Curriculum

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[[projects:projects]]:[[robots]]

====== sk8 ======

robotzone, parent company, winfield, kansas \\
actobotics, parts brand name \\
servocity, distributor

skateboard deck
  * length: 700mm
  * width: 200mm (at widest point)
  * height: 110mm (to top of deck, when flat)
  * height low edge: 90mm   (at maximum tilt, at widest point)
  * height high edge: 130mm

weight plate
  * id: 25mm (.98in)
  * od: 150mm (5.9in)
  * weight: 2.5kg

{{ :geogebra-sk8-rack.png?400|}}

linear actuator (obsolete idea)
  * qty: 2 pieces, 
  * retracted length: 250mm (10 in), 
  * extended length: 370mm (15 in), 
  * stroke length: 120mm (5 in), 
  * speed: 60mm/s (2.5 in/s), 
  * force: 30 N
  * include: 4 mounting brackets, 2 at each end of each piece

springs
  * closed ground
  * outside diameter  24 mm  (.944882 in)
  * free length   16 mm  (.629921 in)
  * wire diameter  1mm  (.0393701 in)
  * coils   4 total
  * product number: century 3663
  * supplier: century spring corp, mw industries, 

object detection

{{ ::sk8_pad.png?400|}}

pad angles

===== sk8mini =====

Adjust speed for helm, for deck slant
  * Arrows rt left center
  * Shift up down, go stop
  * Calibrate

Dorm room swarm motion capture
https://m.youtube.com/watch?v=0ql20JKrscQ&pp=ygUYRXNwMzIgZHJvbmUgc3dhcm0gdmlzaW9u

Diy drone
https://th.aliexpress.com/item/32776829828.html?gatewayAdapt=glo2tha

Pull-up resistor project
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
9b925b


Azimuthal projection with minimum interruption \\
https://en.m.wikipedia.org/wiki/Interruption_(map_projection)

==== pilot ====

Arduino IDE settings:
  * 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 ====

ESP32-CAM, by Espressif and AI Thinker \\
Best source of info:  https://github.com/espressif/esp32-camera

Arduino IDE settings:
  * Board: AI Thinker ESP32-CAM
  * Port: ttyUSB0

Isolate minimal code to
        - return Jason from url get
        - set camera settings'
        - return image from camera
Is it possible to edit EXIF header?B

3 lenses: 60, 120, 160 degrees fov wide

photo folders:
  * ~/sk8mini/awacs/photos/60/
  * ~/sk8mini/awacs/photos/120/
  * ~/sk8mini/awacs/photos/160/

webapps/robots/robots/sk8mini/awacs/cam.ino
  * empty setup() and loop() methods
  * not used

robots/sk8mini/awacs/example/CameraWebServer/CameraWebServer.ino
  * modified to connect to wifi as access point
    * connected as station: slow
    * connected as access point: less slow
  * implement webserver commands
    * /index.html
    * /capture
    * :81/stream

cam.py
  * connect to the wifi
  * call the webserver on the awacs
  * use the esp32-cam "capture" command
  * receive the returned image
  * save it to hard disk

two decisions:
  * framesize
  * lens
    * fov
    * distortion
    * clarity
    * color

==== Lens Comparison ====

=== ov2640 ===
{{ ::projects:robots:a_ov2640_svga_8.jpg?400|}}
original \\
label: OV2640 \\
fov: 60 degrees\\
a_ov2640_svga_8.jpg \\
~CLEAR~

=== longlens ===
{{ ::projects:robots:d_longlens_svga_8.jpg?400|}}
label: DCX 2640 V2 \\
fov: 120 degrees \\
long lens \\
maximum fish-eye type of distortion \\
filename: d_longlens_svga_8.jpg \\
~CLEAR~

=== dcxv2 ===
{{ ::projects:robots:b_dcxv2_svga_8.jpg?400|}}
label: DCX 2640 V2 \\
fov: 160 degrees \\
filename: b_dcxv2_svga_8.jpg \\
~CLEAR~

=== dcv3r ===
{{ ::projects:robots:c_dcv3r_svga_8.jpg?400|}}
label: DC 2640 V3 R \\
fov: 160 degrees \\
filename: c_dcv3r_svga_8.jpg \\
~CLEAR~