Building A Self Driving Car - Jeremy Fielding 098
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- เผยแพร่เมื่อ 23 พ.ย. 2021
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Notes:
How to size a motor for DIY projects.
• How To Size Electric M...
Bill's Video at the Drone Bot Workshop.
• Build a Custom Servo M...
The article about this project.
dronebotworkshop.com/custom-s...
The article walks you through the details of the electrical design and describes options other than a potentiometer which we plan to use. Please check it out!
I plan to talk more about the topic of motor selection in a future video in this series as well regarding steppers and other options that would all work with their pros and cons. This design is definitely subject to change as the series continues!
Technical corrections
Nothing yet - แนวปฏิบัติและการใช้ชีวิต
Thank you so much for joining me as we work through the design challenges of something like this. We are already making changes and improvements! Please check out bill's article as he talks through the whole electrical design, discusses the different position-sensing options, and changes we plan to make there as well! dronebotworkshop.com/custom-servo-motor
Hey just saw something you might have a need for especially in this time of year. Repurpose a old dryer into a garage heater
I can't wait until we get better analog computers, can you imagine the AGI that will come from that? I'm curious if an analog computer would be better?
great video. quick question... the force needed to turn steering wheel will be quite heavily dependant on the TYPE of surface the vehicle drives on and grip of the tyres no?
Looks like a very fun project. Cool stuff. You should be able to avoid bending the steering column by adding some support adjacent to the large sprocket. With the current design the drive shaft is a long unsupported span which is very weak in bending (the chain applies a torque to the drive shaft AND pulls on it very hard - like hanging a weight from the sprocket). Putting a bushing next to it that is directly mounted to the frame should make it an order of magnitude stronger.
agreed. Reducing the length of the moment arm would certainly make it more resistant to bending. Adding a bushing is a good idea. Though I think the ultimate key is some kind of mechanical fuse or limit switches.
@@JeremyFieldingSr Why do you think that the ultimate solution is fuses or limit switches? If you could make some simple changes like the bushing to just not break if overloaded, isn't that better than adding more complexity?
Something to consider for the limit switch idea is that you can still overload the mechanism without hitting the limits. For example if one of the wheels gets trapped in a rut you could find yourself applying max motor torque. To deal with that issue you might then add a shear pin in addition to the limit switches, but that has the downside of disabling the cart, potentially in a dangerous way while moving. The next step would be adding a sensor to detect if the shear pin has failed.... you can see where this leads :)
If you do conclude that it isn't feasible to just make it stronger, I'd recommend looking into the vast supply of off the shelf torque limiters. I'd recommend a self resetting kind which will not disable the drive if you trip them. If you overload them they will slip, but as soon as the overload is removed the drive re-engages. Basically an oversized version of what you see in lego / k'nex motors that allow them to slip without damaging the gearbox.
Sorry about the confusion there. I am suggesting that both are needed. something like a torque limiter would protect the motor from overloading. Adding the bushing/stiffener would protect the steering column. The torque limiter could also be electrical. I am hesitant to put my weight on any one solution, as we both know it takes a while to think through all the possible consequences and how to resolve them.
It is feasible and smart to make it stronger... I agree there.
Hmm yes, I also agree
It's been a genuine pleasure working with you, Jeremy! Looking forward to continuing with this project.
Am really glad to see how this project will turn out, I will learn a lot from it
I’ve seen a few of your videos and they were super helpful. I’ve followed Jeremy for a long time, it’s cool to see you guys working together. I got to go through a few of your other videos when I get the chance.
The most unexpected collaboration.
Unexpected colab but I’m glad it happened.
Subscribed to your channel. I cant wait to watch and learn from you. Thanks
22:20 - I sense the frustration, but I had to laugh out loud when the chain went "DING!" like you just won a prize.
Nice to see you here!
I am not an engineer and I have ZERO experience doing anything close to what you do, but your videos are so engaging. That 25 minutes zoomed by and left me wanting to see another 3 or 4 hours worth of video. Please adopt me! (I'm 50, but housebroken)
"housebroken" hahaha you're also hilarious
Great project! The motor does seem to continue spinning even after breaking the steering column. In addition to the software PID control, I think adding mechanical limit switches to stop further rotation at both extremes could be a good fail safe mechanism.
There is a really cheap alternative to traditional potentiometers called a magnetic absolute encoder. The typical one I have found that is cheap is called a AS5600 magnetic encoder. It can be had for about 2 bucks, and has a little breakout board where you either can get the same sort of signal you get from a potentiometer or receive data from I2C. It has sub degree accuracy, and won't fade and become less accurate over time like the wipes of a potentiometer.
