Hey, neat project! Thanks for making it open source. Do you have any sources available for the theory you used to model the system, or even any general equations that you used? Thanks for your time!
I finally got around to building this, Im almost done with the project! I have one question, I emailed you about it. Thanks again for the cool project!
Hey i'm also working on this projet for m'y final test AT school i have did you found som teorical source beacouse i have problem woth my pid i dont fond thé good
Congratulations and many thanks for sharing your project... I am waiting for nidec 24h (1 month with aliexpress). I will add an oled 1306 to show gyro & acc data. I am preparing wheels with 6mm steel balls (with respect to 70g weigth).
hello, great project, I plan to make the version with the esp32. I wanted a precision concerning the transistor pn2222, on your plan github esp32 concerning Q1pn2222 B=? C=? E=? because the wiring of Q1 for the arduino version indicates E=gnd C=Bz1 B= R4. so I have a doubt for the Q1 esp32 version. thank you and nice job
hello, I just finished mine with an esp32 with a pcb, different stl for gluing and different and much cheaper nidec. I have to paint the chassis, I'll post a video in two or three days.
hey Great Project ! i currently working on my own and wanted to ask you if you could provide the specific Model Numbers for the Nidec 24H Motors, as there are a few models, also for the LiPo, which Operating Voltage does it have ? Best regards
@@ReMRC thanks for the quick response ! i bought a similar modell of the Nidec 24H, should hopefully still work, is there any important limitations / details for choosing the right LiPo (except the votage), for example the weight or dimensions?
@@ReMRC hi rem its been a while, i working on the cube again i didnt do the light anymore, my cube(s) work great. so happy i made another, but i wanted to 3d print a shell to hide the electronics, now the whole thing is too heavy and it keep falling after 3 seconds. are there ways to get around this issue? thanks in advance and looking forward to your next balancing video haha
Amazing! Best self-balancing cube I've seen! Could you please give me some reference on where can I Learn more about the method you used for the control method and your tilt estimator algorithm?
@@ReMRC Yeah It is clearly enough because your cube works awesome with only one IMU! I'm just trying to understand how it works a little bit, I'm pretty new to this kind of project😵💫. Sorry if I'm being annoying😅 but I was taking a look at your code and This caught my attention, robot_angleX += GyZ * loop_time / 1000 / 65.536; Where does that 65,536 come from?
@@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.
Thank you very much for sharing your projects!! I am half way building the cube, and It seems like my parts are a bit smaller than the ones I see on the video. Can you please tell me:Did you upload the stl files of an smaller cube? For example, the walls of the cube are 152x152 mm. Also, it seems like you put double nuts.
@@ReMRC You are right! My appologies!! I've seen on some of your videos that sometimes you put all the bolts and nuts, and some other you don't. How do you figure it out? Try and error? Or there is any formula to make and approximation function of the total mass?
What a brilliant project. I would like to rebuild this cube. But I'm missing the specification of the transistor Q1 (in the video min. 4:56) Have I overlooked something? Many thanks for the help!
Lots of confusion with that transistor. :) In video I say "transistor and two resistors". In schematic - one resistor. This is because I use mosfet. You can use PN2222 or something similar (n-p-n).
Check! Last weekend I managed to balance the cube. Many thanks for the great instructions and the great support you provide here! - like more of it :-)
Very cool! Could you make the cube spin by rotating all the reaction wheels at the same time, in the same direction? I'm thinking adding a constant rotation to all the wheels should cancel out everything except a spinning torque...
We are using the initial commit code (2022.5.8) of the GitHub page to use the code and tuning method of this TH-cam video. However, there is a problem with the motor in balancing. During the motor tester, it was confirmed that it was moving well according to the code, but during balancing, the motor repeatedly spins and stops too fast at full speed. So here's what I'm curious about. 1. Whether this problem can occur depending on the value of x in the batVoltage(double) analogRead(VBAT)/x) code. 2. We are using a battery of 11.1V 1000mAh and how does this affect the behavior? 3. The offset value measured like a video on TH-cam. float offsetX = -1.12, offsetY = -3.86; float offsetX2 = -0.34, offsetY2 = -47.55; float offsetX3 = -33.24, offsetY3 = 19.33; float offsetX4 = 32.86, offsetY4 = 4.12; Thank you.
In the esp32 schematic, Q1 would be PN2222 or 2N2222? With the 2N2222 transistor is Emitter > GND, Collector > Buzzer, Base > 6.8K resistor? And in the case of the PN2222 it is Emitter > Buzzer, Collector > 6.8K resistor, Base > GND?
