readme 2020-08-23

2020-08-23 17:43:19 -05:00
parent 94fd4b0606
commit 5d6fe0de20
21 changed files with 79 additions and 12 deletions
--- 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/)
+
+
+
+
+
+
+
--- a/documentos/MPU-6000-Register-Map.pdf
+++ b/documentos/MPU-6000-Register-Map.pdf
--- a/documentos/balancing/control_motors.FCStd
+++ b/documentos/balancing/control_motors.FCStd
--- a/documentos/balancing/control_motors.FCStd1
+++ b/documentos/balancing/control_motors.FCStd1
--- a/documentos/balancing/control_pcb.FCStd
+++ b/documentos/balancing/control_pcb.FCStd
--- a/documentos/balancing/control_pcb.FCStd1
+++ b/documentos/balancing/control_pcb.FCStd1
--- a/documentos/balancing/ensamble.FCStd
+++ b/documentos/balancing/ensamble.FCStd
--- a/documentos/balancing/ensamble.FCStd1
+++ b/documentos/balancing/ensamble.FCStd1
--- a/documentos/balancing/ensamble_asm_hierarchy.html
+++ b/documentos/balancing/ensamble_asm_hierarchy.html
@@ -0,0 +1,39 @@
+<!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>
--- a/documentos/balancing/lateral_balancing.FCStd
+++ b/documentos/balancing/lateral_balancing.FCStd
--- a/documentos/balancing/motores.FCStd
+++ b/documentos/balancing/motores.FCStd
--- a/documentos/balancing/neumatico.FCStd
+++ b/documentos/balancing/neumatico.FCStd
--- a/documentos/balancing/neumatico.stl
+++ b/documentos/balancing/neumatico.stl
--- a/documentos/balancing/parte_inferior.FCStd
+++ b/documentos/balancing/parte_inferior.FCStd
--- a/documentos/balancing/parte_superior.FCStd
+++ b/documentos/balancing/parte_superior.FCStd
--- a/documentos/balancing/pcb.stl
+++ b/documentos/balancing/pcb.stl
--- a/documentos/balancing/ruedas.FCStd
+++ b/documentos/balancing/ruedas.FCStd
--- a/documentos/balancing/superior.stl
+++ b/documentos/balancing/superior.stl
--- a/documentos/drv8825.pdf
+++ b/documentos/drv8825.pdf
--- a/imagenes/3d_balancing.png
+++ b/imagenes/3d_balancing.png
--- a/imagenes/balancing.jpg
+++ b/imagenes/balancing.jpg