Author Topic: Balanduino hardware taking damage from falling?  (Read 852 times)

Burre

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Balanduino hardware taking damage from falling?
« on: February 26, 2016, 03:50:15 PM »
Hi,

I'm currently working on a Bachelor's thesis about playing soccer with Balanduinos. Recently a problem occured when my robots are acting differently on the same code sequence.

My main question is, can the Balanduino hardware take any damage from losing its balance and falling on the floor?
Here is a link for two videos showing the difference from two robots and how inbalanced one of them is, it twitch back and forth a lot when trying to find back to its balance position. The sequence is to drive some forward, turn, forward again and then stop. Notice both the difference in balancing and how one of the robots is driving a shorter distance.

https://drive.google.com/folderview?id=0B-jZH25OAbFHS2xJWGlDYWhrZWM&usp=sharing

Last week it could find and follow a ball smoothly with a Pixy connected but today with the very same code it sends too large signals and just twitch back and forth and loses its balance.

At almost every start of the broken robot it sends out the long beep, which means it resets the EEPROM, could anything been damaged in the memory?

Motors have been recalibrated.

While connecting with the Bluetooth-dongle to my phone and reading the graphs I get some strange values from the gyro. It starts at 180 where also the Kalman and accelerometers are ranged around when standing still. The gyro value is slowly growing from 180 to 360 during 20 seconds before it jumps down to 180 again and restarts that cycle. The robot gets much more instable as the gyro value gets higher and then gets somewhat stable again when the value jumps down to 180 again.

I don't know how to proceed further in my search of what could be wrong, what should I try?

/Edvin


Lauszus

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Re: Balanduino hardware taking damage from falling?
« Reply #1 on: April 15, 2016, 12:24:11 AM »
No the Balanduino hardware will not take damage from simply falling on the floor, as it is protected by the wooden plates which are held together using the threaded rods.

No the long beep can also mean that the Balanduino is not at rest when it calibrates the gyroscope at startup. Please see the following lines in the code: https://github.com/TKJElectronics/Balanduino/blob/master/Firmware/Balanduino/Tools.ino#L446-L462. This is called from the main function here: https://github.com/TKJElectronics/Balanduino/blob/master/Firmware/Balanduino/Balanduino.ino#L268.

The gyro drift you are seeing is likely caused by the calibration routing getting wrong values because the Balanduino is not at rest. I would recommend putting the Balanduino on its side when turning it on.

PS: Sorry for the long delay in my response. I must have missed you post in my inbox.

Regards
Kristian Sloth Lauszus