Came here to say this. A magnetic or even optical incremental encoders would work far better than a potentiometer. Pot values drift with changes in temperature by as much as 25% and this would affect the end steering unless it is corrected in software.
i was thinking about the same thing! AS5600 would be a good choice! :) The accuracy is 0.08... degree!!!
I definitely agree with the other commenters. The AS5600 will give you even better resolution/accuracy in a much smaller package. Only concern would be magnetic interference from that large motor, but that's easy enough to deal with.
Yeah i would also absolutely recommend this option. I used a 10 turn pot when i fitted RC to my van some years ago, and it's a failure waiting to happen. It drifts and generally is unreliable.
I kept thinking that some alternate positioning sensor would be a better way to go, too. Who sells these things?
"I need to take some careful measurements..." then break out the angle grinder. Yup, definitely an engineer. 🤣
LOL!
Thank you so mmuch 30 minutes that felt like nothing, I love the passion that you put in every project. Awesome job
Watching your thought process while designing building and troubleshooting is priceless! My favorite practical engineering channel! ❤
Yes, two of my favorite TH-camrs working on a project together. You both are amazing!
I love that you include all the pain and failures! Truly inspiring!
I really appreciate all of the footage of what goes well and what doesn't. So many videos only show what works and don't show all of the issues and solutions you run into. That is part of making and is so often glossed over. Thank you for including that in your videos. It adds so much to the reality of what a project is going to take. My son and I were just talking about this on a project he was working on. He is trying to remove the transmission from one of his trucks and it won't come off. He has tried all of the tricks he knows about and the videos he finds, the transmission just comes off. Or if they have an issue, it is a before and after and they really don't go into how they got the two pieces to come apart. Thank you so much for putting the time into recording your videos and in the editing part, keeping the experience in there.
I appreciate the "pain and suffering" you go through for us. I am especially impressed that you include so much detail on your problems and how you solve them. There are a lot of videos out there that go through build projects step by step so that almost anyone can complete a build by following instructions. You videos are much more valuable than those. You help others solve problems that aren't part of the build, by teaching about how to solve all problems. As a teacher, I can prescribe these videos to my students who are interested in such things knowing that they will not be wasting their time. Many thanks for your work.
this project has come in at the perfect time. I'm an ME, have 4 kids, and have been looking for a hobby to combine my ME skills and learn how the electronics and programming side of things work. Thank you for your videos. They are very informative and fun to watch.
You’re such an inspiration man. Thanks for everything you do!
Great video! So realistic showing the trial and error for a robotic project. Everything goes wrong but sometimes you make brilliant discoveries that brings it all back on track. I look forward to following this journey. Thanks for not giving up!
Dude...you are a freaking inspiration....the ambition behind your projects is just awesome!
thank you for doing showing your mistakes! a lot of times people skip over the most important parts (troubleshooting and thinking through problems) and you embrace them, thank you!
Thank you for sharing the failures as well as the successes. We learn more from our failures, so kudos to you good sir. God Bless.
Brilliant Mate, as always. So looking forward to the rest of this build. Good luck Buddy
my professor played your video on moters in class lastnight. He really love how professinal it was and he was "extra" proud that a black man had made it.
Looks like a fun project. I joined a group at the University of Alaska Geophysical Institute trying to design a vehicle for the DARPA Grand Challenge. It had to follow waypoints while avoiding obstacles. One of the guys from the Mechanical Shop did most of the genius physical modifications. I was on the software team. It had lidar and radar and an old computer running Linux. Unfortunately we found out about the challenge too late. We got as far as testing in front of the admitting judges but a couple technical issues had us just miss out. But I was impressed at how far it made it along the course, just short of the end, before it got a bit lost.
There were some clever bits. Once you ran the AI program it started the gas powered car then ran through calibration steps to verify the steering and brake limits. We had kill switches on all sides (just in case) and an old Apple joystick that allowed us to drive it manually if necessary since there was no steering wheel and the driver’s seat held the steering and braking hardware. Since it was designed to run a course autonomously we couldn’t run out on the track and restart it if the vehicle or the program died. If the vehicle stalled the computer knew how to restart it. And if the software died I wrote a program to spawn several redundant processes that simply monitored each other; if the primary script died the next in line took over and spawned a replacement so the max (3) was always running. All three programs would have to die at once for it to stop. It was a lot of fun and I learned a lot. I need to find out what ever happened to it. I’d love to keep tinkering at it.
Love how this guy shows his errors and growth. This is real engineering. Make all mistakes in shop, and then be expert on the streets. Keep going bro…. Looking forward to next videos on this.
