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Thread: Self-erecting, self balancing 'bot

  1. #11
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    Re: Self-erecting, self balancing 'bot

    I always assume that "slim margins" can suddenly turn into "no margins" - and then the magic smoke gets released.

    Weight is not a problem, and I'm not planning to make 100M of these, so a bit of over-engineering won't hurt. I'm planning to use Pololu drivers rated at 1.5A w/o fan or heatsink, and .4A steppers, so I'm not super worried about heat. On the other hand, a small fan and light-weight shrouding can turn a minor "probably not a problem" into a "not a problem at all".

    I just can't yet judge the heat issue...

    I may be over-thinking this...

  2. #12

    Re: Self-erecting, self balancing 'bot

    1.5A driver, 0.4A stepper, should not need a fan!
    And, the less that can fail, the fewer Murphy moments you will have ...

  3. #13
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    Re: Self-erecting, self balancing 'bot

    Ok! Fan-less it is!

    I may stick on a small heat-sink while no one is looking!

  4. #14
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    Re: Self-erecting, self balancing 'bot

    Click image for larger version. 

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    Metalwork arrived. My Maker buddy with his CNC equipment, and a can of black spray paint, does a very nice, tight job!

    The Teensy 3.2 - based PC board has just gone out for fab. Features include: Dynamixel driver, XBee interface, lots of LEDs, battery voltage-sensing & mosfet power control (it can turn itself completely off), stepper interfaces, and a separate console interface for logging.

    I have the MPU interface working. While I'm waiting for the PC boards I'm going to start to work on the stepper functions.

    Fun!

  5. #15

    Re: Self-erecting, self balancing 'bot

    Putting all the holes in the correct locations is a lot easier with some CNC help :-)

    I'm glad you have the MOSFET power control; every time I've "saved time" by not adding that, I've ended up "losing batteries" by forgetting to manually turn it off when something interrupts me. So, good for you!

  6. #16
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    Re: Self-erecting, self balancing 'bot

    I learned to protect the battery here on this site!

    I went a little crazy with voltage sensing, single-button off/on, & power control. I think next time I'm going to devote some time to using an Amtel microcontroller for this function. I lost a ton of board space to resistors and steering diodes for this. But it was fun! There's such a close line between developing hardware and developing software - it's all logic!

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