I did some tests for online offline switching of the feedback for Yaw so it in 4DOF it can be used to position the platform back to home position. For this to work, a 360 degrees sensor is needed without endstops.
A few days ago I got some small motors with double output shafts on their 40RPM gearbox and very small current consumption. I literally can power these motors directly from USB!! So I'll be making a 4DOF model with them as it easier to work on the model and validate the firmware changes. I plan to combine the 3DOF axis in the controller instead of having to do it in software. Its not so hard and will be easier for users just to feed pitch/bank/heave/yaw information directly in the controller, less headache in the software side.
I already hooked up one of the motors to axis 4 (Yaw) and did the changes for switching from positioning (offline mode) to continuous 360 degrees rotation (speed and direction control). I also implemented smooth transition algorithms for the online-offline switching that will be global (in all axis).
See the video of the YAW fix I did so far. Firmware update will be released as soon I short out the algorithms and finish some more tests.
I finished the first revision of the 4DOF function in the firmware. It has individual PID setting for the 4th motor (YAW) and the rest axis are still in same PID range.
To activate it you need to set: 1. Plarform type: 4DOF 2. Sensor direction: 4DOF P1-3-Y, N2 3. PID setting for YAW: 15 or more
Remaining code to add, combined math axis for the motors 1,2,3 to be able to feed to it directly axis effects as Pitch/Bank/Heave. I'll include a small drawing for the numbering position of the motors.
Firmware revision 'a' with independent axis is this one:
The firmware included allows 4DOF. I can set different PID for YAW, 4st DOF without position sensor, or ?
Yes with included firmware you can set different PID for 4rth axis (yaw), and use it without potentiometer for unlimited 360 rotation when it receives motion data. However it still requires a potentiometer for home position of yaw when its in offline mode...
And the other axis are not combined in the firmware on the board you received yet. This means you will have to combine the axis in the motion software.
dureiken: Hi there, it's really quiet here someone could help me for my 6 dof project ? thanks a lot
Aug 8, 2017 15:34:46 GMT
tronicgr: dureiken Hi, Open a thread and I'll try my best to help. A little busy with Kickstarter details at the moment but I'll see what I can do.
Aug 12, 2017 11:57:42 GMT
dureiken74: I just did it
Aug 27, 2017 11:59:06 GMT
fimmy: How's the firmware going?
Sept 6, 2017 8:34:43 GMT
tronicgr: @fimmy I had to put it on hold to finalize the manufacturing of the new kickstarter controllers. I tested parts of it to ensure compliance with the new features and looks good so far. I'll get back to it soon for integration.
Sept 9, 2017 12:52:35 GMT
Theuns: Very nice design.I'm also busy with mine and changing it also to Linear Actuators with 220v Servo motors.I'm waiting for my new controllers from Thanos. If I may ask Do you have any Sketchup files of your design and willing to share it I Thanks Theuns
Sept 14, 2017 22:45:09 GMT
atayeu: Hey everyone! I'm reading up and gathering all of the intel I can find for my first motion platform. this is by far best information for creating one.
Oct 14, 2017 7:25:57 GMT
tmcnam: I must be crazy but I still can't find the blueprints to the platform by GA-Dawg. Any help would be appreciated. Thanks guys.
Mar 10, 2019 21:31:57 GMT
Trip Rodriguez: Sorry tmcnam, the shoutbox doesn't get much attention. Did you find the blueprints? They are at the VERY bottom of the extremely long first post. It says "attachments: 6DOF.zip
May 4, 2019 19:13:25 GMT
zivby: How much weight this setup can carry?
May 19, 2019 11:57:16 GMT