From c97c11da1c26eb01f79eb252d34bd7cd304415f9 Mon Sep 17 00:00:00 2001 From: Thomas Lambert <t.lambert@uliege.be> Date: Wed, 23 Nov 2022 13:52:37 +0100 Subject: [PATCH] doc: minor updates and typo fixes --- CHANGELOG.md | 25 ++++++++++++++--------- README.md | 56 ++++++++++++++++++++++++++-------------------------- 2 files changed, 44 insertions(+), 37 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 9e29969..9943d26 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -9,11 +9,23 @@ to [Semantic Versioning][sem_ver]. ### Added +### Changed + +### Deprecated + +### Removed + +### Fixed + +## [v2.0.0] - 2022-11-23 + +### Added + - **Doc**: Changelog - **Controller**: Complete control over Serial - **Acquisition**: Angle sensor acquisition -- **Acquisition**: PSU current and tension monitoring -- **Calibration**: Wing angle automatic calibration +- **Acquisition**: PSU current and tension logging +- **Calibration**: Wing angle automatic "zeroing" ### Changed @@ -25,12 +37,6 @@ to [Semantic Versioning][sem_ver]. - **All**: Use more precise types to limit RAM - **Refactor**: Split the code into different files -### Deprecated - -### Removed - -### Fixed - ## [v1.0.0] - 2022-10-25 ### Added @@ -40,5 +46,6 @@ to [Semantic Versioning][sem_ver]. [sem_ver]:<https://semver.org/spec/v2.0.0.html> [keep_chglog]: <https://keepachangelog.com/en/1.0.0/> -[Unreleased]: https://gitlab.uliege.be/thlamb/mecharaptor-controller/-/compare/v1.0.0...main +[Unreleased]: https://gitlab.uliege.be/thlamb/mecharaptor-controller/-/compare/v2.0.0...main +[v2.0.0]: https://gitlab.uliege.be/thlamb/mecharaptor-controller/-/releases/tag/v2.0.0 [v1.0.0]: https://gitlab.uliege.be/thlamb/mecharaptor-controller/-/releases/tag/v1.0.0 diff --git a/README.md b/README.md index 1afb415..1808e4a 100644 --- a/README.md +++ b/README.md @@ -7,8 +7,8 @@ dynamics and its impact on the performance of the aft wing. The system is actuated by two sets of brushless DC motors (BLDC), each controlled with an Engine Speed Controller (ESC). The ESCs are themselves -controlled using an Arduino Uno, which acts as the "brain" of the whole system. -This Arduino is the main interface for piloting the setup and logging important +controlled using an Arduino Uno, which acts as the "brain" of the whole setup. +This Arduino is the main interface for piloting the system and logging important metrics. This repository contains the Arduino code and the wiring schematics for the @@ -22,20 +22,20 @@ electrical components of the setup. position of the wings. _Note: A maximum rotation speed is imposed to the BLDC by the ESC. This value -has been manually set for each ESC using the ESC's terminal (JETIBOX). This -value is reflected in the Arduino code as well, in so the inputs and outputs are -calibrated properly._ +has been manually set for each ESC using the ESC's terminal (JETIBOX). The +maximum BLDC speed is reflected in the Arduino code as well, so the inputs and +outputs are calibrated properly._ ## Usage Before powering the Arduino, set the ON/OFF switch in the appropriate position: -- ON: Serial mode (control using a PC) +- ON: Serial mode (control using a PC connected to the Arduino) - OFF: Manual mode (control using the potentiometer) Further switch changes during the Arduino runtime will not be accounted for. -Then turn plug the ESCs power using batteries or DC power supply. +Then turn on the ESCs power using batteries or DC power supply. If the setup is in manual mode, the potentiometer must be turned all the way down to initiate the setup. If it is in automatic mode, it will wait for a @@ -68,11 +68,11 @@ re-open a new one. Besides controlling the system, the Arduino also logs the input data and some measurements. The most important data are: -- ESC input setting +- ESC input settings - Wing angles (for each wing) - PSU current and tension -These logged data are transmitted through the serial connection and saved on the +These data are transmitted through the serial connection and can be saved on the computer that controls the Arduino for later analysis. A [_json_ configuration file](controller/mechaRaptor.json) is provided in order @@ -82,35 +82,35 @@ allows the automatic logging and retention of all data in _csv_ spreadsheets. ### Angle calibration The flapping angle of each wing is measured using an absolute encoder. These -sensors need to be 'calibrated' properly so the value they output corresponds to +sensors need to be 'zeroed' properly so the value they output corresponds to the actual wing angle. -This calibration process be done automatically in Serial mode. At the end of the -calibration, the Serial console will output the offset and the max angle values -measured. This calibration is only necessary for the first run of the setup (or -after a re-assembly). So the values measured during the calibration can be -hard-coded in the code and the calibration functions can be by-passed by setting +This calibration process can be done automatically in Serial mode. It is only +useful to calibrate the sensors after a re-assembly of the setup. Once the +calibration has been made a first time, we recommend hard-coding the values +measured and deactivate the calibration procedure altogether by putting `gSKIP_CALIB = true`. ## Bill of Materials -| Device | Reference | Usage | -|------------------ | --------------- | --------------- | -| **BLDC** | [Plettenberg][plettenberg] Advance 30 <br />_(Discontinued by manufacturer)_ | Motor | -| **ESC** | [JETI SPIN 75 Pro Opto][jetispin] | Motor controller | -| **ESC Terminal** | [JETIBOX][jetibox] | Program ESC, motor telemetry | -| **PSU** | [Electroautomatik][elektro] PSI 8080 - 60 T (1500W) <br />_(Discontinued by manufacturer)_ | DC power supply | -| **Controller board** | [Arduino uno (Rev 3)][arduino] | Full setup control, data logging| -| **Encoders** | [Broadcom AEAT 6012][AEAT612] | Flapping angle measurement | -| **Potentiometer** | N/A | Manual control of RPM| -| **ON/OFF switch** | N/A | Switch between `Serial` and `Manual` control | -| **Resistors** | N/A | Voltage divider, noise reduction | -| **Current sensor** | [Allegro SEN0098][SEN0098][^1] | PSU current logging | +| Device | Reference | Usage | +|--------------------- | ------------------------------------------------------- | ---------------- | +| **BLDC** | [Plettenberg][plettenberg] Advance 30[^1] | Motor | +| **ESC** | [JETI SPIN 75 Pro Opto][jetispin] | Motor controller | +| **ESC Terminal** | [JETIBOX][jetibox] | Program ESC, motor telemetry | +| **PSU** | [Electroautomatik][elektro] PSI 8080 - 60 T (1500W)[^1] | DC power supply | +| **Controller board** | [Arduino uno (Rev 3)][arduino] | Full setup control, data logging| +| **Encoders** | [Broadcom AEAT 6012][AEAT612] | Flapping angle measurement | +| **Potentiometer** | N/A | Manual control of RPM| +| **ON/OFF switch** | N/A | Switch between `Serial` and `Manual` control | +| **Resistors** | 47 k$`\Omega`$, 6.8 k$`\Omega`$ | Voltage divider & noise reduction | +| **Current sensor** | [Allegro SEN0098][SEN0098][^2] | PSU current logging | ## Schematics To Do (ETA January 2023) -[^1]: Using an ACS758 chip LCB050B-3370XAA-1044 +[^1]: Discontinued by manufacturer. +[^2]: Using an ACS758 chip LCB050B-3370XAA-1044. [plettenberg]: <https://plettenbergmotors.com/> [serial-studio]: <https://serial-studio.github.io/> -- GitLab