Showroom FlyPT - 6DOF Brushless DIY Actuators

Flymen · Nov 15, 2019

Hi ,
Do you know why I have this error:
Thank!

BlazinH · Nov 15, 2019

I believe your programmer is missing a required library but I'm not familiar with ESP code.

pmvcda · Nov 15, 2019

Flymen said: ↑

Hi ,
Do you know why I have this error:
Thank!
67000
Click to expand...

You are compiling for Uno (bottom right corner).
Change back to ESP32

Flymen · Nov 19, 2019

Hi , ( sorry the video is 90 degres left)
Some news ! with 3 actuators H1 and H3 swapped

If I want feedback on the serial monitor of the Arduino IDE, you have to change this to 500000 in the defines .. I did that but see pic … Thanks for your time !

Flymen · Nov 19, 2019

ok I found the solution !
With 115200 baud , Do you have the same minimum and maximum number ? ( Minumum + 816 and Maximum , - 816 total = 1632 but if I repeat this again , it's between 816 +/- 3 Thanks .

pmvcda · Nov 19, 2019

Flymen said: ↑

ok I found the solution !
With 115200 baud , Do you have the same minimum and maximum number ? ( Minumum + 816 and Maximum , - 816 total = 1632 but if I repeat this again , it's between 816 +/- 3 Thanks .
Click to expand...

Seems Ok,

Might have mixed up the serial speed, but I think I'm able to connect @ 500000 and see the data in the serial monitor.
When the ESP32 starts, it uses 115200 by default and the start message is sent to the serial monitor at that speed.
So if you set the serial monitor to 500000, the start message appears scrambled.
But after setting the speed in the sketch code, it should be normal if it matches the speed in the serial monitor.
You need to be sure the sketch as the same speed of the serial monitor.

The limits you have are different from mine, but it has to do with the actuator construction.
Difference between calibrations is also normal. The switches produce this error and it depends on the calibration speed.

Test it with Mover to see it working. Looks good.

Edit: Try different calibration speeds. Just to test if speed is send correctly and it's working as it should. Seems a bit fast for calibration.

vicborder · Nov 19, 2019

pmvcda said: ↑

Before reading everything here, just a short info:

Godofredo Job

Hi,

First time posting, but sneaking for a long long time (sorry for some English errors I might post).
So some of the guys here are guilty! Yes, I started to build a 6DOF motion simulator with DIY actuators.
SeatTimes, SilentChill and some others, you are an inspiration.
I think my wife hates you guys...

So, for some years I've been looking at motion sims, but since my desire was always cars and air planes, I always thought that less than 6DOF would kill the aircraft experience (probably I'm wrong).
But now with so many 6DOF builds, specially with actuators, I though it's the time to start my build.

Well it already started some months ago, but free time is always a problem.
I will make some posts to put at the start of this thread the current project development.
I will make the following topics:
-Videos and photos (latest images and videos of the construction)
-Parts (list of all parts, and where I got them)
-Plans (drawings, schematics and 3D printed parts files)
-Software (software used, setups and code developed for this project)

So let's start! Hope my project can help others. And let's hope I can make it.

(FlyPT is the user I usually use in other forums, but I had it banned here, probably because I was not active for a long time?)
Click to expand...

Flymen · Nov 20, 2019

pmvcda said: ↑

@Flymen ,

Here's the new code:

Code:

// ================================
// DIY 6DOF Motion Sim by FlyPT
// Version: 11.0.is from 27-10-2019
// Internal PID calculation
// ================================
// SimTools2 ESP32 code to control up to 3 actuators
// Actuators use brushless motors controlled by BLDC8015A drivers
// The BLDC8015A receives speed and direction in separated pins
// Position is obtained from internall hall sensors


// ===========================
// Serial output configuration
// ===========================
// Interface Type: Serial
// ComPort: The one used by your ESP32
// BitsPerSec: 921600 - If you want feedback on the serial monitor of the Arduino IDE, you have to change this to 500000 in the defines
// Data Bits: 8
// Parity: None
// Stop Bits: 1
// Bit Range: 15
// Type: Binary
// Interface string format: <255><255><Axis1a><Axis2a><Axis3a>
/// Output Rate: Can be down to 1 ms


// ===============
// PID calculation
// ===============
// PID calculation is performed in the ESP32
// In the PID calculation, we are calculating the speed that we want for the actuator.
// We have a pretended position and a current position of the actuator and speed is calculated depending on those values.
// Speed can be from -255 to 255, where negative speed is actuator going down and positive going up.
// Values beyond this range are cropped.
// Define each parameter PID in the defines, where:
// P is the proportional part. The amount of P depends on  the distance


