Self balancing robot- QuadCat

Ok so i finished soldering the stuff on the PCB…i basically was soldering and soldering and soldering…for 3hrs almost 4…ehm anyway now i will code the thing and then let’s see if the PCB works…ah you’re lucky i forgot to post this so you will know if the PCB works…and like yes it works but i have to fix some little problems :)

The PCB has finally arrived so i started soldering the stuff but it’s late rn so i will finsih tomorrow

Ok so bad and good news…i have the laser sensors but i destroyed one a little like he works but the small chip is a little cooked so it reads stuff at only max 7cm of it which could work anyway…the bad news…uhh the PCB is stuck somewhere due to douane stuff so it will arrive in one week for the best so it could arrive in one month(next time i order a PCB somewhere in EU never again in china…sorry jlcpcb or pcbway if you wanted to sponsor me)….anyway now i made the part for my robot leg and it’s currently printing so we will see :D

Hi this is a old thing i have made but because it didn’t sync due to some Hackatime problems i’m posting it today after one week…tho i don’t remember what i did so yeah😅 anyway now i’m gonna model a part in Fusion for my leg and you will know more in the next post!🙃

So as i said i will make my own FOC controller which turned into a blowed up ESP32…jk jk in fact it worked super nicely it actually works! So now just waiting that the PCB arrives and the laser sensors for wall avidance.
and the breakdown of today is: i’m happy
https://youtu.be/9f9dHl2CsRY?si=nJjeVBc7lghW3pOh

Hi guys has been a while since, right? But today i’m back with a new idea for my robot which is adding laser sensors!🌟 For wall avoidance…anyway today i upgraded my PCB to the max fixed all small things that could be a problem and then tried to make the motor spin with simple FOC library but didn’t work 😭yeah didn’t :( after trying to make it work for 4hrs no wait 5hrs i decided that i will make my own thing…we will see in next episode if it will work or not…oh wait i forgot that i managed to make the motors spin without the FOC!!! which was wonderful to see🎉
the code that worked was this one:
void setup() {
ledcAttach(16, 20000, 8);
ledcAttach(17, 20000, 8);
ledcAttach(18, 20000, 8);
pinMode(33, OUTPUT);
digitalWrite(33, HIGH);
}

void loop() {
static int a = 0;
ledcWrite(16, 128 + 100 * sin(a * 0.01));
ledcWrite(17, 128 + 100 * sin(a * 0.01 + 2.09));
ledcWrite(18, 128 + 100 * sin(a * 0.01 + 4.19));
a++;
delayMicroseconds(200);
}
also i have a YT and a VID will drop soon so please be sure to sub, thx:
https://www.youtube.com/@Made-g4u

ok i plugged all and i also changed the voltage of the boost converter and it didn’t blow up so that’s great…and now i’m gonna write some code(claude) to test the motor…uhh just for the final complete code i will write it myself. Also if you want to support more my 💩 projects https://www.youtube.com/@Made-g4u

Updated🛠️ my custom PCB that it fits inside the body. Also next i might fix the model of the body because there are some minor faults that i did. I might maybe retry tomorrow the boost converter with a multimeter that i will buy…uhh yea i don’t have a multimeter😅 anyway if it blows up💥 again😤 after changing the Voltage then the board might have another problem than the Voltage that was wrong…🚮

Made the body, now it will go to the printer lets hope it works. Also i might finish testing the stuff on the bread board next week or in 1-2 weeks. Tomorrow i will make the wheels i think

uhh ok this is nice…idk why but the boost converter blow up after i finished plugging all together, no polarity reverse or stuff i just plugged and then after 2 secs pshh 💥pow big 💨smoke going off…so yeah interesting🤔, i will try to change the V of the boost to 10V and then if my other boost converter blows up💥 again then it must be a cheap, low quality one that i bought…this project is the most unlucky one i’m working on so far😢…wish me luck🙏. Below photo of almost all plugged(without the boost).

prepared stuff that i can start making the main body later because now i wont be at home for some time

I made a part that i forgot to do.

finishing legs for the robot, next have to make the body and other stuff so lets hope the legs work. Btw i blew up my controller 😅 and found out i forgot to buy smth XD

I created my own Dupont wires because yesterday my wiring wasn’t pretty nice and it didn’t work so lets hope it works now! :D btw it’s pretty a mess all these wires

soldering and cliping all on a breadboard, i also printed a holder for the motor that i can test all next will finish clip all and then program it

I’ve made a pcb holder stand that i can weld stuff without headaches. Btw all the parts have arrived so i can continue!

I was making the pcb that i didn’t finish yet i’m taking a little pause of this stupid unresponsive PC and easyEDA. this is the only screenshot i can show you, i have made more but this…PC doesn’t work i can’t do even ctrl+v or take a screenshot

i started fixing the body but then realized that i don’t have the physical parts yet so i don’t know the size of them and if i fix it now then i will maybe need to fix it again so it would be a waste of time. So i will wait that the parts arrive and then continue making the body

I’ve been finalizing the legs a little then looking if it all fits and unfortunately i did some calculation fault somewhere because the body is a little too big like maybe too much. Next i will finish the parts and fix the body size and fix that it’s not all at the front because if you noticed the body is too much at the front so too much weight.

again 3D modeling- almost finished the body

a little of modeling the body

i have been modeling the leg parts and a little the main body

Brainstorming, thinking and a lot of 3D modeling mostly fighting with painful Fusion 360 lolll tired