RoboSavvy Forum

Crust Crawler Test bench

2012-11-15T16:03:12+01:00

Some more info:
I tweaked the schematic above to get some more reliable operation:
s2 Lipos : R4=10k, R8=4k7, Tr1 fixed(R9) R=1k3 turn-off-voltage ~6.15V
s3 Lipos: R4=1k5, R8=4k7, R9=3kturn-off-voltage ~9.2V
I measured the internal resistance at TL7705 sense input to be ~18k,
switching level about 4.5V.
So you can do you own calculations.
BTW I used VeeCAD to make a quick & dirty stripboard, I can really recommend this little util for fast prototyping. Results see pics 3&4.
And mind the rather hight currents, therefore I added some extra thick wires to the board!
Here are some pics

Friedrich

Statistics: Posted by FriedV — Thu Nov 15, 2012 4:03 pm

Crust Crawler Test bench

2012-11-14T03:53:34+01:00

Here is the circuit I'll use for Lipo protection:

Friedrich

Statistics: Posted by FriedV — Wed Nov 14, 2012 3:53 am

Crust Crawler Test bench

2012-11-13T21:42:09+01:00

Some more info:
The code is VB2012, running on a Win7 MacBook Air with USB2Dynamixel . Later the code it is planned to be run on a Pokini PC (small and well built, but rather expensive).
The Pokini has WiFi, so this will be used for first remote control. Later this will be done via Zigbee, probably.
Power supply are two Turnigy 3S 4Ah Lipos, one for the servos the other for the Pokini and sensors. I'm working on a device to cut of the Lipos when voltage goes low, a simple warning device is not secure enough, I think.
Friedrich

Statistics: Posted by FriedV — Tue Nov 13, 2012 9:42 pm

Crust Crawler Test bench

2012-11-13T21:19:46+01:00

Hi,
here is my first throw at a little test bench for the crustcrawler hexapod.
Code is in my file space, Crawler1.zip.
Comments, questions & suggestions are always welcome.
Friedrich

Statistics: Posted by FriedV — Tue Nov 13, 2012 9:19 pm