S14: Tricopter - Revision history

Proj user2: /* Algorithm Type II: Adjusting motor speeds in response to orientation and angular velocity */

2014-05-22T22:58:38Z

‎Algorithm Type II: Adjusting motor speeds in response to orientation and angular velocity

2014-05-22T22:57:43Z

‎Accelerometer

2014-05-22T22:57:33Z

‎Accelerometer

2014-05-22T22:57:29Z

‎Phase #4

2014-05-22T22:56:59Z

‎Phase #4

2014-05-22T22:56:42Z

‎Accelerometer

2014-05-22T22:56:18Z

‎Accelerometer

2014-05-22T22:56:09Z

‎Phase #2

2014-05-22T22:54:16Z

‎Motors/Servo

2014-05-22T22:53:18Z

‎Grading Criteria

@@ Line 290: / Line 290: @@
 ===== Algorithm Type II: Adjusting motor speeds in response to orientation and angular velocity =====
-[[File:Cmpe146_s13_tricopter_Orientation_vs_velocity.png|300px|thumb|left]]
+[[File:Cmpe146_s13_tricopter_Orientation_vs_velocity.png|300px|thumb|left|Fig 12. Orientation Coordinate System]]
 This family of algorithms divides balancing into two steps. The first step used current orientation to create target angular velocities, and the second step compared our actual angular velocities to our target angular velocities and adjust the motor speeds until to make them match. Three angular velocities were considered: roll, pitch, and yaw. Our actual velocities come from the gyroscope and are converted to radians per second before they are used.

@@ Line 216: / Line 216: @@
 The accelerometer readings give the instantaneous acceleration. When the accelerometer is not moving, the only acceleration comes from gravity. If the device is flat, the entire gravitational acceleration is in the vertical (Z) component of acceleration, as shown on the left:
-[[File:146_s14_tricopter_acceleration_flat.png|thumb|250px|left|Fig 10. Flat acceleration|]]
+[[File:146_s14_tricopter_acceleration_flat.png|thumb|250px|left|Fig 10. Flat acceleration]]
 The accelerometer reading in this instance would be <0g, 0g, 1g>, where g ~= 9.8m/s^2. However, if the accelerometer is not flat, the gravitational acceleration splits into both horizontal and vertical components, as shown on the right:

@@ Line 216: / Line 216: @@
 The accelerometer readings give the instantaneous acceleration. When the accelerometer is not moving, the only acceleration comes from gravity. If the device is flat, the entire gravitational acceleration is in the vertical (Z) component of acceleration, as shown on the left:
-[[File:146_s14_tricopter_acceleration_flat.png|thumb|250px|left|Fig.10 Flat acceleration|]]
+[[File:146_s14_tricopter_acceleration_flat.png|thumb|250px|left|Fig 10. Flat acceleration|]]
 The accelerometer reading in this instance would be <0g, 0g, 1g>, where g ~= 9.8m/s^2. However, if the accelerometer is not flat, the gravitational acceleration splits into both horizontal and vertical components, as shown on the right:
-[[File:146_s14_tricopter_acceleration_tilted.png|thumb|250px|right|Fig. 11 Tilted acceleration]]
+[[File:146_s14_tricopter_acceleration_tilted.png|thumb|250px|right|Fig 11. Tilted acceleration]]
 With simple trigonometry, the angle that the accelerometer is at can be calculated using these two components and an inverse tangent function:

@@ Line 357: / Line 357: @@
 [http://www.youtube.com/embed/vJenMvLrU74 here.]
 === Phase #4 ===
-[[File:CmpE146_s13_tricotper_testing_rig.jpg|300px|thumb|left|Fig 2.[http://youtu.be/2Lcv9S_CL9s Testing Rig]]]
+[[File:CmpE146_s13_tricotper_testing_rig.jpg|300px|thumb|left|Fig 14.[http://youtu.be/2Lcv9S_CL9s Testing Rig]]]
 <br />
 After various days of testing utilizing a tied down approach, ultimately making minimal progress, the team decided to switch a more flexible solution. A testing apparatus was devised using a ball bearing and a metal tower to allow prolonged testing of the tricopter. After a short period of testing, the team discovered a flaw in the approach we had used for balancing. Once the flaw had been rectified the tricopter began to self balance on the testing apparatus.

@@ Line 216: / Line 216: @@
 The accelerometer readings give the instantaneous acceleration. When the accelerometer is not moving, the only acceleration comes from gravity. If the device is flat, the entire gravitational acceleration is in the vertical (Z) component of acceleration, as shown on the left:
-[[File:146_s14_tricopter_acceleration_flat.png|thumb|250px|left|Fig.10 Flat acceleration]]
+[[File:146_s14_tricopter_acceleration_flat.png|thumb|250px|left|Fig.10 Flat acceleration|]]
 The accelerometer reading in this instance would be <0g, 0g, 1g>, where g ~= 9.8m/s^2. However, if the accelerometer is not flat, the gravitational acceleration splits into both horizontal and vertical components, as shown on the right:

@@ Line 350: / Line 350: @@
 === Phase #2 ===
-[[File:CmpE146_s13_tricotper_phase2_testing.jpg|300px|thumb|right|Fig 1.Motor Testing]]
+[[File:CmpE146_s13_tricotper_phase2_testing.jpg|300px|thumb|right|Fig 13.Motor Testing]]
 Following the verification of the electrical components, rudimentary flight and motor control tests began. During this phase no propellers were attached to the motors due to safety concerns. The main objective was to fully comprehend the correlation between motor speed and pulse width percentage. It was during this phase that the team encountered issues with the included PWM class. The issue and solution are documented in [[S14:_Tricopter#Issue #1|Issue #1]], below. Once PWM had been calibrated to function properly, motor speed was configured to be controlled by the SJSUone Board accelerometer.

@@ Line 156: / Line 156: @@
 ===== Motors/Servo =====
 ----
-[[File:CmpE146_s14_tricopter_pwm_signal.jpg|300px|thumb|left|PWM signals sent to servo and ESCs]]
+[[File:CmpE146_s14_tricopter_pwm_signal.jpg|300px|thumb|left|Fig 7. PWM signals sent to servo and ESCs]]
-[[File:CmpE146_s13_tricotper_wiring_diagram_esc.png|300px|thumb|right|Fig 1.ESC Wiring]]
+[[File:CmpE146_s13_tricotper_wiring_diagram_esc.png|300px|thumb|right|Fig 8.ESC Wiring]]
 The motors are controlled using electronic speed controllers (ESC). The motors themselves are brush-less out-runner motors. The ESCs are controlled using the servo motor PWM interface. This interface expects a high pulse every 20 milliseconds. The width of this pulse dictates the motor speed. When the pulse is 1ms wide, the ESC interprets this as throttle of 0%. When the pulse is 2ms wide the ESC interprets this as a throttle of 100%.

← Older revision		Revision as of 22:53, 22 May 2014
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−	~~=== Grading Criteria ===~~
−	~~<font color="green">~~
−	* How well is Software & Hardware Design described?
−	* How well can this report be used to reproduce this project?
−	* Code Quality
−	* Overall Report Quality:
−	** Software Block Diagrams
−	** Hardware Block Diagrams
−	**: Schematic Quality
−	** Quality of technical challenges and solutions adopted.
−	~~</font>~~
−
	== Code name Cerberus ==		== Code name Cerberus ==
	[[File:CmpE146_s14_tricopter_Cerberus-Blake.jpeg\|400px\|center]]		[[File:CmpE146_s14_tricopter_Cerberus-Blake.jpeg\|400px\|center]]