New version of the Balancing Bot GUI

Posted in Arduino, Processing, Self balancing robot on November 17th, 2010 by x-firm – Be the first to comment

New version of the bot code:

KasBotV1
KasBotV1.2_Serial (Use this one when using the Balancing Bot GUI)

New version of the GUI:

BalancingBotGUI v1.2

Currently you will see trends for the following values:
- ACC_X, _Y, GYR_Y
- actAngle, ACC_angle
- pTerm, iTerm, dTerm
- drive

You can also see and change the following values:
- setPoint
- K
- Kp
- Ki
- Kd

Now the hardware is mounted on the robot..

Posted in Self balancing robot on November 13th, 2010 by x-firm – Be the first to comment

I have now mounted the hardware on the robot, soon I can test run it…

I have added in the Balancing Bot GUI the possibility to change the PID parameters like in the image below:

When I have tested it some more I will post the sketch..


The start of the balancing bot…

Posted in Self balancing robot on November 10th, 2010 by x-firm – Be the first to comment

I have now stared building my robot and I wanted to use parts so I had to machining as little as possible.

I thought of using 4 standard 6mm threaded rod and 3 nail ink and some nuts and washers as in the image below.

This should be parts that every one can find in there local hardware stores..

I’m a little concerned of the heavy weight of this structure but it’s a little below 1 kg. It will be cleared after a test run.

Code for KasBot V1

Posted in Arduino, Self balancing robot on November 7th, 2010 by x-firm – Be the first to comment

The Balancing Robot for dummies thread have bean a great help for me to make a jump start in this type of projects. The least I can do is to host the code for this great robot and here it is:

KasBot V1 complete code file:
K_BotV1.rar

KasBot V1 is fully functional and should balance for ever
Just modify the code according to your own gyro sensitivity

If you want to use the Balancing Bot GUI, then use the files below:

KasBot V1 serial complete code file:
K_BotV1_serial.rar (modified to work with the Balancing Bot GUI)

GUI Sketch for Processing IDE:

Download and unzip the folder in your sketch directory. Change the serial port to the corresponding for you computer…

Complete sketch

Currently you will see trends for the following values:
- ACC_X, _Y, GYR_Y
- actAngle, ACC_angle
- pTerm, iTerm, dTerm
- drive

More info on the thread at the Arduino forum…

The balancing bot GUI beta

Posted in Processing, Self balancing robot on November 5th, 2010 by x-firm – Be the first to comment

Heres the first beta version of the Balancing Bot GUI and it includes one widget that are a dynamic graph…

  • You can add as many graphs as you want and set the size and shape of them.
  • You can maximiz a graph
  • You can also move it in real time

Right now you can only show information from the bot, but I will soon update the GUI with the possibility to change parameters in the bot.

Below is a image of the GUI that are using three Graph widgets:

Heres the code from the example above…

Sketch for Processing IDE:

Download and unzip the folder in your sketch directory. Change the serial port to the corresponding for you computer…

Complete sketch


GUI for balancing robot

Posted in Processing, Self balancing robot on November 3rd, 2010 by x-firm – Be the first to comment

I have started to look on a GUI for a balancing robot and it is specifically aimed for the Arduino code made for the  Balancing Robot for dummise that are driven under this post in the Arduino forum.

I want to have the GUI widget based so all users can customize to only have the things they think is important to see and also be able to reorder things on the screen.

I have made one widget to show the proof of concept that are explained below:

I have planed some more widget like:

  • Menu widget where you can see all minimized widgets and press  on them to show them again.
  • Serial settings widget, open and close the communication and select port
  • Parameter setting widget. To change one or more parameters
  • Bot tilt view, see a graphical representation of the bots tilting angle
  • etc.

Start to a PacMan game

Posted in Processing on November 1st, 2010 by x-firm – Be the first to comment

I started on makeing a PacMan game a evening when I was board but I don’t think It will ever be finished. It was a fun little project where I learned some new things about transformations in processing…

You can try It here (Control PacMan with the arrow-keys)

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…