года назад
Unicycle balancing robot with reaction wheel (open source)
Reaction wheel balancing cube. Weight above ground - important.
Просмотров 3,3 тыс.3 года назад
Reaction wheel balancing cube. Weight above ground - important.
About balancing with reaction wheels
Просмотров 9 тыс.3 года назад
About balancing with reaction wheels
Single point balancing with two and with three reaction wheels
Просмотров 250 тыс.3 года назад
Single point balancing with two and with three reaction wheels
Hello, can you please recommend me an engine that is more accessible ?
What is "more accessible"? Ali, Ebay.
Hi, I have a problem, whenever I plug in the battery, or just power the ESP with USB the buzzer keeps beeping no matter what I do, the connections are correct
However, there is probably something wrong with the connections.
@@ReMRC I have a custom pcb, I checked like 20x and all of the connections are connected how they should be, I seriously dont know anymore
@@ReMRC Are you using a PNP or NPN transistor?
@@randomdudeidfk Of course n-p-n. If you use PN2222. I use another one, but it doesn't matter.
@@randomdudeidfk same problem here, buzzer keeps beeping, how did you solved it?
Very nice, congratulations!!! I'm trying to build it, but I have the problem to send the commands by bluetooth. Do you use any application?
Nothing special is needed. Arduino serial monitor or any other program that does the same.
@@ReMRC Thanks, that worked, but I don't know how to follow or what to send, only get this message: first you need to calibrate the balancing points... How can I balance the points?
@@LuisSM ??? ruclips.net/video/ZU0oTBRDgOE/видео.html
@@ReMRC I tried that comma d but nothing happened, maybe I didn't do the process properly, tomorrow I will try again. Thanks and sorry for not noticing that part
@@ReMRC Thanks!, that works :)
maybe reverse steer helpful for turnning
Reverse? What you mean?
@@ReMRCfor example,when you want turn right,first steer to left to make bike roll right .after roll to designated algle center the steer wheel. this might increase the manuverbility
Hi, do you have any github for this project? I have no idea about programming but I want to make self balancing toy Actually I really want to make self balancing hoveroard
Code for this project is currently not available on github.
Is the code setup the same as in the first version?
No, bus all difference you can see in this video.
@@ReMRC Sorry, my bad, I ment as in uploading and setting up the code.
@@KerneIBit Setting the balancing points is different.
@@ReMRC Alright, Thanks!
Nice redesign!
How do I know what motor is 1,2 and 3? I see I can change the pin definitions, so I can swap them without having to resolder :)
Yes. Or watch this ruclips.net/video/Nkm9PoihZOI/видео.html
@@ReMRC aha, the one video I had not seen :) tnx
I must be missing something, how do you attach the motor to the balancing wheel?
How? ruclips.net/video/ZU0oTBRDgOE/видео.html
@ReMRC Oh, a custom part has to go on the shaft to interface with the wheel. Thanks, I hadn't noticed that part before.
@@hummerman85 Custom part? No...
@ReMRC I can not find the file for the black part you have on the motor shaft seen here. I have almost everything and can't wait to finish it. Thank you for putting this together. ruclips.net/video/ZU0oTBRDgOE/видео.html
@@hummerman85 This is part of motor. These motors are sold with this pulley.
Getting all the screws I need finish building mine next week :)
What will happen if you change the direction of one wheel by 90°?
Then there would be no need for EDF. And it would be something like this ruclips.net/video/-fPYXWaVcOw/видео.html
this is awesome. you are awesome! xD
This looks really cool, could you post links to all the parts you used because I looked on amazon and didn't know which one to use.
i found everything except for the motors, does anyone know where i could find some.
@@K1VQ_andRandomStuff aliexpress or ebay.
Hi, I try to do your project but when I turn on the power, the motors are rotatory and stop. I also placed horizontally like your video to check the encoder and it not working. Can you help me? Many thanks.
What is your overall preferences for the motors, either those used in this project, or FOC +BLDC in your balancing triangle?
Nidec24H is an easy way because there is a controller inside. FOC + BLDC can also be used.
Awesome! And thank you for sharing the code. I bought the motors after the first video, but still did not find time to build. This video motivates me to come back to the project.