Got these 12pin motors working. I have discovered that the start/stop pin needs 12v or they remain off. It all looks good now but the motors are turning in the wrong direction. Can that easily be changed in the code? If so could you help me with where cheers
The seller describes these motors in a strange way. PWM from 16000 to 26000 Hz, but he contradicts himself: 1000 HZ 150 rpm, 10000 HZ 1500 rpm, 12,000 HZ 1,800 rpm... It seems to me that he himself does not know. :)
I am attempting to get the offset values in each position as show in the video, but my X and Y angle is -45, 45. Maybe my MPU is not functioning correctly. Any ideas on how to solve this?
You should try any example of reading MPU6050 data with ESP32. Once the data is successfully retrieved, it will work with the cube as well. This is not a problem with my program.
In what way would it affect the performance if the reaction wheels weigh more or less than the 70g . I assumed a heavier wheel would have more inertia and control the cube easier
Fantastic project, well done. The result is very satisfying to see and your video is quite clear and the steps to follow. I have one question regarding the motors, what made you choose the nidec 24h for this project ?
I don't have any schematic. It's really simple. Where is connected ESP32 pins you can see in the source. But I get a lot of questions about schematic, maybe I need draw it...
Is it correct that you have the encoder +ve connection to 3.3v ? The datasheet for the motors says 5v. (I know you aren't actually using the encoders but I wanted to wire it up properly just in case you decide to use them)
A very fair question. I tried it - the encoders work perfectly from 3.3V. I use them in other projects. e.g. here th-cam.com/video/AV_gpJPhp-s/w-d-xo.html
What do you mean in the video is that the 12.6V voltage is divided into 3V proportionally through the resistor, because of the limitation of the port measurement voltage, and then converted to the actual voltage through the code?
How much V does the LiPo have? 11,1V? 14,8V? And what voltage do you measure that you have to input into the source. The voltage of the battery in its full state? And the 5V regulator: Is 800mAh output enough?
Hey buddy, I’ve decided to build this project but I’m not exactly sure where is the best place to find those motors at least in Europe. Know of any alternative product to replacement?
@@ReMRC I just gave them a frequenc with the the pwm function of the arduino (50% duty cycle) didnt work. I think its something with the hardware, because it worked fine in the beginning. Any Idea?
Hi I am collecting all the parts to start building! already printing the parts. However. I see in your video that you are using a transistor and two resistors for the buzzer but they are not in the electrical drawing that you made. also i see a small led that is not documented. What are the specifications of the two resistors and transistors and how do they fit in the electrical diagram? Is the transistor underneath the buzzer the mosfet? I ordered a PN2222 transistor.
In video I am talking about a buzzer transistor. Yes, I use mosfet (why - long explanation). You can use PN2222. It is in the schematic. A small led only shows the connected battery.
Hello ive just finished my build. Innthe programming angles. The file i downloaded from github dosent match the file on your video, am i supposed to program the 4 angles using the c+ method im using the esp board. Thank you.
Hi Rem-RC, Can you tell me the bushing size/type for the wheel? I have your motor with a 6mm smooth shaft. Part#? eBay ? Amazon? Would be very grateful. Thank You.
Would you mind sharing the brand of the battery you used? I can find a lot of similar batteries, but they appear to be much bigger than the one you use and I am afraid they won't fit the slot. I am also not able to find the Nidec motors anywhere. Is there a known alternative for them?
@@ReMRC yeah, I was avoiding buying the motors on Aliexpress because the shipping costs are higher than the price of the motors. Anyway, I could find everything there. Thanks.
hey! In the part where you connect the engine to the wheel, there is one more small piece. That piece is not included in the files you shared with us. Without that piece, I cannot connect the engine to the wheel. The engine is becoming thinner. Can you also share those drawings with me?
Hello, amazing proyect!!, I wanted to ask you where did you buy the LiPo battery? I'm having trouble finding one that powers 11.1V, does it work with 3.7V?
Hi there! I've got this setup but after uploading the code, connecting the battery and connecting via bluetooth I am unable to open the Serial Monitor because it says the Port is busy. Any idea why this might be happening?
I tested the motors with the "motors_test" programming and everything went ok. Each motor rotating clockwise and counterclockwise. With the other programming I calibrated the points normally. When I place it on one of the edges, the motor referring to the edge starts to rotate at maximum speed. And at the vertex the three motors run at maximum turning on the beep. Do you know what it could be? Perhaps the value of k1?
