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Verified Commit c97c11da authored by Thomas Lambert's avatar Thomas Lambert :helicopter:
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doc: minor updates and typo fixes

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