Відео

No, the bolts are over. :) And seriously, there shouldn't be more than necessary. The total weight of the cube should be as low as possible...

@@ReMRC oh, thanks!

I didn't use current sensing.

@@ReMRC I used 2805 140kv motors and also GBM5208-75T similar height as your robot. Mine didn't work not enough torque. I also tried GM4108 motor tried to lift 200gm at 10cm distance wasn't able to lift. Using 12v and 24v no luck. Am I missing something? I used similar code as your's. How are your small motors able to balance. I am using bigger motors but cannot.

@@IMakeRobots I can't figure out what you did wrong...

As of version 3.0 of ESP32 boards, this function has been changed. Use version 2.0.17.

@@ReMRC I bought a nidec 24h from eBay which has 12 pins...4 feedback, 2 +12V, 2 Gnd, start/stop, Direction, pwm, brake....can I use this?

@@ronaldradnus9108 No. I don't know if it would be possible to use such motors after changing the program.

Doesn't matter. The pins are listed on the module.

As you can see in the video, you can use any small magnets. But poles are important! I.e. must be placed correctly.

LQR. NIDEC24h has no position or angle control. It works like a DC motor but with a controller and encoder inside. And yes, it has stall current protection.

Very enlightening. Thanks for the answer Mister.

This project is too difficult for beginners.

No, sorry.

Try motors test.

@@ReMRC Thanks for the suggestion. The motor test worked. The issue was that my motors were wired backwards, with the opposite pinout. Luckily nothing was fried. My cube is now working! Thanks a bunch :)

www.akm.com/us/en/products/rotation-angle-sensor/tutorial/magnetic-encoder/

What is "more accessible"? Ali, Ebay.

However, there is probably something wrong with the connections.

@@ReMRC I have a custom pcb, I checked like 20x and all of the connections are connected how they should be, I seriously dont know anymore

@@ReMRC Are you using a PNP or NPN transistor?

@@randomdudeidfk Of course n-p-n. If you use PN2222. I use another one, but it doesn't matter.

@@randomdudeidfk same problem here, buzzer keeps beeping, how did you solved it?

Nothing special is needed. Arduino serial monitor or any other program that does the same.

@@ReMRC Thanks, that worked, but I don't know how to follow or what to send, only get this message: first you need to calibrate the balancing points... How can I balance the points?

@@LuisSM ??? ua-cam.com/video/ZU0oTBRDgOE/v-deo.html

@@ReMRC I tried that comma d but nothing happened, maybe I didn't do the process properly, tomorrow I will try again. Thanks and sorry for not noticing that part

@@ReMRC Thanks!, that works :)

Reverse? What you mean?

@@ReMRCfor example,when you want turn right,first steer to left to make bike roll right .after roll to designated algle center the steer wheel. this might increase the manuverbility

Code for this project is currently not available on github.

No, bus all difference you can see in this video.

@@ReMRC Sorry, my bad, I ment as in uploading and setting up the code.

@@KerneIBit Setting the balancing points is different.

@@ReMRC Alright, Thanks!

Yes. Or watch this ua-cam.com/video/Nkm9PoihZOI/v-deo.html

@@ReMRC aha, the one video I had not seen :) tnx

How? ua-cam.com/video/ZU0oTBRDgOE/v-deo.html

@ReMRC Oh, a custom part has to go on the shaft to interface with the wheel. Thanks, I hadn't noticed that part before.

@@hummerman85 Custom part? No...

@ReMRC I can not find the file for the black part you have on the motor shaft seen here. I have almost everything and can't wait to finish it. Thank you for putting this together. ua-cam.com/video/ZU0oTBRDgOE/v-deo.html

@@hummerman85 This is part of motor. These motors are sold with this pulley.

Then there would be no need for EDF. And it would be something like this ua-cam.com/video/-fPYXWaVcOw/v-deo.html

i found everything except for the motors, does anyone know where i could find some.

@@K1VQ_andRandomStuff aliexpress or ebay.

Nidec24H is an easy way because there is a controller inside. FOC + BLDC can also be used.

hey, just wanted to know where you got those motors...

I use encoder. It works very poorly without it. Don't do that.

Yes... But try to implement it. This is a difficult task...

@@ReMRC I can imagine, it would probably take a bit of time to crack the formula, maybe ChatGPT can help, but lately for the type of code I’ve been trying to make it’s not been doing what I asked it to do… but yeah, have you heard of “single wing planes ✈️ “? They invented this idea where it’s only one wing that controls the steering, thing is to turn when the wing is at high speed the pilot had to manually calculate how to turn on the fly, so it’s a similar concept, you can turn good, but the geometry of it needs to be programmed

Maybe the encoders are connected badly? Red connections in the schematic.

@@ReMRC Ah yes I got the encoder pins for the motors on my pcb design crossed so I just swapped the pins in software and now it works. Amazing upgrade, so much more stable and the wheels sometimes almost stand still. Is there a reason not to implement standing on all three sides of the cube?

@@sander368 Look at sensor orientation. :) In the first cube I didn't intend to do balancing on the edges. But I did it, although it works badly, and primarily because of the position of the sensor.

24H404H160

@@ReMRC Thanks a lot

I don't calculate.

Encoders have poor resolution. But it helps a little. However, this complicates the algorithm and requires more changes…

@@ReMRC I am using hall sensors instead of encoders. Would the new code improve balancing in this case?

@@nickp7339 Hall sensors with these motors?

@@ReMRC i used Maxon EC flat motors with hall sensors

@@nickp7339 Maxon are very good motors. But very expensive. :) The balancing algorithm needs to know the rotation speed. It doesn't matter what method is used for this.

The balancing point is determined by calibration.

@@ReMRC so it only works if your structure is perfectly symmetrical isnt it ? If your point of balance is changes by an extra mass your motors will saturate?

@@dolevwasser8639 You mean something like this? ua-cam.com/video/aWhKnBbdXs0/v-deo.html

@@ReMRC exactly!!! How ? How do you change your reference angle ?

No, sorry. Code explaining would be time-consuming and uninteresting to most viewers...

Aloha! Glad you liked it.

You can see both cubes with new software at the end of the video.

@@ReMRC why didn't you include LEDs in scematic and when do LEDs turn on?

@@hunakaka Because the LED connection is very simple. And schematic is completely unnecessary.

Where not available? Ebay, Aliexpress always help me.

@@ReMRC Do you have a current link on Aliexpress for the motor? It seems it does not come up (at least not the 24H404H160 version.

@@bi0530 24H404H160 shows exactly that version.

No, center of mass is important.

This is not easy. Why you can see here: ua-cam.com/video/PwZfTrd_3Jg/v-deo.html

You mean like this? ua-cam.com/video/PwZfTrd_3Jg/v-deo.html

@@ReMRC Yes! nice. That is doable in this current build? I'm just waiting on the motors to show up. I will make the new print in the meantime.

@@elidelia2653 No, it's hard to make good brakes that always work the same way. It also requires additional space.

Gyroscope precession - no. This is reaction wheel. It works by creating a torque through changing its momentum.

@ReMRC hi. I was reading a bit more yesterday. I believe it works just generating a torque in the wheel opposite to the torque of the weight, is it right?...

@@RGDot422 If you rotating the weight, you get the torque in opposite direction.

@@carjavitube Yes. Watch another video about cube.