Hello ReM-RC! When I go to verify or upload I get fatal error: ESP32.h: No such file or directory #include "ESP32.h" compilation terminated. What can I do?
I am using a different ESP32 board so the pins are slightly different. I got motors to spin in both directions just fine. I can't understand the connection of 7 and 8 pins on a motor. Can you please help with what are they used for?
@@markbelicove4853 You already can download 3d file with 6mm hole. Where do you buy motors without gear? I can't see anywhere with 6mm shaft and without gear...
Hi. tell me in what order to connect: DIR*, PWM*, PWM*_CH and "start/stop", "forward and revers", "signal speed regulation"? Вo we need a signal from encoder "A" or "B"?
Dear ReM-RC, looking at your code I got the following question, what are these specific offsets for? float offsetx= -0.99, offsetY = -3.43 float offsetx2= -31.24, offsetY2 = -19.05 float offsetx3= 30.4, offsetY3 = -19.21 float offsetx4= 0.17, offsetY4 = 35.9
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?
Great project! I am think about modify the cube to a smaller dimension, hence the cube weight and position of the sensor will change. Which part of the code will I need to modify? Thank you very much!
Hey, what is the feature of this dc motor? is it with a driver? is it with an encoder? can you suggest me another alternative? if I buy another dc motor other than this, what kind of feature should it have?
ReM-RC Love this video. I 3D printed parts, wired everything up with an Arduino Nano but I seem to be tripped up on the calibration set points, no motor spin and all my angles are wrong when sending the C+/- commands? Pretty sure it is something simple, any pointers? Thanks!
I saw you added a new schematic to github for using an arduino. Does this have any advantages over using an esp32? I also noticed you didn't include any of the red wires in this new schematic. Are those not needed? What were those actually for in the original schematic. Thanks!
hi i have done everything that you have said spent 60 hrs trying to get the angles set nothing what you show is not is nothing what my arduino isp looks like the only thing that does work is the motor sketch is there a scetch that shows the giro is working cheers
thanks for your reply it was a surprise i only did it out of frustration as i had no where else to gofirst my problem is when i get to the part about the blutooth got to serial monitor nothing happens all i get is line after line first you need to calibrate the balance points nothing else no line after line of balance points nothing happens no buzzer nothing the only time i can get it to do anything is when i use the motor sketch cheers
how and where do i calibrate the balancing points that the serial monitor is asking for i am in my late 70s not up to date on somethings cant do code@@ReMRC
I would like to share, but the circuit connection is only in my brain. :) I'm a little surprised that this is needed, because where is connected ESP32 pins you can see in the source.
Hi, thank you for sharing such an impressive project! Can you please provide us with links to trusted (legitimate) online retailers where we can buy the necessary component (e.g. motors, battery, sensor, etc..)? Thank you in advance!
Thanks for sharing! A self balancing cube is now on top of my project list.
Great engineering project that involves mechanical, electrical and software designs. Subscribed!
Hey, neat project! Thanks for making it open source. Do you have any sources available for the theory you used to model the system, or even any general equations that you used? Thanks for your time!
Thanks. I didn't study any theory. I didn't calculate anything. Only some experience and tuning.
I finally got around to building this, Im almost done with the project! I have one question, I emailed you about it. Thanks again for the cool project!
Hey i'm also working on this projet for m'y final test AT school i have did you found som teorical source beacouse i have problem woth my pid i dont fond thé good
Thank you for uploading your files! I just ordered the motors and am currently printing the parts for it.
Beautiful, thank you for the 3D printer files, but I think I’ll do the math and code all by myself
Just finished building mine. Thanks for sharing the files!
Video?
hey, what kind of LiPo battery you have used, whats the operating Voltage of it ?
Thank you for sharing the codes and the 3-D print files. Much can be learned from them.
Thank you so much for sharing the code and 3D files!!!
Thanks for sharing. GREAT video , I will try to make the device as soon as my parts arrive.
¡Excelente video! Con esta experiencia Ud. estará despertando grandes inquietudes y desafíos a las mentes jóvenes. ¡Lo felicito! 😉👌
Thanks!
Thanks!! Finally :D I’ve been waiting for this since the first time I saw your videos :)
Danke!
This is awesome! Thank you for sharing the code.
Amazing project and very demonstrative video! Kudos !
Congratulations and many thanks for sharing your project... I am waiting for nidec 24h (1 month with aliexpress). I will add an oled 1306 to show gyro & acc data. I am preparing wheels with 6mm steel balls (with respect to 70g weigth).
