DDIPy (:smile::sparkles:Best Beginner Hack @ MakeCU 2018✨)
This is DDIPy the Differentially Driven Inverted Pendulum. DDIPy is remote controled Self balancing robot design and implemented for The MakeCU Hackathon.
NOTE: DDIPy still in development (our Battery Pack melted at MakeCU 😢), and Currently does NOT have a completed Readme.
As software focus computer science students we created DDIPy to exsplore Hardware development and Robotics.
Word of advice please test how your motors are set-up. We're not sure how our motors are set up we just tested by experiment.
- We had researched the basics components of the Robots, had conceptualized the build process, and even had previous experience using some of the modules, but we didn't test all the modules we would be using ahead of time.
Down the line this lead to issues as the Gyro used I2C communication, and lacked an easy to use library. As a team of mostly first time hardware hackers I2C is an intimidating protocol to learn in only a few hours.
- We found simple coding samples, tutorials, and the official module datasheet, to help us out.
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Our use case for the PID Control system is very unique
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We Struggled to get the Arduinos to communicate properly
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Once we got the gyroscope values we didn't realize that the gyroscope was outputting the instantaneous angular velocity not the angle of the system at a given time.
- though we knew the physics of the we didn't know how to implment
https://github.com/yohendry/arduino_L298N - the L298N Fritzing part we used in the robot schematic.
This is the chasse we bought for the robot: https://www.osepp.com/robotic-kits/6-2wheeler Motor Datasheet https://www.osepp.com/downloads/pdf/DC-Motor-Spec.pdf
Stacie Nunes, Ph.D
AC2 program
Odest Chadwicke Jenkins, Ph.D - for giving us the idea behind the project.
SUNY New Paltz - for funding