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--- projects:robots:sk8 [2023/12/16 10:23] – [sk8mini] jhagstrand
+++ projects:robots:sk8 [2024/05/07 23:02] (current) – [IMU] jhagstrand
@@ Line 63: / Line 63: @@
 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°
-On Fri, Dec 15, 2023, 20:24 John Hagstrand <john@hagstrand.com> wrote:
+^ 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
-Wheelbase
+=== Throttle adjustment ===
-Angle a of front wheels
-What about both wheels
-Rudder angle
+Develop direct ratio for rudder to right wheel throttle.
-Same as wheel angle
+  * Consider turning radius and circumference of each wheel.
-Double for dual axle angled
+  * develop ratios for both right and left wheels
+  * In future, we might use two motors
-Make chart of deck angle to rudder angle
+radius = 245mm
-Find equation
+circumference = 245 * pi = 769.7
-Develop PID for helm to rudder
+axle width =
+right wheel TR
+left wheel circumference
-Develop direct ratio for rudder to right wheel throttle.
+speed differential for each wheel depending on deck tilt
-Consider turning radius and circumference of each wheel.
+=== PID ===
+A type of controller.
-On Tue, Dec 12, 2023, 14:12 John Hagstrand <john@hagstrand.com> wrote:
+Develop PID for helm to rudder
-Digital motion processor (DMP), included on the mpu 6050.
-Lots of fluctuation
+=== IMU ===
-even when sitting motionless on the floor
-Noise in the data
+Implement IMU on sk8 to get deck roll angle
-Smoothing or Averaging
+  * Digital motion processor (DMP), included on the mpu 6050.
-Fusion algorithms: of data from multiple sensors: gyroscope and accelerometers
+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
@@ Line 109: / Line 129: @@
+=== TODO ===
 make a map of yellow cones, center points
-cover motor with tape
+x  cover motor with tape
 make another photo set
@@ Line 161: / Line 182: @@
+IMU AHRS
+[[Inertial Navigation System]]
+Quiic cable
+^ i2c ^ quiic ^ arduino ^ sk8mini ^
+| scl | yellow | A4  | blue |
+| sda | blue | A5 | green |
 ==== AWACS ====