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readme 2020-08-23

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Martin Daniel Chaparro Ruiz
2020-08-23 17:43:19 -05:00
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Robot balanceador Robot balanceador basado en la tarjeta de desarrollo ESP32 MH-ET live y el módulo MPU6050 y los drivers DRV8825
- ESP32 MH-ET LIVE
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
- 2 motores nema 17 - 2 motores nema 17
- 2 driver motores - 2 driver motores
- MPU6050 - MPU6050
- 7805
- bateria LiPo - 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/)

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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<title>A2P assembly hierarchy visualization</title>
</head>
<body>
<div class="mermaid">
graph TD
parte_inferior_001 -- plane --> lateral_balancing_002
parte_inferior_001 -- pointIdentity --> lateral_balancing_002
lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- plane --> parte_inferior_001
lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- pointIdentity --> parte_inferior_001
lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- plane --> motores_001
lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- plane --> parte_inferior_003
lateral_balancing_001(lateral_balancing_001<br>*FIXED*) -- pointIdentity --> parte_inferior_003
lateral_balancing_001(lateral_balancing_001<br>*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
</div>
<script src="https://unpkg.com/mermaid@7.1.2/dist/mermaid.js"></script>
<script>
mermaid.initialize({startOnLoad: true});
</script>
</body></html>

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