Brilliant. Thank you for sharing your creative process and incredible intelligence.
This man is a amazing electrical, and mechanical engineer. He also has awesome tools and machinery , make his designs to become
reality.
As a retired ME I enjoy the enthusiasm at which attack things. Been watching for years. Keep up the great work!
Thank you!
8:48. The words of a true craftsman & of course duct tape (in the old days it was haywire). Love your vids. now a days they are way over my head.
Limit switches and current over load detection (amp meter and software limits , or an actual system stopping overload with signal outputs) would allow you too retain control while also stopping excessive torque scenarios
That CAD/build montage was on another level. Nice work.
This is an exciting project. I am looking forward to watching it, thanks.
Mom! Dad is doing my school project again! Good video!
Always inspiring Jeremy. Thank you
Wish I had found you sooner. I’ve been viewing bills channel for a while. Together we can build whatever we want. Thanks
THIS IS A PROJECT FOR GPA. HE CAN SPOIL THE PERFECT ONES, AND DO SOMETHING THE PARENTS WOULD NOT APPROVE OF. WHAT IS SO FORTUNATE IS THE ATTENTION, AND LOVE YOU TWO SHOW YOUR KIDS.
That WHOLE video was just dope. Loved it!
"Thank you for joining me through all this pain and suffering" I think that's my new favourite sign off for engineering videos! 😁
I couldn't agree more with wanting to me able to hit undo irl as well.
An idea for the coupling problem might be to add a spring loaded connection, where both shafts a coupled such that they are under tension to align. And to combine this with a ball bearing detent style mechanical lock in the connection up to a certain force application.
This allows for a solid connection untill a maximum load, and then can reset when it's possible to allow for control to be maintained over the output.
I hope this conveys the idea, I'm sure this can be done using two disks with slots, but there are many implementations.
I look forward to seeing what you come up with!
Looks like a cool project to do. And you never know what will come of it.
You are so unbelievably underrated man.
I am a first time watcher of your channel. I love you passion to teach the next generation. Keep it up. In this video the motor was to strong and broke the steering column. To use the same motor and protect your work I recommend using a current limiter on your speed controller. With a current limiter you can adjust the maximum torque the motor puts out. This will protect the mechanics. Start with a small torque. When you are satisfied that the steering is doing what you want, increase the torque a little at a time until it works. An added advantage to this method is safety. A person can overpower the steering if something goes wrong. A double bonus.
Your videos are entertaining, informative, and easy to understand and so enjoyable. Thank you. I'm in a very difficult place in life right now, and have struggled for a long time with thinking I will never have a job that's satisfying and keeps me engaged. Your videos have reminded me of some of the dreams I had in my younger years, and sparked a hope again. I just need to find a way to put myself in the position to find an opportunity/mentor like you did to get you into Engineering. I think I'll go to the community college and see what books and resources there might be there for me.
My friend I know exactly how you feel. I too struggle with depression from not knowing what my career path is supposed to be. "Do what you love to do and you will never work a day in your life." I long to learn what that "love" is, what a fulfilling career path is
Watching you in turbo mode on CAD was mY favorite part of all your videos!
love this, can't wait for part 2.
As always, great video.
You could use a two piece steering shaft and a love joy coupling. That way the love joy coupling would fail before breaking anything.
Tough break with the control system Jeremy. I think we all know though, that if anyone can sort it, it’s you. Wishing you good luck with this groundbreaking project. Very interesting video, thanks.
OK on the steering column failure: trying to decide which you want to fail first the motor or the column, is the wrong question (at first). Your first question ought to be "What are the forces involved that I should engineer for?" and design both a column and a motor that can withstand those forces plus a good margin of error. That way you can be confident that the whole assembly should be able to withstand whatever happens during normal operation.
Then you can decide which one you want to fail first. My recommendation: Fail the motor first. It's a more expensive part, but it would still allow for manual steering.
But I think a better option is to have a clutch. Instead of chains, have at least one belt-driven component that is *designed* to slip when the load goes too high. Slippage is also dangerous - you can't get around the fact that a failure is going to be dangerous. But you can code the controller to detect a slipping belt and stop the motor and a slipping belt allows the entire system to recover on its own once the load goes back down. And if the belt needs replaced that's a *really* cheap part.
Also, if the slippage is between the motor and the shaft, but the encoder is still a no-slip connection to the steering column, the controller will be able to continue controlling it until it gets severe enough to require a shutdown.