With steel balls... Interesting. but it's harder to do than bolts and nuts.
What is the reason if my motor run very rapidly like 255,-255 pwm?
hello, great project, I plan to make the version with the esp32. I wanted a precision concerning the transistor pn2222, on your plan github esp32 concerning Q1pn2222 B=? C=? E=? because the wiring of Q1 for the arduino version indicates E=gnd C=Bz1 B= R4. so I have a doubt for the Q1 esp32 version. thank you and nice job
Yes, for PN2222: E=GND, C=Bz1, B=R4. I use different transistor...
@@ReMRC thank you
hello, I just finished mine with an esp32 with a pcb, different stl for gluing and different and much cheaper nidec. I have to paint the chassis, I'll post a video in two or three days.
@@conetablebe Cheaper nidec? I'm waiting for the video.
hey Great Project ! i currently working on my own and wanted to ask you if you could provide the specific Model Numbers for the Nidec 24H Motors, as there are a few models, also for the LiPo, which Operating Voltage does it have ?
Best regards
LiPo 11,1V, Nidec 24H404H160.
@@ReMRC thanks for the quick response ! i bought a similar modell of the Nidec 24H, should hopefully still work, is there any important limitations / details for choosing the right LiPo (except the votage), for example the weight or dimensions?
@@tayeki8876 Small battery - 450-500 mAh.
one of the best project I've seen !
Awesome job! busy building one now. Is it at all possible to share the fritzing files and parts used?
I wonder if you put a flat surface on one of the corners of the cube If you could stack them
@ReM-RC is it possible to get the arduino to have an output to light up an led upon it balancing ? if so which part should I add my if conditional
Of course this is easy. But I don't have a cube with an Arduino nano right now, so I can't do that.
@@ReMRC hi rem its been a while, i working on the cube again i didnt do the light anymore, my cube(s) work great. so happy i made another, but i wanted to 3d print a shell to hide the electronics, now the whole thing is too heavy and it keep falling after 3 seconds. are there ways to get around this issue? thanks in advance and looking forward to your next balancing video haha
@@jeromewong9945 Heavy? Photo? Video?
@@ReMRC can I email you the photos instead
@@jeromewong9945 You can find the email on TH-cam "About".
Amazing! Best self-balancing cube I've seen! Could you please give me some reference on where can I Learn more about the method you used for the control method and your tilt estimator algorithm?
I learned by doing a lot of stuff like that...
@@ReMRC That is awesome indeed! Could you give me some explanation on how you estimate the tilt with only one IMU?
@@FranPastorini One is not enough? Of course, can be done better. But this is simple way.
@@ReMRC Yeah It is clearly enough because your cube works awesome with only one IMU! I'm just trying to understand how it works a little bit, I'm pretty new to this kind of project😵💫.
Sorry if I'm being annoying😅 but I was taking a look at your code and This caught my attention, robot_angleX += GyZ * loop_time / 1000 / 65.536; Where does that 65,536 come from?
@@FranPastorini You need to read about reading data from MPU6050 (raw data).
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.
hi, do you have a wiring diagram or schematics for the electronics
Really needed? These motors are controlled directly from the ESP32. Not need any drivers. So, circuit is really simple.
@@ReMRC ok, thanks I will look at the connections abit closer
Great project and thanks a lot for sharing this.
I would also appreciate of you could share the diagram. Thanks
@@Rossobimbo I will look for a program that can do this. And... When I have some time...
@@ReMRC fritzing is a good one
Thank you very much for sharing your projects!! I am half way building the cube, and It seems like my parts are a bit smaller than the ones I see on the video. Can you please tell me:Did you upload the stl files of an smaller cube? For example, the walls of the cube are 152x152 mm. Also, it seems like you put double nuts.
Smaller? Why do you think? It's the same.
@@ReMRC You are right! My appologies!! I've seen on some of your videos that sometimes you put all the bolts and nuts, and some other you don't. How do you figure it out? Try and error? Or there is any formula to make and approximation function of the total mass?
@@asunasposibolDifferent projects require different weights. E.g. unicycle with Nidec is heavy, so a heavier wheel was needed.
Are there any other motors for this project? Three Nidecs cost over $100 here in Canada!
No. But you can buy much cheaper from aliexpress.
Got mine up and balancing. Its memorizing.
What a brilliant project. I would like to rebuild this cube. But I'm missing the specification of the transistor Q1 (in the video min. 4:56)
Have I overlooked something?
Many thanks for the help!
