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Really did a last minute rush to complete it, although very much scaled down in term of operation from what i originally envision The bot with power bank to power up the Nucleo, load cell and Hx711 based board that utilize the load cell FX1901 the board is SEN0160 load cell FX1901 is mount in front of the scissor to sense any grass (hitting a big enough weed will give a reading to load cell) The load cell is glued to an ice cream stick to extend it all the way up to the end. And a shampo ...
The sensortile website at https://www.st.com/content/st_com/en/campaigns/sensortile-edu.html  provides wealth of information though somewhat confusing (e.g in the curriculum tutorial suddently it has Linux based beaglebone)   Anyhow, we follow the tutorial Note: out of box, the SensorTile is using https://www.st.com/en/embedded-software/fp-sns-allmems1.html , so we want to revert to it out of box state, that enable the SensorTile to be connected to phone, we should revert to using t ...
So we have been making slow but steady progress with our inspection system. Since this marks our completion of ten blog posts, we decided to do a brief review of what we have accomplished so far and all that is left to be done. We set out with the intention of improving the current state of the art in industrial inspection systems, but as we moved forward, we found it better to focus more specifically towards catering to the oil and gas industry. This was spurred on by positive interest from som ...
  GraffitiBot is a fully autonomous ground vehicle capable of printing graphics on the surface it is traversing. This crude attempt artistic rendering at writing "E14" demonstrates what the GraffitiBot accomplished on the last day. Update The challenge has ended, but I did not stop experimenting with the GraffitiBot. As shown above, the bot spays too much fluid and drips where it shouldn't. I had ordered some syringe dispenser needles to achieve more precise nozzle flow, but they did no ...
Well - it is the last day of this marathon design challenge and everything pretty much needs to go flawlessly to produce actual graffiti. But of course a lot of things are not going right. All the subsystems have been tested and are working well, but the bot is just making puddles. I thought the nozzles would be problematic, but the main drive is not running properly, so put on the troubleshooting hat and dive in. It looked like the batteries were dying, so take some time and charge them up. Sti ...
1.     Final Modifications 2.     Summary 3.     The Initial Aim 4.     What I Have Achieved and Learned 4.1     My First Mobile Project 4.2     The Drive Train 4.3     A Real STM32CubeMX Project 4.4     The SensorTile and UART 4.5     Stepper Motor Control 4.6    Making ...
My previous blog is kinda long, so i put the motor control outcome in this blog instead   after verifying that the nucleo bot is producing PWM and DIR signal, i test it on the robot. The nucleo is powered up with the always on powerbank, whereas the bot is powered up with NiMH battery   It is moving but not to my expectation. I have being expecting both the left and right motor to be turned on at the same time   explanation to be continued..... ...
MBED maintains all the supported board programming reference at https://os.mbed.com/platforms/   For our board, F411RE, it can be referred at https://os.mbed.com/platforms/st-nucleo-f411RE/ i copy some of the essence here Converting from Arduino The Nucleo-F411RE has arduino compatible pinout. However, to use some of library created orginally for Arduino, we need to do some conversion from the arduino code to MBED. When naming the pin, it is best to use the pin name under "MCU pin ...
NOTE: i actually forgotten about this #9 blog so only post it today, few weeks after i initially work on it my blog 12 is the coding sequel to this   Introduction There are multiple IDEs that can be used with the Nucleo-64 STM32F411   Today, i try with the MBED. It is cloud based and free. After logging in to your developer console, one need to select the supported board. I add the STM32F411 and choose to create a new hello world example....in this case the LED blinking. Screensho ...
The GraffitiBot is now fully functional for printing graffiti although there is still a lot of room for improvement of the print head nozzles.  It took quite a bit of work to get the hoses to curl properly without kinking. The kinks were making it difficult to purge air bubbles from the hoses. It was also very difficult to get each individual nozzle to be clear and smooth. The pores are so small, any tiny whisker of plastic completely messes up the output. I have some tiny drills, but they ...
1.     Aim 2.     Product Details 2.1     KMT32B Magnetic Sensor 2.2     Mounting the TE Connectivity KMT32B Magnetic Sensor 2.3     Sensor Mounted - Ready to Experiment 3.    Testing and Results 3.1     Preliminary Tests 3.2     My 'Planned' Instrumentation Amplifier 3.3     My Actual Instrume ...