Ah yes, the classic inverted feedback loop.. oops! Something I always do when working with feedback loops is clamp the maximum output speed at a very, very low value (or current-limit similarly) so there's at least some hope to catch issues like this before disaster strikes. Works a good 50/50. :) This is going to be an exellent series, I'm looking forward to the next video.
It was great watching your keynote at Remoticon on the weekend btw!
Always fun to watch. Thanks 😊 🙏
I loved the way ypu laughed after saying everything could be fixed with an anglegrinder :) great project- thanks for sharing the buil!
Always find your project intriguing. Keep up the great work!
@Jeremy. This is going to be 100 time harder to do than you think, I fear for your sanity but I cant wait to see the journey. I thoroughly enjoy the way you take us along for the ride in the design process, through the good and the bad.
LOL Have you seen any of my videos... Hard projects is what I look for :) I understand the pain and fully expect it to be harder than expected... if one can expect that and still be surprised... because that literally happens with every project :)
Love your videos Jermey! Looking forward to the rest of the series
Great video Jeremy ! I hope you’ll keep showing your design process in SolidWorks in future videos. It really helped me understand how you were actually trying to integrate it to the project.
I love your videos, man. Lots of ideas to explore. Keep making awesome stuff!
I really enjoy your videos. Thank you.
What a great collaboration!
This is an awesome video and thanks for sharing. I’m doing essentially the same thing with an old mobility scooter chassis. I’ll be following closely.
How about a slipping clutch between the motor and steering column? Enough torque to turn the wheel, but any more and it just gives. Also makes it safer in case of trapped limbs. Then just have the feedback potentiometer placed after that clutch, so it still registers the correct steering position.
It's great to see Bill working with you on this, your both amazing engineers 😍😍
Bill's channel is awesome. Please don't forget about the safety aspect of the steering column. If it is too strong it is a potential hazard to the driver.
My suggestions would be to use a magnetic encoder for the the steering position, no temperature or moisture drift, no fading, with the right enclosing weather resistant (not proof). The magnet could just be glued to the end of the steering column/pipe. Also for the safety, you probably want the motor torque lower than what you can do with human input so that you can override the computer, if it does ssomething stupid. Trust my, it will do this. Maybe a combination of V-belt drive (the slipable kind) or a torque limiting clutch, so the motor can run crazy and the steering survives. Also have a big emergency-stop kill-switch reachable at at any time and something like a wire based plug things like the waterjets use.
Awesome work man, looking forward for the rest
Looking forward to the next installment.
Thanks for sharing your knowledge!
Very cool project and excited to see the joy it brings the family. Your reversed motor direction reminded me of a design issue we had on one of our robotic arm prototypes at my old job. It was a position controlled hydraulic robotic arm and we had to rework our first prototype manifold due to some miscommunications with the mechanical engineers designing it. Namely, swapping the A and B sides of the circuit. Unfortunately, no one on either team thought to update the engraved labels on the outside casing.
Flash forward to six months and we are performing a manufacturing dry run with the prototype manifold. As soon as we powered the controller on, the position control system took over and the arm slammed itself into a completely flexed position. These were some beefy arms too so I’m very glad no one got hurt. We had a strong safety culture there and had done a a thorough safety analysis for exactly something like this happening.
After some head scratching and investigation, we realized the manifold had been installed per the original engraved labeling! Since the polarity was reversed between the hydraulic command and the feedback, we had a perfect positive feedback loop just like your steering wheel deformation event. Very frustrating to encounter these in a project, very cool when you realize exactly all the mechanics and science that forced it to happen!
Thanks dude! The struggles, mishaps and problems I see you experience help me remember that I am not alone! Happens to me too lol
As always, thanks again for a great video! I know these frustrations all too well. In a weird way I feel a little bitter about the many failures I encountered while trying to do the same project. In fact, I've failed at this so many times, I am starting over yet again. Unfortunately I have to do both the hardware and software myself. I am a software guy so that's how I've found this channel while looking for lessons on how to do the hardware parts. Looking forward to the remaining parts of this series. Good luck!
A length of 1” go kart axle with a key way would solve a lot of steering issues. There’s all kinds of hubs, sprockets, bushings and bearings that would immediately bolt on without modifications. Some welding, turning and thread cutting would be required to install a steering wheel and use the same steering rack. The effort would be worth it for the amount of bulletproof safety you would be gaining for the most precious of cargo.
Also, you need to support the steering shaft as close as possible to the torque input. The same thing would happen by hand if the steering wheel wasn’t so closely supported by the bushing.
In the CNC world we MUST bench test everything. Loving this series!
Love this project so far!
This is awesome! I'm looking forward to more!