Lots of confusion with that transistor. :) In video I say "transistor and two resistors". In schematic - one resistor. This is because I use mosfet. You can use PN2222 or something similar (n-p-n).
@@ReMRC Thank you for the fast answer. I have ordered the first parts and I hope that I will be able to realize this amazing project.
Check! Last weekend I managed to balance the cube.
Many thanks for the great instructions and the great support you provide here! - like more of it :-)
@@tinalina1808 any special tips not mentioned elsewhere?
now do the pyramid version. tbh this is crazy mix of engineering and coding / modeling etc i could never do that
Very cool! Could you make the cube spin by rotating all the reaction wheels at the same time, in the same direction? I'm thinking adding a constant rotation to all the wheels should cancel out everything except a spinning torque...
Like in this video? th-cam.com/video/DshWeMvtPqg/w-d-xo.html
@@ReMRC exactly like in the video! It would be amazing to be able to control the spin wirelessly over the web interface.
@@Henrik229 Yes, it would not be difficult to do so.
one more question , is the transistor connected Emitter > GND , Collector > Buzzer , Base > 6.8K Resistor ?
Yes, correct.
@@ReMRC Thank you , I will start building now
I found myself in a bit of a time crunch and can’t get the Nidec servos in time, any recommendations for alternatives instead of the Nidec motors?
There are no alternatives.
Is it possible to stabilize it with the center of mass misaligned with respect to the fulcrum?
No, center of mass is important.
That's sooo cool! the greatest respect to you! thank you for sharing.
We are using the initial commit code (2022.5.8) of the GitHub page to use the code and tuning method of this TH-cam video.
However, there is a problem with the motor in balancing.
During the motor tester, it was confirmed that it was moving well according to the code, but during balancing, the motor repeatedly spins and stops too fast at full speed.
So here's what I'm curious about.
1. Whether this problem can occur depending on the value of x in the batVoltage(double) analogRead(VBAT)/x) code.
2. We are using a battery of 11.1V 1000mAh and how does this affect the behavior?
3. The offset value measured like a video on TH-cam.
float offsetX = -1.12, offsetY = -3.86;
float offsetX2 = -0.34, offsetY2 = -47.55;
float offsetX3 = -33.24, offsetY3 = 19.33;
float offsetX4 = 32.86, offsetY4 = 4.12;
Thank you.
Try watching th-cam.com/video/Nkm9PoihZOI/w-d-xo.html If it doesn't work, message me again.
In the esp32 schematic, Q1 would be PN2222 or 2N2222?
With the 2N2222 transistor is Emitter > GND, Collector > Buzzer, Base > 6.8K resistor?
And in the case of the PN2222 it is Emitter > Buzzer, Collector > 6.8K resistor, Base > GND?
Strange problems with this transistor... startingelectronics.org/tutorials/arduino/modules/active-buzzer/arduino-active-buzzer-circuit.png
Thanks for sharing - Question: in the wiring there is a transistor Q1 - which Type is used here ?
You can use PN2222.
Got these 12pin motors working. I have discovered that the start/stop pin needs 12v or they remain off. It all looks good now but the motors are turning in the wrong direction. Can that easily be changed in the code? If so could you help me with where cheers
The seller describes these motors in a strange way. PWM from 16000 to 26000 Hz, but he contradicts himself:
1000 HZ 150 rpm, 10000 HZ 1500 rpm, 12,000 HZ 1,800 rpm...
It seems to me that he himself does not know. :)
Hey mate really great work do you mind showing the wiring diagram a bit more detailed if that’s possible
I am attempting to get the offset values in each position as show in the video, but my X and Y angle is -45, 45. Maybe my MPU is not functioning correctly. Any ideas on how to solve this?
You should try any example of reading MPU6050 data with ESP32. Once the data is successfully retrieved, it will work with the cube as well.
This is not a problem with my program.
In what way would it affect the performance if the reaction wheels weigh more or less than the 70g . I assumed a heavier wheel would have more inertia and control the cube easier
More inertia, but also more total weight to control (cube weight).
For a beginner, how difficult would it be to develop the control loops? I have a background with some control experience but not mechatronics.
It is impossible to answer difficult or not... It's different for everyone.
does any code need to be added to connect the arduino nano via bluetooth using the HC-05 attachment?
No, the same data as via USB.
love your project im building it currently and there is a problem with the buzzer it keeps on buzzing for some reason can you help me on this
If you use PN2222, check the connection. startingelectronics.org/tutorials/arduino/modules/active-buzzer/arduino-active-buzzer-circuit.png
Fantastic project, well done. The result is very satisfying to see and your video is quite clear and the steps to follow.
