@@freedom2000 Hello, I have it working with one motor but is it possible to have 3 or ideally 5 motors+encoders connected to the esp32? or does that require a board? I would really appreciate it if you responded! Thanks
@@jhonlalos4314 hi, I do believe that it would require an ESP32 per motor. The reason is the hall encoder which has a fixed I2C address... So only one sensor on the bus... But you should verify this has I haven't tested !!
@@freedom2000 would something like TCA9548A Multiplexer I2C fix the problem? I just found this gem th-cam.com/video/302vflf-56A/w-d-xo.htmlsi=JIgVXdUTrCkfn9-D because I dont know if it is possible to control all the motors properly using FluidNC or GRBL when having several esp32s
@@jhonlalos4314 yes it should fix the problem. But a lot of code modifications... Have also a look to this page : hackaday.com/2024/02/28/avoid-i2c-address-conflicts-on-esp32-by-pin-muxing/. It's a software hack to multiplex several sensors on the same i2c
I feel like these wiper motors aren't that strong though for their size. I used to think they had really high torque but looked up specs on one and the torque was so low compared to a lot of dc motors of that size. What's cool though is you can put that encoder on any dc motor with a gearbox and create some insane servos. I remember not long ago any sort of high torque servo cost hundreds to thousands of dollars depending on size, and tbh they probably still do. Now with a few cheap parts and 3d printing we can make any size servo we want...not sure if many people realize the possibilities here. You can literally make a big super strong biped robot for ridiculously cheap lol especially if you are good at metal working or have a really big 3d printer.
@@freedom2000 I was wrong though about the torque they do have pretty good torque especially the Bosch ones. Did a bunch of research on it after I left that comment lol
Very nice but I think you’ll need to mechanically recalibrate every time you loose track of the position as the armature will turn indefinitely in relation to the geared output position.
I don't exactly understand what you mean ? The armature is mechanically connected to the shaft via the encoder count. So no way to loose the track (please explain more)
@@freedom2000 I’m currently dealing with a similar design problem. If the position count is lost then it’s impossible to get the output to match the initial calibration. The encoder knows the exact position of the armature through 360 degrees but not how many times it needs to turn in order to get the output back if it looses count because of powering down the controller and restarting.
ok I understand your concern now ! Controller is based on an ESP32, it's easy to keep track of the current absolute position. So even after deepsleeping, when the ESP32 wakes up, the position is known. And as the wiper has a worm gear its impossible to move the shaft by the mechanical part. The only remaining problem is if you totally loose power (on ESP32 side) and during motion. Then the fimware can't recover and you'll have to recalibrate. What I do on my projects is to add a battery to secure power for the ESP32. (my weather station runs this way and has already restarted from deepsleep more thant 50000 times). So seems to be reliable ! Have a look at this project (source is open) : hackaday.io/project/191652-long-range-weather-station-65
There are cheap microcontrollers with solid state memory or SD-cards where you can store the count on the main loop or even using a timer. On wakeup, you can can check if the value is greater than 0 and set the value of the variable. And you can store -1 at the SD card every time you clear the reference position. Well I think so at first glance...
Congratulations on this wonderful project! I have a similar project in tests, but I use one or two Hall sensors. The results are identical. I positioned the sensors inside the case. Your solution is better. I want to test it. Question: how important is the centering, alignment, of the magnet between the axis and the sensor?
Vey interesting project.. I see you only made several revolutions and one finish position. I have a need for an application that cuts gears. This would need multiple positions in one revolution. Potentially could this be used, would it be accurate enough with just the one position from the magnet per rev? John
Thanks for that. Is that per shaft rev of the worm or for the motor shaft itself? If it is of the motor shaft it would be 2048 * 36 = 73728 per rev of the worm shaft? (I am not sure of the gear to worm ratio as they are not usually quoted. I am assuming it would be 36) John @@freedom2000
Per shaft rev. Please read the description of this video and follow the link to the hackaday's project where everything is detailled. And if more questions don't hesitate
I've been looking for a simple, accurate way to do this for days. I figured there had to be a way to use a hall effect sensor but I was thinking of fitting it after the gearing but your method is way better. Thanks! What isn't very clear from the Hackaday page is how you mounted the magnet and how big the magnet is. Would you add this detail please? Thanks again for the brilliant method of using cheap, powerful motors. I've got access to a large number of 24v garage door motors (look much the same as wiper motors). I want to build a heavy duty CNC device on the cheap!.
Maybe I'm late to the party, but even so, you opened a new path to me and gift me a powerful tool to develop helpful solutions. Merci beaucoup et a bientôt, j'espere. Liked, subscribed and belled!
![How to make a REAL servo out of any motor. Multi-loop control. A robot dog? [Diary of a Madman №5]](http://i.ytimg.com/vi/yFH8key-t_M/mqdefault.jpg)
![How to make a REAL servo out of any motor. Multi-loop control. A robot dog? [Diary of a Madman №5]](/img/tr.png)
Again, a clever and well designed project ! Congrats.
That's a very clever place to put the Hall effect sensor. 👍
Thanks !
And as the motor shaft rotates 52 times for one turn of the wiper shaft, you even increase the positioning accuracy 👍
@@freedom2000 Hello, I have it working with one motor but is it possible to have 3 or ideally 5 motors+encoders connected to the esp32? or does that require a board? I would really appreciate it if you responded!
Thanks
@@jhonlalos4314 hi, I do believe that it would require an ESP32 per motor. The reason is the hall encoder which has a fixed I2C address... So only one sensor on the bus...
