Both motors have encoders, and from them you can calculate changes in both the vertical and horizontal angle. In addition a magnet triggers the hall sensor mounted at th-cam.com/video/cgbXGslB3Ac/w-d-xo.html This is used for getting the initial angle of the wheel, as this can change when the robot is not powered. If you look at the wheels here th-cam.com/video/3W0p16vsgqA/w-d-xo.html, you can see that the wheels rotate to find the zero-position for the angle.
Yes, a combination of the output from the 2 stationary motors makes the wheel rotate and spin. Look at this video, where you can see how the gears operate: th-cam.com/video/TP8wQRZUuk4/w-d-xo.html
the link on printables to describe the hub and tires is not valid anymore. what size are these tires or have a link on aliexpress for current tire? thank you.
@@wildwillyrobots YOU ARE AWESOME. Thank you so much. I have everything printed so now when tires get here I can start putting together and then work on software. Thanks again.
Be aware that the N20 motors easily heat up and stop working. I would suggest, that you modify the covers that fixes the motors, and add holes in them, so that the motors are not fully enclosed and can get rid of some of the heat. I the v2 of this robot, I used different motors, because I burned a lot of the N20's
Yes, the wires are soldered to the three pins of the sensor (A3144). The connector is a 3 pin dupont style, because I use 2.54mm headers on my driver board. Be aware that the polarity of the magnet matters. Before glueing it in, you should check that it activates the sensor. If not, it should be turned 180 deg.
@@wildwillyrobots Thank you much for clueing me in on both. Soon I will have to figure out how to make the driver board and then the programming for the rasp and pico.
I design in Onshape. It has a FeatureScript, that does the design for you. You just put in the number of teeth for both gears, and it will generate a gear set automatically. It is called "Bevel Gear Pair" and is here cad.onshape.com/documents/83c8fc667f6bea1744752759/w/d4dd842d4f160c0640d45404/e/cae5f7edb8683ff8f41c5bf3
The encoders of the motors are used to calculate the angle of the drive wheel and the direction of the module. Because the direction of the module is random, when I power up the robot, I turn the direction until the hall sensor is trigged by the magnet. So the hall sensor is only used for zeroing the direction. After this only the encoders of the motors are used. Maybe I should create a video explaining this in detail.
If you look very closely at the wheel when I start the robot in this video, th-cam.com/video/3W0p16vsgqA/w-d-xo.html , you can see all the wheels changing direction, when they search for the zero position.
This is insanely beautiful
Such Amazing work!!! Love it!!!
It's a great design, but I'm curious how exactly do you get the Angle of rotation of the wheel on the horizontal plane
Both motors have encoders, and from them you can calculate changes in both the vertical and horizontal angle. In addition a magnet triggers the hall sensor mounted at th-cam.com/video/cgbXGslB3Ac/w-d-xo.html This is used for getting the initial angle of the wheel, as this can change when the robot is not powered. If you look at the wheels here th-cam.com/video/3W0p16vsgqA/w-d-xo.html, you can see that the wheels rotate to find the zero-position for the angle.
Wait so when both rings sping together the wheel rolls, and when one spins faster than the other it turns?
Yes, a combination of the output from the 2 stationary motors makes the wheel rotate and spin. Look at this video, where you can see how the gears operate: th-cam.com/video/TP8wQRZUuk4/w-d-xo.html
the link on printables to describe the hub and tires is not valid anymore. what size are these tires or have a link on aliexpress for current tire? thank you.
I updated the link to one with same tire but a different looking hub. The size is 75x28 mm.
@@wildwillyrobots YOU ARE AWESOME. Thank you so much. I have everything printed so now when tires get here I can start putting together and then work on software. Thanks again.
Be aware that the N20 motors easily heat up and stop working. I would suggest, that you modify the covers that fixes the motors, and add holes in them, so that the motors are not fully enclosed and can get rid of some of the heat. I the v2 of this robot, I used different motors, because I burned a lot of the N20's
I missed the hall sensor and cable. is that a 3 pin with a ?? type cconnector on it that is soldered to a hall sensor?
Yes, the wires are soldered to the three pins of the sensor (A3144). The connector is a 3 pin dupont style, because I use 2.54mm headers on my driver board. Be aware that the polarity of the magnet matters. Before glueing it in, you should check that it activates the sensor. If not, it should be turned 180 deg.
@@wildwillyrobots Thank you much for clueing me in on both. Soon I will have to figure out how to make the driver board and then the programming for the rasp and pico.
When you finish the mechanical build, I would love to see images at www.printables.com/model/599137-swerve-drive-robot/comments
hiii! i'm actually trying to do this but just can't figure how to make the bevel gears. can you help me please???
I design in Onshape. It has a FeatureScript, that does the design for you. You just put in the number of teeth for both gears, and it will generate a gear set automatically. It is called "Bevel Gear Pair" and is here cad.onshape.com/documents/83c8fc667f6bea1744752759/w/d4dd842d4f160c0640d45404/e/cae5f7edb8683ff8f41c5bf3
I have some question how you know the direction of the wheel when you only use 1 hall sensor
The encoders of the motors are used to calculate the angle of the drive wheel and the direction of the module. Because the direction of the module is random, when I power up the robot, I turn the direction until the hall sensor is trigged by the magnet. So the hall sensor is only used for zeroing the direction. After this only the encoders of the motors are used. Maybe I should create a video explaining this in detail.
If you look very closely at the wheel when I start the robot in this video, th-cam.com/video/3W0p16vsgqA/w-d-xo.html , you can see all the wheels changing direction, when they search for the zero position.
Very Interesting 👍👍👍
Amazing - Thank You
I LOVE you