I have one question regarding the motors, what made you choose the nidec 24h for this project ?
BLDC motors with controller inside. This make project very simple.
hi great project just ordering parts and slicing parts for printing, have any shematics for the wiring of the breadboard shown in video, many thanks
I don't have any schematic. It's really simple. Where is connected ESP32 pins you can see in the source. But I get a lot of questions about schematic, maybe I need draw it...
@@ReMRC thanks for the shematic, great work last question what value is "Q1" on the shematic its connected to Buz1 and R4. thanks
@@wayneo559PN2222 or something similar. N-P-N transistor.
Is it correct that you have the encoder +ve connection to 3.3v ? The datasheet for the motors says 5v.
(I know you aren't actually using the encoders but I wanted to wire it up properly just in case you decide to use them)
A very fair question. I tried it - the encoders work perfectly from 3.3V. I use them in other projects. e.g. here th-cam.com/video/AV_gpJPhp-s/w-d-xo.html
What do you mean in the video is that the 12.6V voltage is divided into 3V proportionally through the resistor, because of the limitation of the port measurement voltage, and then converted to the actual voltage through the code?
No, I am measuring the battery voltage for over discharge protect. This requires a simple divider of two resistors.
How much V does the LiPo have? 11,1V? 14,8V?
And what voltage do you measure that you have to input into the source. The voltage of the battery in its full state?
And the 5V regulator: Is 800mAh output enough?
3S LiPo. I measure battery voltage. When voltage drops to 9.5V buzzer beeps. 5V 800mAh enough. Need much less.
Hey buddy, I’ve decided to build this project but I’m not exactly sure where is the best place to find those motors at least in Europe. Know of any alternative product to replacement?
I don't know where to get it in Europe. But I see no problem buying on ebay or aliexpress. There are no alternatives for such motors.
My motors are stopping after 4 seconds and only turn back on when i remove the power and give it back. Any advice?
Motors test?
@@ReMRC I just gave them a frequenc with the the pwm function of the arduino (50% duty cycle) didnt work. I think its something with the hardware, because it worked fine in the beginning. Any Idea?
@@MisterEintausendCraft if it worked before - it broke.
Fantastic project I'm trying to realize it! One question, how many mm are the M4 screws in the reaction wheels?
I use 8mm. But you can also use longer ones (12-16 mm). Flat head bolts. Others will not fit.
Thank you for this video. It helps a lot.
Hi Remi , what transistor did you use to switch the buzzer on and off , One is shown in the schematic but no details as to what is suitable
You can use PN2222.
Is there any specifications on the transistors you used?
One of the possible options PN2222
What alternative of Nidec 24h can be used to run it perfectly?
In this design only Nidec 24H.
Hi I am collecting all the parts to start building! already printing the parts. However. I see in your video that you are using a transistor and two resistors for the buzzer but they are not in the electrical drawing that you made. also i see a small led that is not documented.
What are the specifications of the two resistors and transistors and how do they fit in the electrical diagram?
Is the transistor underneath the buzzer the mosfet? I ordered a PN2222 transistor.
In video I am talking about a buzzer transistor. Yes, I use mosfet (why - long explanation). You can use PN2222. It is in the schematic. A small led only shows the connected battery.
@@ReMRC Thank you for the swift response! and the two extra resistors? there are 5 in de video. three in the schematic.
@@7423Sin Follow the schematic. I did a little differently.
@@ReMRC check! Started the build. Thank you for the response 👍 will post on thingiverse once it's completed
Hello ive just finished my build. Innthe programming angles. The file i downloaded from github dosent match the file on your video, am i supposed to program the 4 angles using the c+ method im using the esp board. Thank you.
Yes, there is a second video mentioned in the description.
@ReMRC cheers mate. Used that method and all good. Just got to find out why the motors aren't spinning.
What size screws are the motor and circuit board mounts? Thanks.
Motor M3x6mm, circuit board M2x10mm.
Hi Rem-RC, Can you tell me the bushing size/type for the wheel? I have your motor with a 6mm smooth shaft. Part#? eBay ? Amazon? Would be very grateful. Thank You.
Take a look at my print files. You can find a reaction wheel with a 6mm hole.
Would you mind sharing the brand of the battery you used? I can find a lot of similar batteries, but they appear to be much bigger than the one you use and I am afraid they won't fit the slot.
I am also not able to find the Nidec motors anywhere. Is there a known alternative for them?
