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--- projects:robots:sk8 [2023/12/16 10:47] – [sk8mini] jhagstrand
+++ projects:robots:sk8 [2024/05/07 23:02] (current) – [IMU] jhagstrand
@@ Line 76: / Line 76: @@
   * Max steering angle 27°
-^ resting helm angle ^ deck tilt ^ steering angle ^             ^
+^ resting helm angle ^ deck tilt ^ steering angle ^             ^ circumference ^
 |   0                |   0       |   0            |  amidships  |
 |                    |   4.5     |   6.75         |  1/4        |
 |                    |   9       |  13.5          |  1/2        |
@@ Line 87: / Line 87: @@
   * steering angle = rudder angle = wheel angle
+=== Throttle adjustment ===
-Develop PID for helm to rudder
 Develop direct ratio for rudder to right wheel throttle.
-Consider turning radius and circumference of each wheel.
+  * 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
-On Tue, Dec 12, 2023, 14:12 John Hagstrand <john@hagstrand.com> wrote:
+speed differential for each wheel depending on deck tilt
-Digital motion processor (DMP), included on the mpu 6050.
+=== PID ===
-Lots of fluctuation
+A type of controller.
-even when sitting motionless on the floor
-Noise in the data
+Develop PID for helm to rudder
-Smoothing or Averaging
-Fusion algorithms: of data from multiple sensors: gyroscope and accelerometers
+=== 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
@@ Line 113: / 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 165: / Line 182: @@
+IMU AHRS
+[[Inertial Navigation System]]
+Quiic cable
+^ i2c ^ quiic ^ arduino ^ sk8mini ^
+| scl | yellow | A4  | blue |
+| sda | blue | A5 | green |
 ==== AWACS ====