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1
Applications / Re: Balanduino app communication protocol
« Last post by Lauszus on December 14, 2017, 10:27:04 AM »
Alan,

Can you connect up a oscilloscope to the HC-05 and make sure something is outputted? Btw have you configured to use the right baud rate?

Regards
Kristian Sloth Lauszus
2
Applications / Re: Balanduino app communication protocol
« Last post by murcha on December 08, 2017, 05:21:38 AM »
Hi there,

Thanks for that.
I tried your suggestion, it works fine from a serial terminal on my PC.
However sending the same string from the arduino through a HC-05 BT card (using the arduino HW UART, pin 0 and 1) doesn't seem to work - however sometimes when the BT connection is first established the string sent from the arduino/HC05 will be detected, but only once and only somethimes.
I have tried a HC-05 from two different suppliers - no difference.
All very strange.
Have you come across anything similar in the past ?

Thanks again
Alan Murch

3
Applications / Re: Balanduino app communication protocol
« Last post by Lauszus on December 07, 2017, 01:56:49 PM »
Hi murcha,

Thanks for the positive feedback.

I just tested it on Mac by simply sending "P,1,2,3,4" and that worked fine. Can you test it in a serial terminal on a computer?

Btw the newline character is written as "\n", but it should not matter if you send it or not.

Regards
Kristian Sloth Lauszus
4
Applications / Balanduino app communication protocol
« Last post by murcha on December 06, 2017, 07:43:54 PM »
Hello, I run a robotics after school programme, and an very impressed with your balanduino robot.
In addition we have been using the joystick tab in the balanduino app to control robots we have created ourselves - its an excellent app and works really well.
However we are also wishing to use the PID and GRAPH tabs of your app as well.
We are able to read the messages from the app fine (i.e. joystick and PID adjust vales), but have not been successful in sending data to the PID (to fill the Current Values section) and the GRAPH tabs.
We have studied the balanduino code in detail, and our understanding of the message flows are shown below:
 
Message initiator       Message sent from App                        Message sent from Balanduino                         Comments

Joystick tag                          CS;                                    ------------->                                                                        joystick in center position - works fine
                                               CJ,xxx,yyy;                       ------------->                                                                        joystick in other positions - works fine

PID tag                                 SP,xxx;                             ------------->                                                                         P value - works fine
                                              SI,xxx;                              ------------->                                                                         I value - works fine
                                              SD,xxx;                            ------------->                                                                         D value - works finr
                                              ST,xxx;                             ------------->                                                                         T value - works fine

                                              GP;                                   ------------->                                                                        request for current PID values
 data snt from robot                                                   <-------------             P,xxx,xxx,xxx,xxx/n                        robot response to GP; request - but PID values not populated in app

Graph tag
data sent from robot                                                 <-------------             V,xxx,xxx,xxx/n                                sent every 50ms - but graph not populated


Just wondering if you could give me some pointers as to why the PID Current Values section of the PID tag, and the Graph tag does not respond to the data messages we are sending. Note the BT card in he robot is set up for 9600 baud.

Again many thanks for your excellent work.
5
Questions / Re: Motor
« Last post by Lauszus on October 20, 2017, 09:42:35 AM »
You can buy similar motors to the ones used for the Balanduino at Pololu: https://www.pololu.com/product/2823.

Regards
Kristian Sloth Lauszus
6
Questions / Motor
« Last post by Ann on October 17, 2017, 10:50:50 PM »
Please could u send me any link where I can buy the motor  u r using? Thanks.
7
Questions / Re: encoders and schematics for balanduino board
« Last post by Lauszus on May 29, 2017, 03:10:10 PM »
The schematic in pdf format is located in the Github repository at the following link: https://github.com/TKJElectronics/Balanduino/tree/master/PCB.

Regards
Kristian Sloth Lauszus
8
Questions / encoders and schematics for balanduino board
« Last post by imwoody36 on March 25, 2017, 12:35:14 AM »
I am finding it difficult to locate schematics, I have only purchased the balanduino board, and not the entire kit
my question is what kind of encoder signal and where does it connect to the board?
I found the PDF file with the board, and I found eagle software but dont understand how to view schematics in eagle
 

9
Software development / Re: Programing Balanduino code
« Last post by Lauszus on March 06, 2017, 11:31:30 PM »
Hi Sten,

1. targetOffset is used in order to control the Balanduino forward and backward. This will set an offset angle, which is then used as the input to the PID controller. Please see: https://github.com/TKJElectronics/Balanduino/blob/0a7c3d0dcb45b54746e9ff507bba430c2bd7e807/Firmware/Balanduino/Motor.ino#L44-L46.

2. Yes you control the Balanduino forward and backward by setting the targetOffset. Please see the following file: https://github.com/TKJElectronics/Balanduino/blob/0a7c3d0dcb45b54746e9ff507bba430c2bd7e807/Firmware/Balanduino/Bluetooth.ino.

3. The scale function simply maps the input value "a" with the range between "b" and "c" linearly to an output value between "d" and cfg.controlAngleLimit. For instance this line: https://github.com/TKJElectronics/Balanduino/blob/0a7c3d0dcb45b54746e9ff507bba430c2bd7e807/Firmware/Balanduino/Bluetooth.ino#L351 converts the input value with the range 0-1 to 0-cfg.controlAngleLimit.

Note that cfg.controlAngleLimit can be set via any of the provided apps or just the serial monitor. By default it is set to 7 degrees: https://github.com/TKJElectronics/Balanduino/blob/0a7c3d0dcb45b54746e9ff507bba430c2bd7e807/Firmware/Balanduino/EEPROM.ino#L56.

Regards
Kristian Sloth Lauszus
10
Software development / Re: Programing Balanduino code
« Last post by Sten on March 06, 2017, 03:47:21 PM »
Hi,

Ok, so to be more specific I wonder how the targetOffset works and and what the different values means when you set:  targetOffset = scale(data a, data b, data c, data d, cfg.controlAngleLimit); 
1. What is  targetOffset?
2. How do you get different speeds? I assume by changing data a above?
3. What value should data b, data c, data d and cfg.controlAngleLimit have and why?

/Sten
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