Two-wheeled balancing robot

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ahenshaw
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Two-wheeled balancing robot

Postby ahenshaw » Fri Dec 06, 2013 4:26 pm

I have a working two-wheeled balancing robot, using an old XC-1A as a controller. I've created the project, but the video submission widget doesn't seem to like my URL:

http://youtu.be/SbbqmgwLOsA

In case it's hard to judge, the robot is just under 1-meter tall. I'm using an MPU6050 3-axis gyro/accelerometer for the angle sensing.

The next step is to integrate the quadrature encoders on the motors.
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sethu_jangala
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Postby sethu_jangala » Fri Dec 06, 2013 4:29 pm

Nice work.
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Bianco
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Postby Bianco » Fri Dec 06, 2013 6:52 pm

try the following URL in the projects page: http://www.youtube.com/watch?v=SbbqmgwLOsA

youtu.be is an URL shortener service and very likely not supported by the website.

Nice work by the way :)
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ahenshaw
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Postby ahenshaw » Fri Dec 06, 2013 7:26 pm

Thanks - that worked!

Since the balancing is working very well, I decided to burn the app into the flash, so that I can run untethered. However, I had forgotten that I have an XC-1 and not an XC-1A, which (I now realize) has no flash.

Perhaps the best solution would be to add my new startKIT board to the robot. I'm assuming that I could then use that as a bootloader for the XC-1 board (leaving that as the lowest-level controller). Then add a WiFi slice, so that I can have remote control.
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segher
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Postby segher » Fri Dec 06, 2013 8:27 pm

You cannot connect those two boards via xlinks (G and L
talk incompatible protocols); you can of course use some
custom bus.

Or you could ditch the XC-1 and do everything on the
startkit? Will your application fit?
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ahenshaw
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Postby ahenshaw » Fri Dec 06, 2013 8:51 pm

You cannot connect those two boards via xlinks (G and L talk incompatible protocols); you can of course use some custom bus.

Well, crud. I did not even consider that as a possibility.

Or you could ditch the XC-1 and do everything on the startkit? Will your application fit?

Yeah it would fit. I wasn't too keen on redoing my hardware and cabling, though. I'm using the proto-board area of the XC-1 for the gyro/accelerometer.
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ahenshaw
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Postby ahenshaw » Sat Dec 07, 2013 9:01 pm

Has anyone had experience with the MK802 Android sticks?

Assuming that I put a suitable Linux distribution on it (and, perhaps, a powered USB hub), can I use it to boot my XC-1? If so, that would be a great solution, as it would provide a small high-level Linux-based controller with WiFi.
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Berni
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Postby Berni » Sun Dec 08, 2013 9:08 am

Nice work, seams to be working rather well.

I never looked at the XC-1 board but if you have acess to the first 4 IO pins on core 0 and can get to the BOOTx pins you should be able to add some flash to it.

As for using an android stick its pretty much the same as any linux running ARM board like a raspberry pi and such. If you know your way around the more technical bits of linux its probably a very nice thing to have (I don't know much about linux so i never touched them)

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