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 gear studies megathread

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kurosen
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kurosen

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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Apr 10, 2020 10:00 pm

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kurosen
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PostSubject: ev3 31313 and 45544 sets   gear studies megathread - Page 2 EmptySat Apr 11, 2020 9:32 am

ev3 31313 and 45544 sets





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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Apr 22, 2020 3:41 am



stop at 50sec

Lego Freewheel & rachet Mechanism

******************************************

one output to two :

seems to use friction.

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyThu Apr 23, 2020 3:21 am

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyMon Apr 27, 2020 8:12 pm

bullet points learned from book : the lego mindstorms EV3 laboratory by daniel benedettelli:

ceil (truncating)

wall following bot formula :
steering = - distanceInput(constDistanceThresHold(50)-measurementTolerance(2))

getting gears to mesh together : the sum of the gear radius should to an integer
(cause assembled on a studless beam with integer size) for example :
8z 0.5 with 40z 2.5 gears

biped robot wieght shifting :
the projection of the center of mass must be within the support area of the foot that
is still on the ground

formula : computing the degrees parameter to steer precisely :
(T*L)/R
T = degrees to turn robot (rov3r model for example)
L = the distance from the tire center to the bot center
R = radius of the wheel

turn the motor 208 degrees to turn rov3r 90 degress : (90*50)/21.6

rear wheel electric differential formula :
Vr = V(1+.017D*a/H) // outer wheel
Vl = V(1-.017D*a/H)// inner wheel
v = speed
a = turn angle
D = half dist between 2 rear wheels
H = dist rear to front wheel
.017=degrees by radians (pie/180)

***************************************************

gyro

https://frobotme.wordpress.com/2014/04/29/algorithm-for-self-balancing-robot/

void loop() {
 float expectedTilt = 0;
 float currentTilt = getCurrentTilt(); // From accelerometer
 float currentTiltRate = getCurrentTiltRate(); // From gyro
 float thrust = pid(currentTilt - expectedTilt, 0, currentTilt + currentTiltRate, 0.25, 0, 0.75);

 // Apply thrust to each motor
}

Proportional – present error
The present error is the amount of tilt that the robot has. It is supposed to have a tilt of 0°.
If it is tiled by 10°, the error is -10.


terry griffin wrote:
progressively reduce kp by .05 and increase ki by.01 for thrust x till stable

float pid(error, integral, derivative, Kp, Ki, Kd) {
 return -(error * Kp + integral * Ki + derivative * Kd);
}
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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyTue May 12, 2020 1:09 am

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Jun 10, 2020 1:39 pm

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Jun 12, 2020 10:47 am

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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Jun 26, 2020 9:33 am



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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Oct 21, 2020 12:02 am







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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptySun Dec 27, 2020 3:29 pm

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kurosen
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PostSubject: iris shutter mechanism   gear studies megathread - Page 2 EmptyThu Jan 14, 2021 1:53 am

iris shutter mechanism







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Moti Barski
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyThu Mar 18, 2021 1:00 pm


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Moti Barski
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptySat Mar 27, 2021 6:43 am

lego part 4612100 the actuator may appear defective or stuck, because it doesn't move when you spin it. but the knob needs to be still direction wize while spinning the axel for it to move

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Moti Barski
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Jul 23, 2021 5:14 am






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Moti Barski
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyFri Jul 23, 2021 6:15 am


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kurosen
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Aug 04, 2021 3:22 am

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Moti Barski
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PostSubject: Re: gear studies megathread   gear studies megathread - Page 2 EmptyWed Sep 22, 2021 8:26 pm


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