diff --git a/README.md b/README.md index 91169c7..a2f846a 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,45 @@ -Robot balanceador +Robot balanceador basado en la tarjeta de desarrollo ESP32 MH-ET live y el módulo MPU6050 y los drivers DRV8825 - -http://www.brokking.net/yabr_main.html - -http://axelsdiy.brinkeby.se/?page_id=1141 -http://www.brokking.net/yabr_main.html -http://axelsdiy.brinkeby.se/?page_id=1141 -https://robologs.net/2014/10/15/tutorial-de-arduino-y-mpu-6050/ -https://www.luisllamas.es/medir-la-inclinacion-imu-arduino-filtro-complementario/ - -- nodemcu v1.0 esp8266 +- ESP32 MH-ET LIVE - 2 motores nema 17 - 2 driver motores - MPU6050 -- 7805 - bateria LiPo + +![](imagenes/balancing.jpg) + +## Diseño 3d + +![](imagenes/3d_balancing.png) + +Mejoras: + + + mejorar acceso a los controles de los motores + + mejorar conector modulo MPU6050 + + bajar motores o llantas de mayor tamaño + + re-diseñar espacio para la batería + +## ToDo + - [x] Control On Off + - [] Control Proporcional + + [] Control PI + + [] Control PID + + [] Control Jostick Web + + [] OTA y Telnet + + + +## Referencias + +[https://github.com/tockn/MPU6050_tockn](https://github.com/tockn/MPU6050_tockn) +[http://www.brokking.net/yabr_main.html](http://www.brokking.net/yabr_main.html) +[http://axelsdiy.brinkeby.se/?page_id=1141](http://axelsdiy.brinkeby.se/?page_id=1141) +[https://robologs.net/2014/10/15/tutorial-de-arduino-y-mpu-6050/](https://robologs.net/2014/10/15/tutorial-de-arduino-y-mpu-6050/) +[https://www.luisllamas.es/medir-la-inclinacion-imu-arduino-filtro-complementario/](https://www.luisllamas.es/medir-la-inclinacion-imu-arduino-filtro-complementario/) + + + + + + + diff --git a/documentos/MPU-6000-Register-Map.pdf b/documentos/MPU-6000-Register-Map.pdf new file mode 100644 index 0000000..2677c83 Binary files /dev/null and b/documentos/MPU-6000-Register-Map.pdf differ diff --git a/documentos/balancing/control_motors.FCStd b/documentos/balancing/control_motors.FCStd new file mode 100644 index 0000000..ec2fc12 Binary files /dev/null and b/documentos/balancing/control_motors.FCStd differ diff --git a/documentos/balancing/control_motors.FCStd1 b/documentos/balancing/control_motors.FCStd1 new file mode 100644 index 0000000..51f47b3 Binary files /dev/null and b/documentos/balancing/control_motors.FCStd1 differ diff --git a/documentos/balancing/control_pcb.FCStd b/documentos/balancing/control_pcb.FCStd new file mode 100644 index 0000000..c19a55f Binary files /dev/null and b/documentos/balancing/control_pcb.FCStd differ diff --git a/documentos/balancing/control_pcb.FCStd1 b/documentos/balancing/control_pcb.FCStd1 new file mode 100644 index 0000000..3bb664e Binary files /dev/null and b/documentos/balancing/control_pcb.FCStd1 differ diff --git a/documentos/balancing/ensamble.FCStd b/documentos/balancing/ensamble.FCStd new file mode 100644 index 0000000..f1bef39 Binary files /dev/null and b/documentos/balancing/ensamble.FCStd differ diff --git a/documentos/balancing/ensamble.FCStd1 b/documentos/balancing/ensamble.FCStd1 new file mode 100644 index 0000000..a0dbdcf Binary files /dev/null and b/documentos/balancing/ensamble.FCStd1 differ diff --git a/documentos/balancing/ensamble_asm_hierarchy.html b/documentos/balancing/ensamble_asm_hierarchy.html new file mode 100644 index 0000000..7460fde --- /dev/null +++ b/documentos/balancing/ensamble_asm_hierarchy.html @@ -0,0 +1,39 @@ + + + + + + A2P assembly hierarchy visualization + + +
+graph TD +parte_inferior_001 -- plane --> lateral_balancing_002 +parte_inferior_001 -- pointIdentity --> lateral_balancing_002 +lateral_balancing_001(lateral_balancing_001
