Super nice build bressed with good desciptive information: Pretty much appreciated. I do really like how clean and simple your builds are, and how short (yet effective) is your code :-)
I wish there was an even smaller dual channel board. One near the size of a TTGO T-Display or Nano or most ESP32 boards or a typical esc. The Unos size and the Uno itself is just a bit big
The size is always an interesting topic. Nano size drivers are not that easy to find for any type of motor control application. Except maybe for steppers. But this is going to change soon, there are really a lot of (especially bldc) drivers that are being developed at this moment. 😃 But the aim of this project is mostly to enable using BLDC motors and provide a nice prototyping platform where you can easily exchange any of the components and still have a working robot. In terms of the smaller drivers, you can check out the gimbal controllers such as BGC3.0, BGC3.1 or Storm31. They are double(triple) drivers and will work with the library as well.
I would have preferred Cesar's gift as the platform. It does look very interesting. I have seen a lot of references to the odrive. Why it's that board so expensive?
Hey Arturo! you're right Cesar's gift would be better ;) ODrive is a very versatile and very powerful board with a great software solution and a great community. It is actually not that expensive for what you get. But the price is the biggest issue when it comes to using odrives with hobby projects. I agree. These shields would replace odrives for gimbal motors. And they can even have a better performance than ODrive in some cases, but the goal was really to be simpler to use and cheaper. :)
Hello, awesome project. I am currently collecting the parts for thus build. I connot find the folder with the 3d printed parts anywhere. Could you point me in the correct place? Thanks
I've used a double PID loop. One for stabilisation being the inner one and the outer one to control the velocity of the robot. When you set the velocity to 0 the outer velocity PID loop will adjust the angle so that the robots stays still. It is a bit tricky to tune but it works well :D You can see the code in the git repo of the project
Thanks, it's a cascade PID controller that does it. I am not actually controlling the position of the balancer but the velocity. And coming back to the original position is more of a consequence of it that the goal. :D
Hey Falk, Yep this concept will work with those encoders and those motors as well. But I would be careful when using those motors with low-power drivers like simplefocshields because of current limit of 5Amps. I would advise you to use the gimbal motors with these kinds of drivers. If you are constrained by the choice of motors, and need to use the QM4208 I would suggest you to use a higher power driver. At this moment there are many of them that are low cost. But that is an area which advances very fast and this will change soon I hope. We also have a board that would do it - SimpleFOC PowerShield. At this point we do not sell it and it is in the final stages of testing. It is completely open source and here is a link if you are interested in making one: github.com/simplefoc/Arduino-SimpleFOC-PowerShield
![[LIVE] : ONE ลุมพินี 80 | คู่เอก "รักษ์ vs ยอดนำชัย"](http://i.ytimg.com/vi/ckLMRorsMeY/mqdefault.jpg)
Super nice build bressed with good desciptive information: Pretty much appreciated. I do really like how clean and simple your builds are, and how short (yet effective) is your code :-)
Thank you very much, I am happy you like it!
balancing stuff is always a flex in the robotic stuff
This is an amazing build and documentation. Fantastic job
Thanks a lot, I appreciate it!
This is definitely something that I need to build!
😃
One step closer to "Robot, bring me a beer " era.
I wish there was an even smaller dual channel board. One near the size of a TTGO T-Display or Nano or most ESP32 boards or a typical esc.
The Unos size and the Uno itself is just a bit big
The size is always an interesting topic. Nano size drivers are not that easy to find for any type of motor control application. Except maybe for steppers. But this is going to change soon, there are really a lot of (especially bldc) drivers that are being developed at this moment. 😃
But the aim of this project is mostly to enable using BLDC motors and provide a nice prototyping platform where you can easily exchange any of the components and still have a working robot.
In terms of the smaller drivers, you can check out the gimbal controllers such as BGC3.0, BGC3.1 or Storm31.
They are double(triple) drivers and will work with the library as well.
good experiment i learn from you thanks
Brilliant !
great!! thank you for video i learned a lot of things!
C'est du très beau travail
I would have preferred Cesar's gift as the platform. It does look very interesting. I have seen a lot of references to the odrive. Why it's that board so expensive?
Hey Arturo!
you're right Cesar's gift would be better ;)
ODrive is a very versatile and very powerful board with a great software solution and a great community. It is actually not that expensive for what you get.
But the price is the biggest issue when it comes to using odrives with hobby projects. I agree. These shields would replace odrives for gimbal motors. And they can even have a better performance than ODrive in some cases, but the goal was really to be simpler to use and cheaper. :)
great project!
Wow, that is something interesting to be done with FOC and BLDC motors.
Did you manage to try this library on a PMSM motor?
Perfect!
Absolutely awesome!
Hello, awesome project. I am currently collecting the parts for thus build. I connot find the folder with the 3d printed parts anywhere. Could you point me in the correct place? Thanks
How can the robot adjust the target angle where it will be balanced. I’m having trouble finding a way to not have to hardcode the right angle
I've used a double PID loop. One for stabilisation being the inner one and the outer one to control the velocity of the robot. When you set the velocity to 0 the outer velocity PID loop will adjust the angle so that the robots stays still. It is a bit tricky to tune but it works well :D
You can see the code in the git repo of the project
Do you have biped walking bot theories or tips for me? Using the tech above. I could design sort of actuator for brushless motors.
great !!!
This is a nice project. How did you get it to return to the previous location if you push it?
Thanks, it's a cascade PID controller that does it.
I am not actually controlling the position of the balancer but the velocity. And coming back to the original position is more of a consequence of it that the goal. :D
Hello, I would like to ask you for a schematic for this self-balancing robot. I want to make this robot, but I need your circuit. Thank you
Thank you for your very interesting videos.
Would this concept also work with two each:
QX-MOTOR QM4208 380KV and
AS5600 Magnetic Encoder?
Hey Falk, Yep this concept will work with those encoders and those motors as well.
But I would be careful when using those motors with low-power drivers like simplefocshields because of current limit of 5Amps. I would advise you to use the gimbal motors with these kinds of drivers.
If you are constrained by the choice of motors, and need to use the QM4208 I would suggest you to use a higher power driver. At this moment there are many of them that are low cost. But that is an area which advances very fast and this will change soon I hope. We also have a board that would do it - SimpleFOC PowerShield. At this point we do not sell it and it is in the final stages of testing. It is completely open source and here is a link if you are interested in making one: github.com/simplefoc/Arduino-SimpleFOC-PowerShield
@@theskura Hi Antun, Thanks a lot for info, looking forward to your interesting further development.
hi can ı use myinternal encoder of hoverboard motors? so can ı use hoverboard motors wih this driver
Merhaba, hoverboard motorunun içindeki Hall sensör ler kullanılarak simplefoc ile surulebiliyor. Şahsen ben odrive kullanmanı tavsiye ederim.
@@erhandjevik6572 merhaba onunla yaptım zaten arduino shielda oturması hoşuma gitti
@@SAMETELMACI videosu varmı paylaşsan