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    Tomi Ade
    1d

    Trouble Uploading to Nyboard - stk500_recv(): programmer is not responding

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    Phillip Brush
    4d

    On Definition Rule Issues

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    Struzck
    2021年4月28日

    pyBittle, Open Source library to connect and control Bittle

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    Brett Beers
    2019年11月12日

    Nybble leans right after loading main Nybble.ino sketch

    在 Basic Assembly and Setup

    With writeinstinct.ino sketch loaded I calibrated joints, updated instincts, and calibrated the MPU6050 with no problems. When entering commands into the serial monitor all positions work and run great; sit, walk, rest and kbalance stands level with head and tail straight.

    The problem accrues after loading the main Nybble.ino sketch. Nybble works great with the remote control but on the balance command the body of Nybble leans to the right, the tail moves to the right of center and the head tilts down and to the right. The walking goes to the right quite a bit when testing with writeinstinct.ino loaded. The other positions look "true" when sitting, pushups, rest, butt up etc..

    Also with Nybble in balance/standing position when pushing and or tilting Nybble to the right or left the right side goes over very easily while the left side has a more notable resistance when pushing over. It falls/leans easier to the right side and never will fall over to the left side. Front and back tilt work good with legs moving into the underbody position.

    No amount of calibrating the MPU6050 or servo angle adjustment has corrected this behavior. I have calibrated more than several times, even switched servos leg assemblies, looking for a really weak servo(s), to the other side but with no better results. I noticed when running the calibration for the MPU6050 in the serial monitor waiting for the "6 numbers", it has more than once brought up only 5 lines of numbers on the completed MPU test and the test at times took over 25 lines of numbers printed out in the serial monitor before the MPU testing was finished. ( lines of numbers like this; " -1390 2206 999 100 -8 8 " )

    Is it possible that the MPU6050 gyro/accelerometer is failing ??

    The NyBoard Version is V0_1 mounted servo wires side down with the FTDI connector to the rear of the cat and have been using 2 sets of EBL 14500 fully charge batteries. I have not modified the NyBoard to "Pro Version" as like on the forums.

    So far its been fun, Thank You for the great kit Rongzhong & Team Members!


    Any help would be greatly appreciated !

    5 則留言
    0
    5 則留言
    R
    Rongzhong Li
    2019年11月28日

    Hi, I just realized that ypr(yaw, pitch, roll) was declared in radian, not degrees. That means, for 1 degree, you need to use 3.1415/180. So use:

    ypr[2] += 3.1415*offset/180.0;

    where offset is still some small value between -5~5.


    按讚

    R
    Rongzhong Li
    2019年11月26日

    Hi,

    The adaption pattern:

    lean more to the left when pushed to left

    is correct. The reason is discussed in this post ->problem 3.


    However the neutral position of the sensor seems off to the right. Try to compensate the offset by adding this line in Nybble.ino.

    Replace offset with a small angle between -5 ~ 5 degrees


    按讚
    Brett Beers
    2019年11月26日
    回覆

    Hello Rangzhong,


    Just a heads up your working with a rookie in coding now...….

    Working on not being level at "kbalance", if I did this correctly I entered the new line code below the same code line in my Nybble.ino sketch. After loading the Cat will work correctly with the "d" dead and "c" calibration commands. With "kbalance" or any other command the cat will take that position but also the left front leg will pull tight into the body with the other legs jumping back and forth then falls over to the left. I entered the degrees starting from -5 to 5 by 2 numbers at time (-5, -3, -1, 1, 3 up to 5) with reloading sketch each time. Trying "kbalnce" each time but still same reaction also had to enter "d" dead command to stop cat from jerking around. I never saw the cat level out under "kbalance" but cat moves so fast when entering this command before the jumping legs movement it was hard to tell.

    When entering positive numbers I left a one space between the equal sign and number when removing the negative sig

    A picture is below with the code line in yellow I was working on.



    I have a couple of questions about the "Adaption Pattern" that was marked in the above post on Problem #3 but I'll wait till this "kblance" problem is done which my help the "Adaption Problem" I was having at the same time.


    Thanks for your time!


    按讚

    Brett Beers
    2019年11月26日

    Hi Rongzhong,

    I apologize for delay just took NyBoard out the night before.

    I took some pictures best view from above hard to get a good edge view of MPU6050 board.

    When looking at blue MPU it is twisted to the right(clockwise).

    Level to the NyBoard,..... if measured at the corners of the blue MPU6050 all measurements are equal from the surface of the white NyBoard itself. Parallel to the white NyBoard.

    Here are some pictures to help....I hope.