Due to really lack of time, rush out this simple motorized scissor first, i cut out a L shaped holder from old table calendar cardboard. it is hard enough and easier to work with After that, i glue the scissor to the L-shape holder. well i could have attached it with screw, but...to save time, glue is useful And this is the video that it is in operation. i do find that it needs at least 5V to operate properly. At 3V, it cannot move From the power supply, we can also see that it needs 0.3 ...
We used iNav for the purpose of flight planning. This blog post is a summary of what we learned about iNav, why we decided to use this and how we planned to implement it.   Designed primarily for racing iNAv runs on the flight controller and helps the device fly faster with more control.One of the required features was modern GPS flight modes, so we could have solid GPS Hold (where it sits in the sky) and GPS Return to Home (where it flies back to us automatically) as well as improved fail ...
time flies, and soon it is deadline for contest. today i am assembling the 'weapon' of the robot, the motorized scissor. First, i want to choose a suitable motor to drive the scissor i dig from my collection and found this Tamiya motor set, and assemble it with 4:1 ratio Then we do a simple test with power supply, driving both motor at 3V (low enough so that i can directly drive it from the Nucleo 64 later http://vt.tiktok.com/JF5WPP/  << the link of the motor testing   & ...
This is a big day - the GraffitiBot made its maiden voyage! This was just the first attempt at programming an autonomous route that would test the steering and the main drive. It is literally a dry run, there are no pumps or even reservoir on board. I could spend some time to make it look more impressive and get some better camera angles, but I need to start working on the hydraulics - the nozzles need a lot of work, not to mention the software. Getting this far has taken a lot of work, bu ...
I have finally managed to wire up the motor controllers to the MCU. Here is a video showing what it looks like: Next I will try to program the MCU to run the steering and drive motors in a simple autonomous route. There is nothing like trying to make a full system run properly in one day while avoiding catastrophic errors, but what is life without a little drama....   Relevant Links Sixth Sense Design Challenge: About This Challenge Sixth Sense Design Challenge: Technical Documents Sixth ...
In January, we decided to make our own Flight Controller, with the objective that it to be easier to tweak and customize it. However, we came to a standstill because of a few bugs in the code and compatibility issues. We tried to make an Arduino based flight controller but it didn’t come to fruition as there were some problems with the IMU(Inertial Measuring Unit - MPU-6050). We succeeded in rectifying the issue but still, there were some left with the Transmitter - Receiver coupling.  ...
While one part of the team was busy working on assembling the drone and customizing the code for the FC, another part of the team was brainstorming on how the drone could be made more robust, with our initial objective in mind: to use drones for tunnel vision. Apart from working on the structural integrity of the drone using Ansys, subjecting it to stress, wind pressure etc., fireproofing was an area that we felt work was needed upon.  We were in touch with a few people working in the oil a ...
This post is written to give a step-by-step description of how we will be implementing IR sensors and thermal imaging in our project.   The potential uses for infrared sensors, especially in cameras, are vast and include search and rescue, surveillance, crop and forest health, pipeline inspection, leak detection etc., depending upon the precision of the sensor. Infrared is not visible to the human eyes but one can probably feel it sometimes as radiated heat when its intensity is high. A t ...
Recently we have been working on the STM-32 Nucleo 64 development board. Firstly, we tried to use it as our Flight Controller replacing our older Flight Controller that was purely Arduino based. There were various reasons for our inclination towards STM-32 Nucleo 64 over Arduino UNO. The main reasons included its higher flash memory(64 KB) compared to an Arduino Uno (32KB). Also, STM 32 uses a lot less power than most of the boards with these specifications which is an essential requirement for ...
Another eventful week - most of it spent in Washington, has made the rest of the week ultra busy. The challenge deadline is looming and the mechanical design really needs to get done so I can start wiring everything up. The design of the front end and the chassis turned out to be quite complex, partly because there are limits to what a 3D printer can do and I always try to print without any support structure. Here is a video of the CAD models: Unfortunately my CAD software cannot animate the ...
1.     Aim 2.     The New Motor Drive 3.     TE Connectivity Load Cell: Product Characteristics 4.     Approach - Signal Conditioning Circuit 5.      Results 6.     Summary 7.     Next Blog 1.     Aim I had planned on all of this blog #9 being dedicated to using the TE Connectivity Load Cell but in blog # ...
