MARS Rover

Vozítko inspirované vozítkem Curiosity.  Díly vytisknuté na 3D tiskárně Rebel.

Ovládání je 6 kanálovou RC vysílačkou. Uvnitř vozítka je Arduino Mega a vlastní shield.

Vlastnosti:

  • 6 nezavislých pohaněných kol
  • robotická ruka
  • LED světla s možností zap/vyp

Použito:

  • 6x 9g servo (TG9e, TowerPro SG90)
  • 6x 9g servo with metal gear (TGY-5009M)
  • Arduino Mega 2560
  • SBEC Lipo 5/6V 5/6A for 3S lipol
  • 3S Li-pol about 1300mAh
  • 12x servo extension cable (10-30cm)
  • 12x resitor 2.2K ohm
  • universal PCB
  • green LED 3mm
  • red LED 3mm
  • yellow LED 3mm
  • 3x resistor 160 Ohm
  • some pins
  • 42x screw M2x6
  • 6x screw M2.5×6
  • 2x screw M3x25
  • 8x screw M3x6
  • 8x nut M3
  • 4x nut M2
  • 4x white LED 5mm
  • 4x red LED 5mm
  • RC TX and RX
  • connector to Arduino
  • cable ties
  • 3D printed parts

Thingiverse soubory

3D Printed Parts
I use PLA and standart setup for 3D print.
Thingiverse.com: http://www.thingiverse.com/thing:682828

All files are here: rover

Arduino setup

After build Rover is needed to center the servos.

Upload this file to arduino

// 2 – 7 for all steering servos
// 8 – 13 for all wheels servos
int pin = 13;

check all servos with serial monitor for center position. My value is about 1300-1500. Value write to ard_rover.ino , and upload to Arduino.
// Data from calibration servos – center position of servo
int W1_center = 1350
int W2_center = 1390
int W3_center = 1360
int W4_center = 1370
int W5_center = 1435
int W6_center = 1355
int S1_center = 1500
int S2_center = 1480
int S3_center = 1420
int S4_center = 1410
int S5_center = 1480
int S6_center = 1480

Now you need center signal from RC. Connect RX to PCB and Arduino connect with PC. Control stick on TX set to neutral. Serial monitor write some values. Copy this values to Excel and make average value ( about 50 values is OK). Repeat to second channel.

// calibration RX signal
Serial.println( value_ch1)
and
// calibration RX signal
Serial.println( value_ch2)

Servo modifying
Servo with metal gear use to wheel. You must modifying to countinous rotating. Cut of potentiometer, add 2 resitors, cut of pin on tooth wheel.
instruction for example https://learn.adafruit.com/modifying-servos-for-continuous-rotation/overview

Build Arduino Shield
Sorry, I\'m not electrician…/p>
Simple scheme: (scheme.pdf )/p>

rover

scheme_board

Záložka pro permanentní odkaz.

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