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hoverbot - hoverboard motor balancing robot

Hardware and software design: github.com/mjb...
Project page: hackaday.io/pr...
Read more: jpieper.com/20...
Get moteus-c1: mjbots.com/pro...
00:00 Intro
01:11 Hardware Design
02:45 Hardware Build
05:28 Software
06:05 Controls
10:50 Outro
11:48 Bloopers

Пікірлер: 26

  • @krosaen
    @krosaen2 ай бұрын

    Super cool! Appreciate all of the details being included about the development process.

  • @awesjosh

    @awesjosh

    2 ай бұрын

    Nice to hear from you Karl! This was one of those projects where making the video and explaining it was 4x the work of actually building the thing, so it is great to see it appreciated!

  • @rudisoft
    @rudisoft2 ай бұрын

    Good to hear you're still doing awesome stuff. Keep it going, make more updates!

  • @awesjosh

    @awesjosh

    2 ай бұрын

    I'm working to keep them coming!

  • @AerialWaviator
    @AerialWaviatorАй бұрын

    An excellent design/build. Appreciate you taking time to explain your thought process and detail the build. Looking forward to seeing how it evolves as you learn and experiment. That hoverbot has a fun factor, I'd expect you probably already have ideas as to future mods.

  • @googleyoutubechannel8554
    @googleyoutubechannel85542 ай бұрын

    Thanks for including the design, checking it out now, looks solid

  • @ohaginias6609
    @ohaginias66092 ай бұрын

    Excellent! Nice work Bro!!

  • @awesjosh

    @awesjosh

    2 ай бұрын

    Thanks!

  • @bylolo4964
    @bylolo49642 ай бұрын

    C'est juste splendide ❤

  • @yunustalhaerzurumlu6547
    @yunustalhaerzurumlu65472 ай бұрын

    Hi man! I love what you build! I am waiting for more videos (maybe like the type of DevLogs, similar to the robot dog video.)

  • @sermadreda399
    @sermadreda3992 ай бұрын

    Great video thank you for sharing

  • @jonwatte4293
    @jonwatte42932 ай бұрын

    Looks like fun! What's the power distribution (?) board beside the pi?

  • @awesjosh

    @awesjosh

    2 ай бұрын

    Thanks! You called it, it really just does pre-charging and over-current faulting: mjbots.com/products/mjbots-power-dist-r4-5b

  • @jonwatte4293

    @jonwatte4293

    2 ай бұрын

    @@awesjosh I end up building something like that into almost every board I make, so it makes a lot of sense to have that as a stand-alone unit 🙂 Those who haven't struggled with power management might wonder why they'd need to spend money on a glorified power switch; I think it's up to us who have stubbed our toes to explain why ...

  • @amorpheuses1627
    @amorpheuses16272 ай бұрын

    Thanks for another interesting project! Question: can the pi3hat be used with a raspberry pi 5? Wouldn't think there would be a problem - but would like to check.

  • @awesjosh

    @awesjosh

    2 ай бұрын

    Unfortunately no, it can't be used with a raspberry pi 5. It only works with a pi3 or pi4.

  • @amorpheuses1627

    @amorpheuses1627

    2 ай бұрын

    Opps checked the manual and it clearly states it isn't.

  • @yoggi56
    @yoggi562 ай бұрын

    Hi! Thank you for sharing this video! Do you use any observers or filters to obtain wheel velocities?

  • @awesjosh

    @awesjosh

    2 ай бұрын

    moteus uses a pll filter on the hall effect sensors for commutation purposes, and that is the reported velocity that was used for the outer velocity control loop. The bandwidth of that filter was somewhere between 50-100Hz, so it doesn't do much at low speed with the coarse resolution of the hall encoders.

  • @yoggi56

    @yoggi56

    2 ай бұрын

    Thank you! I do similar project and for now use the similar control approach but with some differences kzread.info/dash/bejne/foGqp9V_abyYcbw.htmlsi=PAa4gED8A2Uu-Ezu In the future I'm going to ustilize mpc for increasing the stability and the robot's speed

  • @awesjosh

    @awesjosh

    2 ай бұрын

    Cool! Thanks for sharing! As you can see from my video, you don't need to go to MPC to get significantly improved results. Probably the easiest ways to improve your system would be to see if the structure of your control laws can be improved (or perhaps copy the ones here), and the second would be to ensure your attitude and attitude rate solution are operating well and with a sufficiently high bandwidth. It could also be that your tuning is just sub-optimal. Are you using integrative terms anywhere (you probably shouldn't)?

  • @yoggi56

    @yoggi56

    2 ай бұрын

    Thank you for recommendations! Yes, I use integrative terms both in attitude loop and in velocity control loop. I have some suspicious about imu. It outputs data only with 100hz. Probably if I replace IMU to better one, the whole system will be more stable.

  • @awesjosh

    @awesjosh

    2 ай бұрын

    I'm not sure an integrative term for attitude is useful, certainly this robot does not use one. A feedforward term is probably a lot more valuable there if a plain PD is insufficient. While a 100Hz IMU update rate is borderline feasible, there are lots of things that could potentially make it problematic. That could be if you are just using pitch and not pitch rate, or if the IMU has a software configured low-pass filter, or if it is poorly mounted, or a host of other things. This robot uses a 400Hz update IMU for instance with a 200Hz onboard filter, uses the pitch rate in addition to the pitch, and is known to work well at up to that rate.

  • @Jp-ue8xz
    @Jp-ue8xz2 ай бұрын

    put a claymore on it o_o

  • @oracid
    @oracid2 ай бұрын

    💙🤍❤ 🗼