*FIXED*) -- plane --> parte_inferior_001 +lateral_balancing_001(lateral_balancing_001
*FIXED*) -- pointIdentity --> parte_inferior_001 +lateral_balancing_001(lateral_balancing_001
*FIXED*) -- plane --> motores_001 +lateral_balancing_001(lateral_balancing_001
*FIXED*) -- plane --> parte_inferior_003 +lateral_balancing_001(lateral_balancing_001
*FIXED*) -- pointIdentity --> parte_inferior_003 +lateral_balancing_001(lateral_balancing_001
*FIXED*) -- axisParallel --> motores_001 +lateral_balancing_002 -- plane --> control_motors_001 +lateral_balancing_002 -- pointIdentity --> control_motors_001 +lateral_balancing_002 -- plane --> motores_002 +lateral_balancing_002 -- pointIdentity --> motores_002 +lateral_balancing_002 -- axisParallel --> motores_002 +lateral_balancing_002 -- plane --> parte_inferior_002 +lateral_balancing_002 -- pointIdentity --> parte_inferior_002 +lateral_balancing_002 -- pointIdentity --> parte_inferior_002 +control_motors_001 +motores_001 -- pointIdentity --> ruedas_002 +motores_002 -- pointIdentity --> ruedas_001 +ruedas_001 +ruedas_002 +parte_inferior_002 +parte_inferior_003 +
+ + + \ No newline at end of file diff --git a/documentos/balancing/lateral_balancing.FCStd b/documentos/balancing/lateral_balancing.FCStd new file mode 100644 index 0000000..facdf34 Binary files /dev/null and b/documentos/balancing/lateral_balancing.FCStd differ diff --git a/documentos/balancing/motores.FCStd b/documentos/balancing/motores.FCStd new file mode 100644 index 0000000..7a9f748 Binary files /dev/null and b/documentos/balancing/motores.FCStd differ diff --git a/documentos/balancing/neumatico.FCStd b/documentos/balancing/neumatico.FCStd new file mode 100644 index 0000000..afcc711 Binary files /dev/null and b/documentos/balancing/neumatico.FCStd differ diff --git a/documentos/balancing/neumatico.stl b/documentos/balancing/neumatico.stl new file mode 100644 index 0000000..1101805 Binary files /dev/null and b/documentos/balancing/neumatico.stl differ diff --git a/documentos/balancing/parte_inferior.FCStd b/documentos/balancing/parte_inferior.FCStd new file mode 100644 index 0000000..43191a5 Binary files /dev/null and b/documentos/balancing/parte_inferior.FCStd differ diff --git a/documentos/balancing/parte_superior.FCStd b/documentos/balancing/parte_superior.FCStd new file mode 100644 index 0000000..8459d0b Binary files /dev/null and b/documentos/balancing/parte_superior.FCStd differ diff --git a/documentos/balancing/pcb.stl b/documentos/balancing/pcb.stl new file mode 100644 index 0000000..8823fe0 Binary files /dev/null and b/documentos/balancing/pcb.stl differ diff --git a/documentos/balancing/ruedas.FCStd b/documentos/balancing/ruedas.FCStd new file mode 100644 index 0000000..9bbd14a Binary files /dev/null and b/documentos/balancing/ruedas.FCStd differ diff --git a/documentos/balancing/superior.stl b/documentos/balancing/superior.stl new file mode 100644 index 0000000..1c1f442 Binary files /dev/null and b/documentos/balancing/superior.stl differ diff --git a/documentos/drv8825.pdf b/documentos/drv8825.pdf new file mode 100644 index 0000000..6eb367c Binary files /dev/null and b/documentos/drv8825.pdf differ diff --git a/imagenes/3d_balancing.png b/imagenes/3d_balancing.png new file mode 100644 index 0000000..f9f83f5 Binary files /dev/null and b/imagenes/3d_balancing.png differ diff --git a/imagenes/balancing.jpg b/imagenes/balancing.jpg new file mode 100644 index 0000000..e8295a5 Binary files /dev/null and b/imagenes/balancing.jpg differ