How you are receiving variable 'pwm' values, without magnetic encoder for motor direction control function? is the motor_speed values are fixed in that case?
I use encoder. It works very poorly without it. Don't do that.
1:29 because you need to program the turn to allow the bike to tilt into the turn. basically get the gyro to coordinate with the steering.
Yes... But try to implement it. This is a difficult task...
@@ReMRC I can imagine, it would probably take a bit of time to crack the formula, maybe ChatGPT can help, but lately for the type of code I’ve been trying to make it’s not been doing what I asked it to do… but yeah, have you heard of “single wing planes ✈️ “? They invented this idea where it’s only one wing that controls the steering, thing is to turn when the wing is at high speed the pilot had to manually calculate how to turn on the fly, so it’s a similar concept, you can turn good, but the geometry of it needs to be programmed
Great project, I made your previous design and it was working fine, now that I modified the design with the new gyro plate the cube always slowly falls down as if the reaction wheels can't keep up. Same behavior when balancing on the side or on the corner, any idea what could be causing this? Also why did you remove the code to allow it to balance on all sides? Thanks!
Maybe the encoders are connected badly? Red connections in the schematic.
@@ReMRC Ah yes I got the encoder pins for the motors on my pcb design crossed so I just swapped the pins in software and now it works. Amazing upgrade, so much more stable and the wheels sometimes almost stand still. Is there a reason not to implement standing on all three sides of the cube?
@@sander368 Look at sensor orientation. :) In the first cube I didn't intend to do balancing on the edges. But I did it, although it works badly, and primarily because of the position of the sensor.
there are several model for NIDEC24H. can you tell me the model number or purchase link?
24H404H160
@@ReMRC Thanks a lot
how to calculate the X1, X2, X3 values?
I don't calculate.
What did you change to improve the balancing? Is it just the encoders that makes all the difference? Or did you change the balancing algorithm. It looks so much better!
Encoders have poor resolution. But it helps a little. However, this complicates the algorithm and requires more changes…
@@ReMRC I am using hall sensors instead of encoders. Would the new code improve balancing in this case?
@@nickp7339 Hall sensors with these motors?
@@ReMRC i used Maxon EC flat motors with hall sensors
@@nickp7339 Maxon are very good motors. But very expensive. :) The balancing algorithm needs to know the rotation speed. It doesn't matter what method is used for this.
very gud man 👍
how does the cube finds where its real balance point/angle is ? i guess its not exactly on the imu 0 ?
The balancing point is determined by calibration.
@@ReMRC so it only works if your structure is perfectly symmetrical isnt it ? If your point of balance is changes by an extra mass your motors will saturate?
@@dolevwasser8639 You mean something like this? ruclips.net/video/aWhKnBbdXs0/видео.html
@@ReMRC exactly!!! How ? How do you change your reference angle ?
Can u explain the code in a video please
No, sorry. Code explaining would be time-consuming and uninteresting to most viewers...
Cool! very nice improvements. Nice redesign corner fasteners and no need to use tape anymore. I like the reposition of the mpu6050. The new code and firmware is so much smoother and solid. Keep up the good work and Mahalo for sharing Rem!
Aloha! Glad you liked it.
If I replace triangle and reposition the sensor together with new software only,will there be improvements, or new wheels are mandatory?
You can see both cubes with new software at the end of the video.
@@ReMRC why didn't you include LEDs in scematic and when do LEDs turn on?
@@hunakaka Because the LED connection is very simple. And schematic is completely unnecessary.
now I remember why I subscribed this channel years ago
nidec 24h brushless motor are not available in our country😢 Now what can I do. Is there any alternative way😢❤😊
Where not available? Ebay, Aliexpress always help me.
@@ReMRC Do you have a current link on Aliexpress for the motor? It seems it does not come up (at least not the 24H404H160 version.
@@bi0530 24H404H160 shows exactly that version.
Is it possible to stabilize it with the center of mass misaligned with respect to the fulcrum?
No, center of mass is important.
Any chance you'll make one that can jump into position? Or would that be to expensive?