If you’re following our previous posts, you might know that we are trying to implement Computer Vision in our Drone Inspection System. Although we have a model ready and trained, there is an issue with the credibility of the same. The model is trained on concrete crack images while we are trying to implement the model on pipe cracks. Both are different in a sense that cracks in pipes will be on a curved surface whereas the training set has all the images with cracks on flat surfaces. This ...
1.     Aims 2.     Code to Make R2B4 Move 3.    The Code, Functions and Hardware Operation 3.1     Navigation 3.2  Getting TE Sensor (KMT32B) into Nucleo 3.3.     Driving the motor from Nucleo 3.4    R2B4 Kind of Worked (for a while) 4.     What Next ? 1.     Aims I wanted to merge the HAL code from my working ...
The PTF Series PTFM101C1G0 RTD from TE Connectivity is a platinum RTD making it very stable and accurate and it is tiny as shown in a previous blog, allowing it to respond quickly to temperature changes. Although the Nucleo MCU has a 12 bit A/D converter, I wanted to implement an RTD interface with even higher accuracy. I chose a Maxim MAX31865 chip which is specially designed to handle RTDs with its internal 15 bit A/D converter. This chip has an SPI interface and is mounted on a small circuit ...
This update explains how my pump controller circuit card was modified to allow it to control the steering motor and the main drive motor. The steering motor needs to be able to reverse, so the unipolar outputs needed to be altered to work as an H-bridge. This required replacing 2 N-channel FETs with P-channel FETs and tying some drains together. The FETs are individually controllable via software, so high current shoot-through can be avoided by turning off one direction before turning on the ot ...
As i was testing nucleo64 in mbed notice that some arduino pin convention needs to be changed for example, the pinMode in arduino need to be updated pinMode(_pin1, OUTPUT)  ---> reconfigured as DigitalOut i am wondering if there is any tutorial documentation that shows how to do conversion to MBED, listing every compatible command in arduino ide to what we have in MBED   Nonetheless, few days ago i tested with a MCU that uses the arduino IDE instead. Each of motor driver can be dri ...
1.     Aims 2.     Data From SensorTile Cradle Expansion 3.     The Way Ahead is Clear(er) 3.1     The STM32F411RE-Nucleo 3.2     Reading the UART 3.3     System Code Design 4.     Things To Do 5.     What For Blog #8 1.     Aims In the last blog I formulated a plan to get the SensorTil ...
Following yesterday blog, i have left my battery charging overnight. Today, when i measure its voltage with my Sanwa CD800a it reads 8.4V, surprisingly higher than my expectation.   So i bring it out for testing on the grass and it runs   Next step is how to connect the nucleo64 board to this 13A motor driver board. ...
This week turned out to be a stubborn, frustrating struggle to get the drive motors under computer control. The libraries for the MiniMoto controllers I had purchased didn't work - the example wouldn't even compile. It was developed on an older version of the arduino IDE, so maybe that explains it, but I spent a lot of hours trying to get it working. Eventually, I decided to use my own motor controller card (that I had designed to control pump motors). All I had to do was assemble a second card, ...
Following from yesterday post, today i try to connect my bench top power supply to the 13A motor driver to test it   i first tested with a single motor, then i realize that i can just chain two motor together. The objective is just to test these   1) test setup: 1 motor, 12V i am astonished to find though my motor is rated 12V, the original chasis only use 7.2V to drive it. i don't see that there is a DC-DC converter is used to boost the voltage up to 12V either this is a simple no ...
Introduction: The SensorTile is a tiny, square-shaped IoT module that packs powerful processing capabilities leveraging an 80 MHz STM32L476JGY microcontroller and Bluetooth low energy connectivity based on BlueNRG-MS network processor as well as a wide spectrum of motion and environmental MEMS sensors, including a digital microphone. It is complemented with software, firmware libraries and tools, including a dedicated mobile App. Included in the development kit package: SensorTile module (STEV ...
wow, time flies, i realize i haven't posted anything for 1 months plus. This post is a relatively short post   i was out for oversea trip for 2 weeks, also another 1 week for Chinese New Year holidays, nonetheless over the last one month, i have look at trying to build my motor driver circuit with MOSFET i got some IPT60R028G7 infineon COOLMOS high current MOSFET, which is capable of 75A continuous drain current and an optocoupler TLP521-4   i then research on some home DIY PCB maki ...