Bigger? No... 500mAh 3S1P LiPo. TURNIGY, Gens ACE, and many others. Nidec motors you can buy on ebay, aliexpess.
@@ReMRC yeah, I was avoiding buying the motors on Aliexpress because the shipping costs are higher than the price of the motors. Anyway, I could find everything there. Thanks.
@@ReMRC are there any key words we can search as alternatives to the nidec motors since ebay and ali express are not viable options in my region
hey! In the part where you connect the engine to the wheel, there is one more small piece. That piece is not included in the files you shared with us. Without that piece, I cannot connect the engine to the wheel. The engine is becoming thinner. Can you also share those drawings with me?
I don't understand what you are talking about. You probably have different motors...
@@ReMRC I'm asking about the little black piece in this picture. our engines are the same. dosya.co/8bm3d09umbo7/IMG_20230530_201420.jpg.html
on my video I put a photo link, you have to modify the stl of the wheels and the three engine supports
Yes, this is the same motors, just a different axle.
Please can you provide the link to where you purchased the motors?
I've been looking now - there are a lot of these motors on ebay.
Is it possible to cut the frame out of aluminum or would that throw off the balance?
Maybe yes. But I don't know how much heavier aluminum would be.
Hello, amazing proyect!!, I wanted to ask you where did you buy the LiPo battery? I'm having trouble finding one that powers 11.1V, does it work with 3.7V?
Of course not. Only 3 cell battery.
I didn't see mention what the voltage the motors are powered from. Are they getting power from the battery or the 5v regulator?
Of course, power from the battery.
Hi there! I've got this setup but after uploading the code, connecting the battery and connecting via bluetooth I am unable to open the Serial Monitor because it says the Port is busy. Any idea why this might be happening?
Port busy - this is a PC problem. Maybe you are trying to use the wrong port.
I tested the motors with the "motors_test" programming and everything went ok. Each motor rotating clockwise and counterclockwise.
With the other programming I calibrated the points normally. When I place it on one of the edges, the motor referring to the edge starts to rotate at maximum speed. And at the vertex the three motors run at maximum turning on the beep. Do you know what it could be? Perhaps the value of k1?
Did you watch the second video?
@@ReMRC Yes, I watched it, I'm finding it strange that the 3 motors rotate only in one direction with maximum speed.
@@vitrola_exe No, you are doing something wrong. You can send me a video, maybe I can help.
Hello ReM-RC! When I go to verify or upload I get fatal error: ESP32.h: No such file or directory #include "ESP32.h" compilation terminated. What can I do?
You probably didn't get all the files from Github. They must all be in the same directory.
Thank you @@ReMRC I will start all over and follow your instructions. Thank you again!
I am using a different ESP32 board so the pins are slightly different. I got motors to spin in both directions just fine. I can't understand the connection of 7 and 8 pins on a motor. Can you please help with what are they used for?
7 is GND and 8 is power supply. Are you talking about the other side where the encoder is? If it's about the encoder, you don't need to connect it.
@@ReMRC Oh thanks, yes I meant encoder side
How much will IT cost Umleitung lincluding 3d prints and the Hardware?
I really didn't count the cost…
How did y’all attach the reaction wheel to the shaft of the motor? My motor did not have a gear or anything and it is a smooth shaft…
6mm shaft?
According to picture, yes. 6mm diameter and 15mm in length.
@@markbelicove4853 Ok. I will add another wheel with a 6mm hole to Thingiverse.
So what is there now? I had to go get a caliper to measure stuff in MM. in the USA, we are behind on the metric system!
@@markbelicove4853 You already can download 3d file with 6mm hole. Where do you buy motors without gear? I can't see anywhere with 6mm shaft and without gear...
Hi. tell me in what order to connect: DIR*, PWM*, PWM*_CH and "start/stop", "forward and revers", "signal speed regulation"? Вo we need a signal from encoder "A" or "B"?
I added a schematic to github.
Hello, can you please recommend me an engine that is more accessible ?
What is "more accessible"? Ali, Ebay.
Dear ReM-RC, looking at your code I got the following question, what are these specific offsets for?
float offsetx= -0.99, offsetY = -3.43
float offsetx2= -31.24, offsetY2 = -19.05
float offsetx3= 30.4, offsetY3 = -19.21
float offsetx4= 0.17, offsetY4 = 35.9
Didn't you watch the video? There is about it.
Hey great Project ! building one myself currently, which length does the M4 Bolts for the reaction wheel have ? Ist 20mm good ?
