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--- projects:robots:sk8 [2023/12/11 07:10] – [Lens Comparison] jhagstrand
+++ projects:robots:sk8 [2024/05/07 23:02] (current) – [IMU] jhagstrand
@@ Line 61: / Line 61: @@
 https://m.youtube.com/shorts/y_QIEyC-uUk
+Calculate turning radius and use this to plot destination point to the right or left of the cone
+  * Max steering angle 27°
+  * wheelbase WB = 12.5cm
+  * Turning radius TR = WB/tan(a)
+  * TR = 125mm / tan(27)
+  * TR = 125mm / 0.509525449
+  * TR = 245mm
+Make chart of deck angle to rudder angle \\
+Find equation or interpolation \\
+Interpolate table of deck tilt to steering angle then check a deck tilt of half.
+  * Max deck tilt 18°
+  * Max steering angle 27°
+^ resting helm angle ^ deck tilt ^ steering angle ^             ^ circumference ^
+|   0                |   0       |   0            |  amidships  |
+|                    |   4.5     |   6.75         |  1/4        |
+|                    |   9       |  13.5          |  1/2        |
+|                    |  13.5     |  20.25         |  3/4        |
+|                    |  18       |  27            |  full       |
+steering angle = comparison of front and back wheels
+  * the pair of right wheels and the pair of left wheels will have the same angle
+  * steering angle = rudder angle = wheel angle
+=== Throttle adjustment ===
+Develop direct ratio for rudder to right wheel throttle.
+  * Consider turning radius and circumference of each wheel.
+  * develop ratios for both right and left wheels
+  * In future, we might use two motors
+radius = 245mm
+circumference = 245 * pi = 769.7
+axle width =
+right wheel TR
+left wheel circumference
+speed differential for each wheel depending on deck tilt
+=== PID ===
+A type of controller.
+Develop PID for helm to rudder
+=== IMU ===
+Implement IMU on sk8 to get deck roll angle
+  * Digital motion processor (DMP), included on the mpu 6050.
+What is a DMP?
+  * gyros have Lots of fluctuation
+  * even when sitting motionless on the floor
+  * Noise in the data
+  * Smoothing or Averaging
+  * Fusion algorithms: of data from multiple sensors: gyroscope and accelerometers
+Inertial navigation system
+Kalman filter
+When stationary, every object is experiencing 1G of downward Force.
+=== TODO ===
+make a map of yellow cones, center points
+x  cover motor with tape
+make another photo set
+write python code to:
+	find the wheels, center points
+	calc the centerpoint and angle of the sk8 (two choices)
+	weight target, centerpoint
+	calc the vector of the sk8, ie, change angle to vector (one choice)
+convert python code to c++ and install on awacs
+implement esp now to send coordinates from awacs to sk8
+write code on sk8 to plot course (taken from previously written python program)
+----------------------------
+write code to
+	find yellow cones
+	make a list of coordinates
+	send changes from awacs to sk8
+find earlier python code for plotting course
+wheels black 0d0e06, threshhold 5
+cones yellow
+bcb44f
+b7b159
+b925b
+Azimuthal projection with minimum interruption \\
+https://en.m.wikipedia.org/wiki/Interruption_(map_projection)
 ==== pilot ====
@@ Line 67: / Line 175: @@
   * Board: Arduino Nano ESP32
   * Port: ttyACM0
+==== IMU ====
+MPU6050
+IMU AHRS
+[[Inertial Navigation System]]
+Quiic cable
+^ i2c ^ quiic ^ arduino ^ sk8mini ^
+| scl | yellow | A4  | blue |
+| sda | blue | A5 | green |
 ==== AWACS ====