Swiss Mini Motor Boe Bot
Hi Guys,
I'm still playing in the shop. Here is my latest creation. Its a Boe Bot with gear motors and a solarbotics h-bridge kit. I had to boost the voltage to 9 volts so that why you see 2 more AA batteries up front between the BOE and the chassis. This was a fun project that introduced me to PWM. The Solarbotics motor control kit was my first circut board project and it was easier then I thought it would be. Anyway enjoy the pictures and if you have any questions please ask.
Tom
P.S. If anyone has used encoders I could use some tips on how to use the encoders that are in these little gear motors.
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Robot vision is the the future, and Vision will take us there.
http://www.youtube.com/watch?v=gbf0zaxWjvI
Post Edited (T0m) : 7/4/2007 3:35:05 AM GMT
I'm still playing in the shop. Here is my latest creation. Its a Boe Bot with gear motors and a solarbotics h-bridge kit. I had to boost the voltage to 9 volts so that why you see 2 more AA batteries up front between the BOE and the chassis. This was a fun project that introduced me to PWM. The Solarbotics motor control kit was my first circut board project and it was easier then I thought it would be. Anyway enjoy the pictures and if you have any questions please ask.
Tom
P.S. If anyone has used encoders I could use some tips on how to use the encoders that are in these little gear motors.
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Robot vision is the the future, and Vision will take us there.
http://www.youtube.com/watch?v=gbf0zaxWjvI
Post Edited (T0m) : 7/4/2007 3:35:05 AM GMT
1024 x 768 - 346K
1024 x 768 - 342K
1024 x 768 - 336K
1024 x 768 - 343K
1024 x 768 - 344K
Comments
Are you familiar with these enconders? http://www.nubotics.com/products/ww02/index.html·Don't really know how something like this would work with the tracks though.
Did you indicate that the motors you used had built-in encoders?
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Whit+
"We keep moving forward, opening new doors, and doing new things, because we're curious and curiosity keeps leading us down new paths." - Walt Disney
Post Edited (Whit) : 7/4/2007 3:06:04 PM GMT
Yes they have built in encoders. Each encoder has 2 outputs. The guy who sold them had this info:
There are two outputs, running in quadrature. I call them Q1 and Q2. They did not need any pull-up resistors, and can thus drive CMOS logic directly. I suggest using the "4000-series", running on the same voltage (3 ~ 6V) as the TG. A transition in one takes place while the other is at rest, high or low. Thus there are 4x12 transitions per motor revolution and 1/48 of a rev can be detected. On the geared shaft there will thus be 12x141 = 1692 pulses, and 6768 transitions, per rev.
The pulses are relative the Tachogen - line.
So the six lines out are:
Motor +
Tachogen +
Q2
Q1
Tachogen -
Motor - (this one has a black mark)
Tom
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Robot vision is the the future, and Vision will take us there.
http://www.youtube.com/watch?v=gbf0zaxWjvI
I was the one who won the last BOEBOT chassis/Mattracks combo that you had for sale on eBay.
In your original design, you had the collar on the Mattrack riding on a hub that protruded from the extender plate which took the vertical load off of the servo shaft.
Your new design appears to have eliminated the hub, on the extender plate,·that supported the·Mattrack collar·and is using the electric motor shaft to take the vertical loading. Is this true?
Nice design for an electric motor version of the BOEBOT!
I was thinking of creating a custom aluminum chassis that is slightly thicker than the BOEBOT chassis so I could use 37mm dia gear head motors (Lynxmotion) with 6mm shaft couplers (Lynxmotion)·to the Mattrack hex drive shaft·that you built.
Comments?
Any chance of getting spare hex drive shafts?
I also have two spare Mattrack pairs.
Regards,
TCIII
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
If you are going to send·a Robot·to save the world, you·better make sure it likes it the way it is!
The motor description you posted looks like it is quadrature. There are several good resources on the web. In the Propeller forum recently there was also discussion. I have not used a Basic Stamp enough to describe how to best implement reading quadrature, I am sure someone has tried and posted the results here some where.
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Timothy D. Swieter
tdswieter.com
One little spark of imagination is all it takes for an idea to explode
The Mattracks are still supported by the hub. The motors are fit inside the original hub design. Do you need hex drive hub for servo or 6mm shaft?
Tom
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Robot vision is the the future, and Vision will take us there.
http://www.youtube.com/watch?v=gbf0zaxWjvI
Those Mattracks are from Radio Shack's Mattrack RC trucks that were made a few years ago. You can still find them occasionally on ebay. Thanks for the tip on quadrature.
Tom
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Robot vision is the the future, and Vision will take us there.
http://www.youtube.com/watch?v=gbf0zaxWjvI
It would be nice to have a hex drive hub to 6mm shaft as that would save me having to buy a 6mm flange/coupler from Lynxmotion so I can run the Mattracks with a 37mm dia·electric motor. Can you PM me a price?
Regards,
TCIII
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
If you are going to send·a Robot·to save the world, you·better make sure it likes it the way it is!
Is there any solar power in this bot ?· Solar cells or recharging ? Or is this·the name you have given your bot.
·I'm not sure, because I am working on a·parallax Beo-Bot·with·solar power and recharging.
Rob7
The DC motor controller is a kit from a company called Solarbotics, it is the unit you see on the bottom between the gear motors. This Boe Bot is battery powered.
Tom
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Robot vision is the the future, and Vision will take us there.
http://www.youtube.com/watch?v=gbf0zaxWjvI
Thanks for the info.
rob 7