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2014-12-04T02:23:12Z

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1304410487@qq.com：Created page with "{{Language|Microduino-Joypad Self-balance Robot Kit}} {| style="width: 800px;" |- | ==Outline== Project：Microduino Self-balance Robot Purpose：To control the self-bal..."

2014-11-04T08:26:24Z

Created page with "{{Language|Microduino-Joypad Self-balance Robot Kit}} {| style="width: 800px;" |- | ==Outline== *Project：Microduino Self-balance Robot *Purpose：To control the self-bal..."

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{{Language|Microduino-Joypad Self-balance Robot Kit}}
{| style="width: 800px;"
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==Outline==
*Project：Microduino Self-balance Robot
*Purpose：To control the self-balance robot by Microduino-Joypad.
*Difficulty: High
*Time-consuming: 6-hour
*Maker: Microduino Studio-PKJ

==Introduction==
*Principle
By using gyroscope and accelerometer ([[Microduino-10DOF]]) to detect altitude change of the robot, and ([[Microduino-Stepper) to drive the motor precisely and keep the balance of the system.
*Structure
The robot is simply structured with a self-designed 3D-printer frame and a stepper as well as a self-balance system to adjust.
*Advantage
It is highly integrated with less wires and powerful modules, which adopts Nrf24 for wireless communication currently. Users can change communication option according to personal preference.

==Frame Buildup and Debugging ==
===Equipment===
*Microduino modules needed
{|class="wikitable"
|-
|Module||Number||Function
|-
|[[Microduino-Core+/zh ]]||1||Core board
|-
|[[Microduino-USBTTL]]||1||Program upload
|-
|[[Microduino-10DOF]]||1||Altitude stability
|-
|[[Microduino-nRF24]] ||1||Wireless communication
|-
|[[Microduino-Stepper]] ||2||Stepping motor drive
|-
|[[Microduino-Robot]] ||1||Motor driver
|}
*Other equipment
{|class="wikitable"
|-
|Module||Number||Function
|-
|Stepper|| 2||Keep wheels running
|-
|Wheel ||2 ||
|-
|18650 Battery box || 1||Battery loading
|-
| 18650 Battery||2 ||Power supply
|-
| 3D printer frame ||1 ||Frame support
|-
|Plastic fastener ||12 ||Fixate the frame
|}
[[File:Microduino_Joypad_Balanced car_all.jpg||600px|center|thumb]]

===Robot Buildup===
*Step 1：Build the model by GoogleSketchUp and print out the model with 3D printer
[[File:Microduino_Joypad_Balanced car_3D.jpg||600px|center|thumb]]
*Step 2: Put four single-pass and double-pass on the 3D printer frame to fixate [[Microduino-Robot]].
[[File:Microduino_Joypad_Balanced car_1.jpg||600px|center|thumb]]
[[File:Microduino_Joypad_Balanced car_2.jpg||600px|center|thumb]]
*Step 3: Modules needed to be stacked on [[Microduino-Robot]] here: [[Microduino-Core+]], [[Microduino-10DOF]] and [[Microduino-nRF24]].
[[File:Microduino_Joypad_Balanced car_3.jpg||600px|center|thumb]]
*Step 4: Fixate the installed boards on the frame with the nylon strings.
[[File:Microduino_Joypad_Balanced car_4.jpg||600px|center|thumb]]
*Step 5: Install [[Microduino-Stepper]] on [[Microduino-Robot]].
[[File:Microduino_Joypad_Balanced car_5.jpg||600px|center|thumb]]
*Step 6: Stick the double-sided adhesive on the bottom of the stepper to strengthen it.
[[File:Microduino_Joypad_Balanced car_6.jpg||600px|center|thumb]]
*Step 7: Install the two steppers together.
[[File:Microduino_Joypad_Balanced car_7.jpg||600px|center|thumb]]
*Step 8: Fixate the battery.
[[File:Microduino_Joypad_Balanced car_8.jpg||600px|center|thumb]]
*Step 9: Connect the power interface of the battery to the board. You can check whether the power supply works normally or not by switching on the power of [[Microduino-Robot]].
[[File:Microduino_Joypad_Balanced car_9.jpg||600px|center|thumb]]
*Step 10: Wiring method of the stepper connector. Take M.B drive interface for example, the left motor connects to [[Microduino-Stepper]] and the left one to M.A
[[File:Microduino_Joypad_Balanced car_10.jpg||600px|center|thumb]]
*Step 11: Fixate the metal post on the stepper.
[[File:Microduino_Joypad_Balanced car_11.jpg||600px|center|thumb]]
*Step 12: Fixate the wheel on the metal post.
[[File:Microduino_Joypad_Balanced car_12.jpg||600px|center|thumb]]
Then, the whole structure buildup is finished.
===Software Debugging ===
**Libraries download：https://github.com/wasdpkj/libraries

You will need_03_Microduino_nRF_RF24 and _03_Microduino_nRF_RF24Network and please replace the original Arduino IDE libraries.

