An AX-12 segway

[billyzelsnack]

http://www.youtube.com/watch?v=5wJtI1D5daA

Well.. Kinda. Still lots of fiddling to do.

It uses the rotomotion Kalman, a piece of angle aluminum, Arnaud's bus, hacked all to hell dynamixel example code, and Jon's IMU.

btw. Jon.. What's the gyro chip you were using on these? It looks like the newer sparkfun IMU's are different. The rotomotion Kalman code needs the rate in real world units and I'm not sure I have this set correctly.

[Suicidal.Banana]

cool stuff man, id love to see more of it, 'segway style' ftw

[limor]

finally someone did it!

did you use the CM5 or USB2Dynamixel ?
what feedback loop rate ?

phpBB [media]

[billyzelsnack]

That white thing I'm holding is a shrink wrapped USB bus interface (basically Arnaud's design). It's running in Windows with a Sleep(32) in the loop so who knows what the sampling rate really is!

A much better idea would be a torso box, CM5, and battery so it can be off the leash. Bigger wheels would be nicer too.

(psst.. Limor.. What's the trick to embed youtube vids?)

[billyzelsnack]

Here's a picture of the interface.
http://www.flickr.com/photos/85327336@N00/4051395288/

[limor]

(psst.. Limor.. What's the trick to embed youtube vids?)

you can just copy-paste the embed/object html code provided by youtube for any video
also, you can embed flickr pictures (right click copy image url)

[JonHylands]

http://www.youtube.com/watch?v=5wJtI1D5daA

Well.. Kinda. Still lots of fiddling to do.

It uses the rotomotion Kalman, a piece of angle aluminum, Arnaud's bus, hacked all to hell dynamixel example code, and Jon's IMU.

btw. Jon.. What's the gyro chip you were using on these? It looks like the newer sparkfun IMU's are different. The rotomotion Kalman code needs the rate in real world units and I'm not sure I have this set correctly.

The gyro chip on my original IMUs was the IDG-300 for pitch and roll, and the ADXRS300 for yaw.

I've got a new IMU now, which is cheaper ($175), and uses the new ST gyros.

I'd be very interested in seeing your Kalman filter routine.

- Jon

[billyzelsnack]

It's just a quickly hacked mess, but sure..

http://www.mediafire.com/?sharekey=e01a ... 0f25e869f4

At some point soon I'll be trying to get that tilt.* code to work on that servo board I'm working on.

[JonHylands]

Thanks, I'll have a look at it. What is the kalman code running on?

- Jon

[billyzelsnack]

It's just running on the PC.