This is not easy. Why you can see here: ruclips.net/video/PwZfTrd_3Jg/видео.html
is there a way to add a way to modify the code to make the cube tip itself up from a flat at rest position to self balance on an edge or corner? Thanks. Great project.
You mean like this? ruclips.net/video/PwZfTrd_3Jg/видео.html
@@ReMRC Yes! nice. That is doable in this current build? I'm just waiting on the motors to show up. I will make the new print in the meantime.
@@elidelia2653 No, it's hard to make good brakes that always work the same way. It also requires additional space.
@ReMRC 你好,小车制作好之后其中的K1~K4还需要重新调整吗?
now do the pyramid version. tbh this is crazy mix of engineering and coding / modeling etc i could never do that
Hi. I don't understand the physics behind this, is it angular momentum and gyroscope presecion?
Gyroscope precession - no. This is reaction wheel. It works by creating a torque through changing its momentum.
@ReMRC hi. I was reading a bit more yesterday. I believe it works just generating a torque in the wheel opposite to the torque of the weight, is it right?...
@@RGDot422 If you rotating the weight, you get the torque in opposite direction.
Thanks ❤👍🏼🍻
can you share the project files ardunio and stl please
@@carjavitube Yes. Watch another video about cube.
Bro thanks for this amazing movie. Really appreciate your hardwork 👏👏👏
Good
Wow such a cool project! :) I was wondering, what type of connectors do the motors use? It looks like they go from motor connector to female jumper, what is this cable/connector called?
ZH 1.5mm. But they come with motors.
Hi Really loved this video for the last couple months. Would you be able to post the source code and tech specs? Would love to build this and add to it!
You can make any two-wheeled balancing robot that can move fast (lots of projects online) and change the wheels to omni wheels. It will work similarly.
Hi, I bought the motors but I have 12 pins and not 8
Why did you buy 12 pin motors? It's not the same.
Because there are no others, and I can’t find yours, I noticed only after they@@ReMRC
Can you tell me how to adjust the k1 k2 k3 k4 values accordingly
You don't need to adjust the k1 k2 k3 k4 values if you try to build this project.
@@ReMRC I have adapted it for use with your triangle balancer
@@vietle-fr5rj I didn't understand what you wanted to say. Can it be more precise?
@@ReMRC sorry for the slow reply, i want to know how to adjust the k1 k2 k3 k4 values in your code in this project to use for this ruclips.net/video/aWhKnBbdXs0/видео.html&t =4s
@@vietle-fr5rj I don't have any method. Only the experience of making quite a few balancing robots.
Could you give us your arduino library folder i think its easy to us if starting from scratch
Empty. :) I don't use any libraries for this project.
@@ReMRC Hello thanks for reply, im building this project and im facing one small problem. Its that when i use 115200 baud its not working, and im now using 38400 and its kinda working but its angle values always being 0. If you have any suggestion or help please let me know, thanks.
@@hope-yn5sl ESP32? 115200 baud should work, it doesn't depend on my code. Also, you need to try any mpu6050 data read example.
Can you post the schematic and source code?
I don't have a schematic. You need to understand that I don't need it.
Hi ! Thank you for this model. Mine is almost finish but I have a problem with motors calibration, and I already watched your video that talk about problems and question, so sorry. First when I connect battery, one of motor boot immediatly, even if calibrating not done. I send "c+" command bluetooth to stop it and calibrate then "c-". When c- is sent another motor, 2 motors turn. it turns like fan, not one way and other way (for me at this moment, motors souldn't turn I think). I made the cube exactely in the same way like you and respected all the angles (motors, edges, sensor MPU6050), nevertheless my values are very different than you. As it was not possible to calibrate with your values, I change the part of the code where we can see "first edge between -10 and -20, etc." I tried another sensor, same values. My results are these by bluetooth terminal : calibrating on X: 0.39 Y: 24.70 Third edge OK. calibrating on X: -31.67 Y: -31.51 Second edge OK. calibrating on X: 31.37 Y: -31.02 First edge OK. calibrating on X: -0.43 Y: -11.97 Vertex OK. Calibration seems to be OK with these values, but why motors are turning fast without reverse, and why on a edge there are always two motors turning instead of only one ? I verified wires 1 to 8. first side, two motors turn, second side, two motors turn, third side, all motors turn. Have you an idea ? I use an ESP32 D1 MINI (also with wroom32). I compared GPIO to be sure that same input/output are OK, PWM, etc. I specify that with the "test_motors.ino" the motors rotate slowly in one direction then in the other, and one after the other,so connection OK. Other thing, I used a buzzer seems to be the same as you but impossible to hear song, only a little slam membrane. To fix it I had to modify beep() function like that (a digitalwrite don't make song, mine wants a frequency) : void beep() { tone(BUZZER, 1000); // Send 1KHz sound signal... delay(70); // ...for 1 sec noTone(BUZZER); // Stop sound... delay(80); } Thank you a lot 🙏I love this project and I hope to show it to you in a few time ☺
First of all: does the motor test work normally? About the buzzer - apparently you are using a passive buzzer. Active is required.