**Program Test：
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Joypad/Joypad_Balance_Reception

*Debugging：
**Preparation
***Hardware: Microduino-USBTTL and the well-built self-balance robot.
***Software: Libraries supported and Arduino IDE;
***Uncompress the library files and test program and then copy them to library folder in Arduino IDE;
***Open the program and select Microduino Core+(Atmega644P@16M,5V) as the board after compiling, then stack [[Microduino-USBTTL]] and upload directly;
[[File:Microduino_Joypad_Balanced car_ok1.jpg||600px|center|thumb]]
***After the upload, you can take off [[Microduino-USBTTL]] and turn on the power switch. Take the robot for about 4 seconds and then loose your hands and watch if it can stand up.
***You can try to disturb the robot with your hands and can feel the counterforce.
[[File:Microduino_Joypad_Balanced car_ok2.jpg||600px|center|thumb]]

==Remote Controller (Microduino-Joypad) Buildup==
Here we adopt Microduino-Joypad as the remote controller. Off course, you also other modules to build it.
===Equipment Requirement===
**Modules modules needed
{|class="wikitable"
|-
|Module||Number||Function
|-
|[[Microduino-Joypad]] ||1||Remote controller
|-
|[[Microduino-Core/zh ]]||1||Core board
|-
|[[Microduino-USBTTL]]||1||Program download
|-
|[[Microduino-nRF24]] ||1||Wireless communication
|}
**Other Equipment
{|class="wikitable"
|-
|Module||Number||Function
|-
| USB cable|| 1||Data transmission
|-
| Battery box || 1||Battery loading
|-
| 7th dry battery||3 ||Power supply
|}

===Hardware Buildup===
**Step 1: Install Microduino-TFT on the panel of Microduino-Joypad;
[[File:Microduino_Joypad_TFT.jpg||600px|center|thumb]]

**Step 2: Install nylon fastener on Microduino-Joypad and stick the base panel on the bottom of Microduino-Joypad;
[[File:Microduino_Joypad_nilong.jpg||600px|center|thumb]]

**Step 3: Connect Microduino-TFT and Microduino-Joypad through wires;
[[File:Microduino_Joypad_Connection.jpg||600px|center|thumb]]

**Step 4: Connect the battery on the base board and notice the electrode which you can see on the back of the board.
[[File:Microduino_Joypad_power_1.jpg||600px|center|thumb]]

**Step 5: Fixate the base board and the panel with nylon fasteners;
[[File:Microduino_Joypad_face_bord.jpg||600px|center|thumb]]

**Step 6: You can turn on the power switch and watch whether the power supply works fine.
[[File:Microduino_Joypad_switch.jpg||600px|center|thumb]]

**Step 7: Stack [[Microduino-USBTTL]], [[Microduino-Core]] and [[Microduino-nRF24]] on the base of [[Microduino-Joypad]].
[[File:Microduino_Joypad_Module_1.jpg||600px|center|thumb]]

===Software Debugging===
*Preparation
**Libraries download：https://github.com/wasdpkj/libraries

You will need libraries below: _01_Microduino_GFX, _01_Microduino_TFT_ST7735 and _08_Microduino_Shield_Joypad；Please replace the original Arduino IDE libraries.

**Remote controller program download: https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Joypad/Joypad_Balance_Reception

**Open the program and choose the right board for download after compiling, and then have an overall configuration after the download.

*Test

**Turn on the power switch of the remote controller and press the reset key and enter the system. Please press the key A in 4 seconds and enter the adjustment mode of the remote controller.
[[File:Microduino_Joypad_Remote1.jpg||600px|center|thumb]]

**Rotate two joysticks to the fullest and press key 3 and enter Robot control mode after seeing no data change on TFT screen.
**The left switch is OutPutEnable and only when you turn it upside can you control the robot. The left joystick controls back and forth rotation, and the right joystick controls left and right-direction rotation.
[[File:Microduino_Joypad_ok3.jpg||600px|center|thumb]]

==Attention==
*Keep the electrode correct. Otherwise, it may cause circuit burn.
*Please first adjust the remote controller or it may lead to false control.
*The wire connection of [[Microduino-Stepper]] should be correct. If you find it cannot work, please change and try again.

@@ 第170行： / 第170行： @@
 **The left switch is OutPutEnable and only when you turn it upside can you control the robot. The left joystick controls back and forth rotation, and the right joystick controls left and right-direction rotation.
 [[File:Microduino_Joypad_ok3.jpg||600px|center|thumb]]
 ==Attention==

Microduino-Joypad Self-balance Robot Kit - 版本历史

1304410487@qq.com：/* Software Debugging */

1304410487@qq.com：Created page with "{{Language|Microduino-Joypad Self-balance Robot Kit}} {| style="width: 800px;" |- | ==Outline== *Project：Microduino Self-balance Robot *Purpose：To control the self-bal..."

1304410487@qq.com：Created page with "{{Language|Microduino-Joypad Self-balance Robot Kit}} {| style="width: 800px;" |- | ==Outline== Project：Microduino Self-balance Robot Purpose：To control the self-bal..."