@joshua_r

Swerve azimuth control

Got PID working for one module, though it probably still needs to be tuned. Also I need to figure out the logic for wrapping around since the encoder measures values from 0-1023 which I have mapped to 0 to 360, but after 360 it goes back to 0 which complicates the logic a bit. I also need to implement the logic for the swerve just switching the wheel rotation direction rather than rotate the entire module 180 degrees whenever it can. Realistically, the module should only ever rotate a max of 90 degrees from one input to the next

First Working Moments before failure

The wall bot was successfully working and drew some very basic shapes like squares moments before the tether suddenly snapped and it succumed to the laws of physics. 🫠

The picture is of it working about half a second before it snapped

Things to do:

• Get stronger string
• Program a method to command the bot to any coordinate on the whiteboard rather than manually programming individual steps

Finished wiring (wire management was a pain as always)
Finished printing the whiteboard mounts for the string
Started programming!

Tested all hardware for the swerve drive. The latest version of SimpleFOC (2.4.0) doesn’t work for some reason but the previous version (2.3.5) works perfectly fine. The as5600 encoders work great and track the rotation of the module nicely. I also made a few design changes to make assembly easier which includes changing the design of the encoder column support and the design of the standoffs.

Redesigned pen holder to hold the tip of the marker at the correct depth when deployed.

Things to do:

• Design spools
• Design corner mounts for the whiteboard to hold the string
• Program!

Swerve module v1 assembled! The gears mesh nicely and the entire system has a lot less friction than I thought it would :)

Things needed to do in terms of design:

• Design support for the shaft that holds the central drive gear column since right now its cantilevered.
• Redesign standoffs because the current design breaks too easily
• Design encoder for brushless drive motor so FOC can be used

Finished soldering wires to the motors and header pins to the encoders. Got stm32 nucleo 64 f411re working with platformio ready for programming along with the motor shield to control everything!

first assembly of the wall bot done in real life! Many modifications are needed, mostly regarding clearances, but the entire pen holder needs to be redesigned because it holds the pen to close to the bottom of the bot right now

finished building one module in real life!

finished the pen lifting mechanism, spools still need to be created

The main gantry is done except for the pen lifting mechanism. The spools for the rope still need to be designed as well as the mounts for the end of the rope.

Added drive column for drive gear train which is coaxial to the encoder column which has the magnet for the as5600 to track the module’s rotation. Done with the drive module for now, moving on to the motor mounts!

CAD for a single module done including gear relations. No motors yet