@@ReMRC thank you, Ok for buzzer, It's not really a problem now with "tone." but thank you for this detail (I didn't see "active" requirement, my bad). Yes the motor test is OK, turn one motor clockwise and counterclockwise slowly, 1, then 2, then 3 and loop. On one of three side the three motors turn, as it was on vertex but not. Never only one motor turns
@@esope60 Something is mixed up though. Two motors together never work... Also tone() function will interfere with PWM... I don't know how it can interfere with ESP32.
@@ReMRC So You are very talented... I cut the tone. command for the moment, and motors don't turn anymore after the boot... I mixed two motors and now only one motor turns on his own axe. Each motor command the good edge. I've done again calibration. But motors turns without catch the balance. Is it normal motor turns everytime I do the "c-" ? I do c+, wait on balance point; then "c-", motor turns until I do another "c+" or put the cube on a face. On your video you can turn on another edge without turning. My motors seems to be too slow to change direction and catch up balancing. thank you
@@esope60 Motors should only start close to the balancing point. If the cube falls, the motors turn off. Nothing gets in the way of balancing? Wires?
Wow, buy can you make the gyro work only on very low speed and would cancel in high speed?
Are you talking about the reaction wheel? It's not a gyro. The slower it spins, the better.
@@ReMRC I see, Can it be two reaction wheels on opposite direction ?
@@josacra Yes, but it doesn't make any sense.
I have the wheel running, not on same stick as yours, but a modified stick mounted like a frame on table, as I only got Arduino Uno and old motor driver. MPU works, I use optical incremental encoder with code to produce rad/sec with direction. PID works, can see the right flow when plotted, also swings to other side when I push it. So far so good. But, doesn't hold the balance :(. It tries to aggressively balance. Keeps trying forever if i force stick to stay within 6 degree threshold with supports on side. But if I let go of supports, the stick falls to ground. Center of gravity issue? Any clues.?
You must understand that it is difficult for me to give advice. I don't know how you did it. There can be many reasons why it doesn't work. If you were doing exactly the same as me with the same code, I might wonder what's wrong.
@@ReMRC yeah I understand, cant shoot blind. I guess I have to first do a Nidec motor version to get a stable version, to eliminate noise involved, and then do a Brushed motor version. Sad I can't get Nidec around where o live. Have to find equivalents if at all available.
@@cholan2100 Ebay.
@@ReMRC got any place/mail where i can share snapshots of angle/pwm/rpm graph to see if it makes sense?
@@cholan2100 Yes, the email is in channel "About".
Amazing project! Would love to attempt to make something like this, do you have any tutorials / instructions?
I don't have any lesson. It is basically the same as a two wheel balancing robot. Just use the omni wheels to move in the other direction.
Hello, I wanted to reach out to express my admiration for your project - it's truly impressive! As I'm working on a similar project myself, I stumbled upon yours. After delving into your code, I have a few questions that I'm hoping you can help me with. Firstly, I noticed that your regulator operates every 10 milliseconds, is that correct? If so, it raises the question of whether the Nidec 24H motor must respond even faster than this 10 ms interval, am I correct in assuming that? So where did you find data about this motor?
Yes, 10 ms. I didn't need any additional data about motor. Only pinout.