But you should verify this has I haven't tested !!
@@freedom2000 would something like TCA9548A Multiplexer I2C fix the problem?
I just found this gem
th-cam.com/video/302vflf-56A/w-d-xo.htmlsi=JIgVXdUTrCkfn9-D
because I dont know if it is possible to control all the motors properly using FluidNC or GRBL when having several esp32s
@@jhonlalos4314 yes it should fix the problem. But a lot of code modifications...
Have also a look to this page : hackaday.com/2024/02/28/avoid-i2c-address-conflicts-on-esp32-by-pin-muxing/.
It's a software hack to multiplex several sensors on the same i2c
Wow a very neat and well setup Big Servo project. ❤Thanks for sharing
Great video, thank you for sharing
I feel like these wiper motors aren't that strong though for their size. I used to think they had really high torque but looked up specs on one and the torque was so low compared to a lot of dc motors of that size. What's cool though is you can put that encoder on any dc motor with a gearbox and create some insane servos. I remember not long ago any sort of high torque servo cost hundreds to thousands of dollars depending on size, and tbh they probably still do. Now with a few cheap parts and 3d printing we can make any size servo we want...not sure if many people realize the possibilities here. You can literally make a big super strong biped robot for ridiculously cheap lol especially if you are good at metal working or have a really big 3d printer.
You got it !
@@freedom2000 I was wrong though about the torque they do have pretty good torque especially the Bosch ones. Did a bunch of research on it after I left that comment lol
@@waynefilkins8394 yes you were wrong for the torque. But totally right for the rest of the comments !
Very nice but I think you’ll need to mechanically recalibrate every time you loose track of the position as the armature will turn indefinitely in relation to the geared output position.
I don't exactly understand what you mean ?
The armature is mechanically connected to the shaft via the encoder count. So no way to loose the track (please explain more)
@@freedom2000 I’m currently dealing with a similar design problem. If the position count is lost then it’s impossible to get the output to match the initial calibration. The encoder knows the exact position of the armature through 360 degrees but not how many times it needs to turn in order to get the output back if it looses count because of powering down the controller and restarting.
ok I understand your concern now !
Controller is based on an ESP32, it's easy to keep track of the current absolute position. So even after deepsleeping, when the ESP32 wakes up, the position is known.
And as the wiper has a worm gear its impossible to move the shaft by the mechanical part.
The only remaining problem is if you totally loose power (on ESP32 side) and during motion. Then the fimware can't recover and you'll have to recalibrate.
What I do on my projects is to add a battery to secure power for the ESP32. (my weather station runs this way and has already restarted from deepsleep more thant 50000 times). So seems to be reliable !
Have a look at this project (source is open) : hackaday.io/project/191652-long-range-weather-station-65
There are cheap microcontrollers with solid state memory or SD-cards where you can store the count on the main loop or even using a timer.
On wakeup, you can can check if the value is greater than 0 and set the value of the variable.
And you can store -1 at the SD card every time you clear the reference position.
Well I think so at first glance...
Congratulations on this wonderful project! I have a similar project in tests, but I use one or two Hall sensors. The results are identical. I positioned the sensors inside the case. Your solution is better. I want to test it. Question: how important is the centering, alignment, of the magnet between the axis and the sensor?
To be honest, centering of the magnet is not important at all !
Perfect! Thank you!@@freedom2000
My result: th-cam.com/video/yOfKLix4ZPQ/w-d-xo.html@@freedom2000
th-cam.com/video/yOfKLix4ZPQ/w-d-xo.html
video non visible ???
Vey interesting project.. I see you only made several revolutions and one finish position. I have a need for an application that cuts gears. This would need multiple positions in one revolution. Potentially could this be used, would it be accurate enough with just the one position from the magnet per rev? John
The magnet gives 2048 steps per shaft revolution
Thanks for that. Is that per shaft rev of the worm or for the motor shaft itself? If it is of the motor shaft it would be 2048 * 36 = 73728 per rev of the worm shaft? (I am not sure of the gear to worm ratio as they are not usually quoted. I am assuming it would be 36) John
@@freedom2000
Per shaft rev.
Please read the description of this video and follow the link to the hackaday's project where everything is detailled. And if more questions don't hesitate
I've been looking for a simple, accurate way to do this for days. I figured there had to be a way to use a hall effect sensor but I was thinking of fitting it after the gearing but your method is way better. Thanks!
What isn't very clear from the Hackaday page is how you mounted the magnet and how big the magnet is. Would you add this detail please? Thanks again for the brilliant method of using cheap, powerful motors. I've got access to a large number of 24v garage door motors (look much the same as wiper motors). I want to build a heavy duty CNC device on the cheap!.
the magnet is simply glued (CA glue) on the shaft.
It's takes in place by itself BTW due the magnetic attraction on the shaft !
It's a 5 or 6mm diametrically magnetized magnet.
It sticks directly on the shaft. And you can glue it in place.
If I may ask, how did you fit the magnet inside or how did you attach it to the motor shaft?
Please look at the hackaday's project. Link is in the description.
Magnet is epoxy glued on the shaft
@@freedom2000 Now I see, thank you :)
Maybe I'm late to the party, but even so, you opened a new path to me and gift me a powerful tool to develop helpful solutions.
Merci beaucoup et a bientôt, j'espere.
Liked, subscribed and belled!
is that truck wiper motor?
No it's a car one
But can't say which one !