Archive for October, 2010

Just bought a new battery pack..

Posted in Self balancing robot on October 30th, 2010 by x-firm – Be the first to comment

After a tips on the Arduino forum I just bought a 12v battery pack for 22$ including shipping :)

It will be interesting to see how the quality of the battery will be..

Success with sensor fusing using kalman filter…

Posted in Arduino, Processing, Self balancing robot on October 30th, 2010 by x-firm – Be the first to comment

I have been reading the Balancing robot for dummies thread and thanks to all good posts there and all answers on my stupid questions. It wasn’t so hard to get it to work..

Here is a video showing the filtered angel in the top and the unfiltered angel from the acc. in the lower part of a sketch made in processing.

The sketch is from -> http://wiki.processing.org/w/Tom_Igoe_Interview

The jig is now finished

Posted in Arduino, Self balancing robot on October 28th, 2010 by x-firm – Be the first to comment

I have finished my jig so I can easy make some tests and the put it away. Time for a project like this is very limited.

I added a 4×20 LCD to output some debug information in the test phase..

I will start trying to get the accelerometer and the gyro to work..
I will wait with the motor part until I get the sensor input like I want. I also need to get some good battery and some wireless connection to the robot and the computer…

Nice information about IMU and Kalman filter…

Posted in Self balancing robot on October 27th, 2010 by x-firm – Be the first to comment

Found some good information on the links below:

What is an IMU
Accelerometer to pitch and roll
Gyroscope to roll, pitch and yaw
Kalman filtering of IMU data

A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications

Arduino code for simplified Kalman filter. Using a 5DOF IMU (accelerometer and gyroscope combo)

The bar graph is finished..

Posted in Processing on October 24th, 2010 by x-firm – Be the first to comment

We started with something that we call “coffee break coding” and it’s a challenge between my co-workers and I at work. Where we set a challenge and see how can do it the best in processing under a week.

This was the first challenge that I won, I have made some improvments from the version that I made at work. I added the possiblity to move it around the form and also be able to zoom the value and reset it to defoult when ever you want.


Here is a movie with to bars showing the temperature from a Arduino with a Dallas sensor:

You can also try it at this link

The parts from Pololu has arrived..

Posted in Self balancing robot on October 22nd, 2010 by x-firm – Be the first to comment

When I come home from work yesterday there where a package from FeedEx waiting on me. And the parts from Pololu had arrived and the parts are always smaller then I had thought.

I will try to make a test jig on a break at work today so I can test run the parts.

On the motor control board I should solder some capacitors and I’m not sure what they do. I have to figurer that out under the day..

Bar graph to show values from a Arduino

Posted in Arduino, Processing on October 16th, 2010 by x-firm – Be the first to comment

I have made a Bar graph in Processing for showing temperature readings made by a Arduino but can be used for many other things.

You can set the range it should show and also where the zero should be. You can also zoom in and out from the value and set the current value to zero. You can when ever reset the bar to the default value.

You can try it here: Bar

WordPress finaly running on my server…

Posted in Uncategorized on October 15th, 2010 by x-firm – Be the first to comment

Ok now when the new blog engine is running I can post all types of information that I want. The previously blog engine from one.com was very limiting. I will soon start to port all of my old posts from one.

First small project with the Arduino

Posted in Arduino on October 11th, 2010 by x-firm – Be the first to comment

Now I have made my first small project with the Arduino. I wanted to use a 4×20 LCD display to show the temperature readings from a Dallas DS18B20 temperature sensor.

I started to check out the LiquidCrystal library and found a “Hello World” example that I tried with successes. I just followed the example but ended up making some small adjustment with the wiring because different specs. on my LCD display to the one in the example.

I run the LCD display in 4 bit mode like in the example I talked about above with now problems, the library is integrated in the Arduino 0021 IDE that I used..

After that I wonder how I should connect and use the Temperature sensor with the Arduino. And after some checking under the Arduino Playground I found a link to the fantastic Dallas Temperature Control Library that makes it unbelievable easy to use a DS18B20 sensor. You just add a pull up 5kohm resistor between the middle pin and +5V, the other two pins to GND. Then you put a wire between the middle pin and a digital pin on the Arduino(I used pin 7).

The library gives you the possibility to connect more sensors in series and still only uses one pin of the Arduino.

The readings from the sensor is where fast and stable and with the possibility to put more sensors in series this sensor is very impressive.

I also made a fast sketch in Processing to show the values with some graphical controls that I have been working on. They are intended for my future GUI that a should use with my Balancing Robot.

I made a movie that demonstrates the project:

Source code Arduino:
LCD.pde

Source code Processing:
BarContest.pde
BarGraph.pde
Meter.pde

Guide to using IMU

Posted in Arduino, Self balancing robot on October 6th, 2010 by x-firm – Be the first to comment

I found this guide that ex planes how to combine accelerometer and gyroscope values to get a more stable reading…

A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications.

Very interesting information for my project…