I use 8mm. Look carefully at the blue cube. th-cam.com/video/AJQZFHJzwt4/w-d-xo.html
Flat head bolts. Others will not fit.
Great project indeed!!
The motors are 12v? How do you power them? Directly with the 12v battery or with a step-up regulator? Thanks!!
You see the control board in this video. This is everything. There is no step-up regulator.
The battery is 3p1s so the nominal output voltage is 11.1v that is enough for the motors. The motors are driven by the internal esc
Excellent work.
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.
Thanks so much for sharing this. Incredible :D
the motors are so hard to find in market, is there any similar motors that I can use?
You can buy these motors on Aliexpress or Ebay.
I've searched, but couldn't find any available option could you share a link pls@@ReMRC
Great project! Can you please let me the size of prototyping PCB? 50x70mm?
Yes, 50x70mm.
Great project! I am think about modify the cube to a smaller dimension, hence the cube weight and position of the sensor will change. Which part of the code will I need to modify? Thank you very much!
This is a bad idea. Everything should be changed.
nice, i want to make one for a long time, when is the version that jumps alone?
Hey, what is the feature of this dc motor? is it with a driver? is it with an encoder? can you suggest me another alternative? if I buy another dc motor other than this, what kind of feature should it have?
Nidec 24H - BLDC motor with controller inside. It simplifies everything a lot.
Did you find alternative?
ReM-RC Love this video. I 3D printed parts, wired everything up with an Arduino Nano but I seem to be tripped up on the calibration set points, no motor spin and all my angles are wrong when sending the C+/- commands? Pretty sure it is something simple, any pointers? Thanks!
Email me what angles prints when you send c-. You can find the email on TH-cam "About".
@@ReMRC Thank you for such a quick response, email sent.
Hey, I really like your project, want to build myself, which screws and nuts have you used ?
M4 for reaction wheels.
I saw you added a new schematic to github for using an arduino. Does this have any advantages over using an esp32? I also noticed you didn't include any of the red wires in this new schematic. Are those not needed? What were those actually for in the original schematic. Thanks!
Both work the same. About red wires are written on GitHub.
Hey great project!! I was wondering if u could recommend some alternative motors incase these aren't available
it available on aliexpress and ebay.
@@ReMRC I'm from India so it's a tad bit difficult for me to acquire them here
I printed all the parts, how do I arrange the nuts, is there any balancing tactic?
thanks for the project!
Bolts and nuts you can arrange as you prefer. Only symmetric important...
Can someone provide information for the 8-pin cable to connect to the Nidec motor? Mine came w/out a connector/cable.
Without a connector/cable? Strange. These motors are always with cables...
@@ReMRC I bought them used from Aliepress.
@@GregExplosisClark Connectors/cables can be purchased separately. But this really strange. All my motors were with cables...
Guess what was in the bottom of the box from Aliexpress ? -- three brand new cables! I'm so embarassed.
@@GregExplosisClark :)
hi i have done everything that you have said spent 60 hrs trying to get the angles set nothing what you show is not is nothing what my arduino isp looks like the only thing that does work is the motor sketch is there a scetch that shows the giro is working cheers
Send me an email with a video of how you do the calibration and what the serial output shows at that time. Maybe I can help.
thanks for your reply it was a surprise i only did it out of frustration as i had no where else to gofirst my problem is when i get to the part about the blutooth got to serial monitor nothing happens all i get is line after line first you need to calibrate the balance points nothing else no line after line of balance points nothing happens no buzzer nothing the only time i can get it to do anything is when i use the motor sketch cheers
how and where do i calibrate the balancing points that the serial monitor is asking for i am in my late 70s not up to date on somethings cant do code@@ReMRC
@@kevinbott3714 Read here github.com/remrc/Self-Balancing-Cube and watch the video link at the end.
Thanks for sharing, this is a great project!I don't know if you have time to share the model of the circuit connection or electrical components
I would like to share, but the circuit connection is only in my brain. :) I'm a little surprised that this is needed, because where is connected ESP32 pins you can see in the source.
I add schematic to github.
Hi, thank you for sharing such an impressive project!
Can you please provide us with links to trusted (legitimate) online retailers where we can buy the necessary component (e.g. motors, battery, sensor, etc..)?
Thank you in advance!
Trusted? No, I don't have any.
hi what is the scale of 3d printed parts?
Scale? I'm sorry, I don't understand. Print as is.
How small can you make this and how flat?
how flat? Cube?
24H brushless requires 24v how it work with 12v battery and 3 of them? not a electrical engg
No, 12-24V. Actually works from 9V.