Always enjoy the content look forward to the ride
Wow I will learn a lot from this new project. Can't wait to see the outcome lol
looking forward to the next one good luck!
Prehaps size a shear pin that fails before the steering column. That way if it fails you'd hopefully still have manual control over the vehicle, but the motor would be mechanically disconnected?
I like the idea of a mechanical fuse.
A support bracket from the motor to the steering column would prevent bending and give somewhere to mount a guard. It could have a bearing or a brass/Teflon bushing on the column.
Very Dope..... Good project, custom made servo motors and gear reduction
Rate limiter on the output and calculate torque and program torque limiter. Awesome project
You could also use a high resolution absolute rotary encoder. They're used in higher-end amateur telescope mounts. Repeatable precision is often less than one arc-second so that would be plenty accurate enough for your steering solution. Also, mechanical limit switches will be helpful. Just like you have on the 3D printers, auto-homing is very useful. Will be fascinating to watch your build!
22:21 Maybe a custom steering angle sensor would solve this problem. You could come up with a shaft smooth steering wheel, and a clutch motor to engage and disengage the steering wheel for the failsafe operation. Great work!
Love seeing you show failures. That help as much as success
Nice! I like the beefy steering motor -- smaller steppers might have trouble turning the wheels on tougher ground.
Experience says wheel slip and tire deflection will be a bigger source of error than your feedback potentiometer.
Also, simple obstacle avoidance and checkpoint following AI is quite doable, but un-surveyed SLAM and safe navigation where people or pets will be, is a whole other kettle of fish...
Love your stuff Jeremy. You Rock!!!
Awesome Jeremy, I really enjoyed the video looking for more to watch and learn
i just love this guy
You're inspiring. Something tells me that stiffening that shaft is a shorter path to defeating the torque. Agree with comment about better shaft support if room. Even a solid shaft may bend if not supported.
there is certainly room, and it is part of the plan.
Dad GOAT material right here
Nice moves. In the past I have found that a cam attached to shaft and an analog output inductive proximity sensor like Automation Direct DW-AS-509-M12 mounted perpendicular to cam is a slightly less cost effective but infinitely more suitable solution for resolving angular shaft position < 360 degrees (no gearing, no chain, no sprockets, no wiper wear). You can cut cam to create desired shaft angle vs output voltage profile. I Have used this method to replace problematic pot failures on dancer arm for dereeling 2000lb spools of 10 ga copper wire. Great work!
👍🏼 Jeremy, I feel your pain because as I age I have developed a tendency to overtighten fasteners of all kinds! 😎✌🏼
Great work 🥳 Thank you 💜
This is a cool new project! I'll be following along. :)
Just found your channel and I LOVE IT!!!
What I've learned from working on similar project... you need enough torque so it can turn in a lot of situations. You should introduce some sort of a clutch that can decouple motor from the steering. You need some sort of torque measuring device on the steering shaft that can measure torque from the wheel to the shaft. This is safety for example if someone grabs the wheel it should disarm/decouple the system. Of course for simplicity you can put some metal mesh on the wheel connected to a transistor with small resistance so it could be like touch sensor, if someone touches the steering wheel it automatically disarms the system, but this could be only for testing. I can clear if needed.
Good work!
I always love your videos and the simple way things are explained. I'm an EE, fabricator, welder, machinist and programmer, so I love this stuff.
But, your kids would get way more out of a go-cart that they can drive. No one wants to be a passenger when they can drive.
An idea could be to develop a kid friendly software for the self driving go cart, that way the kids can learn how to program with it to do cool things. It would be difficult, and Jeremy may need to hire a few hands to help out, but it could definitely be fun.
@@howardbaxter2514 No amount of programming is going to slide a go-cart sideways around corners. But each to his own.
@@freeidaho-videos kids programming it to automatically drift. Shoot, I’ll try to add a programming function/block that the kids can add to do it.
This guy is on another level of smart.
I bet he works for MIT on his off days.
Jeremy Fielding and the DroneBot Workshop have joined forces??? Epic!
I love your videos, can't wait to see the rest of this series. I think your theory that the motor wires are reversed is probably correct.
Another great project.
I'd go with a much thicker walled steering column (or even solid bar), and also add a bearing next to the motor drive gear so the shaft is supported near where the torque is being applied.
Maybe add some kind of torque sensing between the steering wheel and the column. That way it can detect if someone is trying to override the steering input and can disengage, and/or can act as power assisted steering. It could also then disengage if say someone sticks their arm though the spokes in the steering wheel (rather than break it off).
Yeah, Bill is my hero too ! Nice video bro !
That's so awesome!
Love that your grinder wheel is about gone.