// =======
// Defines
// =======
#define P 256                   // Proportional
#define I 0                     // Integral
#define D 256                   // Diferential
#define SERIAL_SPEED 921600     // Define to set up the serial speed comunication
#define CALIBRATION_SPEED 50    // Speed used to search for minimum and maximum values (0 to 255) if calibration is to fast or to slow, adjust this value
#define MAXIMUM_BIT_VALUE 32767 // Size of position values received (15 bits, above this, we use it to send other controls/requests besides position)
#define UP HIGH                 // Define to set up direction as HIGH
#define DOWN LOW                // Define to set down direction as LOW
#define PWM_RESOLUTION 8        // 0 to 255
#define PWM_FREQUENCY 1000      // The 8015A accepts up to 1 KHz
#define LIMITS_PIN 0            // Array index of pin to capture position from pot wich defines the limits
#define HALL_1_PIN 1            // Array index of pin used for hall 1 interrupt
#define HALL_2_PIN 2            // Array index of pin used for hall 2 interrupt
#define HALL_3_PIN 3            // Array index of pin used for hall 3 interrupt
#define LAST_ANGLE 4            // Array index of last angle that was detected
#define LAST_SUM 5              // Array index of last sum to know last direction it took
#define DIRECTION_PIN 6         // Array index of Pin to se direction
#define SPEED_PIN 7             // Array index of Pin to set speed with PWM
#define PWM_CHANNEL 8           // Array index of channel used to generate PWM
#define MINIMUM_POSITION 9      // Array index of minimum position
#define MAXIMUM_POSITION 10     // Array index of maximum position
#define CURRENT_POSITION 11     // Array index of current position
#define PRETENDED_POSITION 12   // Array index of pretended position
#define P_PID 13                // Array index of P from PID
#define I_PID 14                // Array index of I from PID
#define D_PID 15                // Array index of D from PID
#define INTEGRATED_ERROR 16     // Array index of sum of differences between pretended and current position
#define LAST_ERROR 17           // Array index of last difference between pretended and current position
#define SPEED 18                // Array index of speed of motor rotation
#define FOUND 19                // Array index of foud, used for in actuator calibration
#define NUMBERACTUATORS 3       // Number of actuators (for one board, please don't change, current code does not support less than 3 actuators. To use less, just disconnect them at hardware level)


// ======================
// Actuators information:
// ======================
// 0  - LIMITS_PIN          - Pin to capture position from pot
// 1  - HALL_1_PIN          - Pin used for hall 1 interrupt
// 2  - HALL_2_PIN          - Pin used for hall 2 interrupt
// 3  - HALL_3_PIN          - Pin used for hall 3 interrupt
// 4  - LAST_ANGLE          - Last angle that was detected
// 5  - LAST_SUM            - Last sum to know last direction it took
// 6  - DIRECTION_PIN       - Pin to se direction
// 7  - SPEED_PIN           - Pin to set speed with PWM
// 8  - PWM_CHANNEL         - Channel used to generate PWM
// 9  - MINIMUM_POSITION    - Minimum position
// 10 - MAXIMUM_POSITION    - Maximum position
// 11 - CURRENT_POSITION    - Current position
// 12 - PRETENDED_POSITION  - Pretended position
// 13 - P_PID               - P from PID
// 14 - I_PID               - I from PID
// 15 - D_PID               - D from PID
// 16 - INTEGRATED_ERROR    - Sum of differences between pretended and current position
// 17 - LAST_ERROR          - Last difference between pretended and current position
// 18 - SPEED               - Speed of motor rotation
// 19 - FOUND               - Used as help for calibraion
static int actuator[3][20] = {
//  00  01  02  03  04  05  06  07  08  09  10  11  12  13  14  15  16  17  18  19
  {  4, 27, 26, 25,  5,  0, 32, 33,  0, -1, -1,  0,  0,  P,  I,  D,  0,  0,  0,  0 },  // Actuator 1
  { 36, 35, 34, 39,  5,  0, 18,  5,  1, -1, -1,  0,  0,  P,  I,  D,  0,  0,  0,  0 },  // Actuator 2
  { 15, 23, 22, 21,  5,  0, 19, 17,  2, -1, -1,  0,  0,  P,  I,  D,  0,  0,  0,  0 }   // Actuator 3
};


// =======================================
// Variables for info received from serial
// =======================================
static int bufferPrevious = 0;      // To hold previous read fom serial command
static int bufferCurrent = 0;       // To hold current read fom serial command
static int bufferCount = 0;         // To hold current position in bufferCommand array
static int bufferCommand[6] = {0};  // To hold received info from serial


// ===========================================================================
// Variables used in PID calculation to avoid repeated definitions in the loop
// ===========================================================================
static int limitValue = 1023;
static int error = 0;
static int p = 0;
static int i = 0;
static int d = 0;


// ========================================================
// Array used to calculate motor position from hall sensors
// ========================================================
// Maps to get increment off position from comparing previous hall sensor state with current state
// In the table, vertical is the new value, horizontal is the old one
// Stores for 0 and 7, althought they should not ocurr, digital read might get them. They are ignored with zero change.
// State sequence going up
// 5=101
// 1=001
// 3=011
// 2=010
// 6=110
// 4=100
// First index for new state, second for old state ([new][old])
static int stepUp[8][8] = {
  {  0,  0,  0,  0,  0,  0,  0,  0},
  {  0,  0, -2, -1,  2,  1,  3,  0},
  {  0,  2,  0,  1, -2,  3, -1,  0},
  {  0,  1, -1,  0,  3,  2, -2,  0},
  {  0, -2,  2,  3,  0, -1,  1,  0},
  {  0, -1,  3, -2,  1,  0,  2,  0},
  {  0,  3,  1,  2, -1, -2,  0,  0},
  {  0,  0,  0,  0,  0,  0,  0,  0}
};
static int stepDown[8][8] = {
  {  0,  0,  0,  0,  0,  0,  0,  0},
  {  0,  0, -2, -1,  2,  1, -3,  0},
  {  0,  2,  0,  1, -2, -3, -1,  0},
  {  0,  1, -1,  0, -3,  2, -2,  0},
  {  0, -2,  2, -3,  0, -1,  1,  0},
  {  0, -1, -3, -2,  1,  0,  2,  0},
  {  0, -3,  1,  2, -1, -2,  0,  0},
  {  0,  0,  0,  0,  0,  0,  0,  0}
};


// ==============
// Initialization
// ==============
void setup()
{
  // Disable watchdog in both processors
  disableCore0WDT();
  disableCore1WDT();

  // Setup serial communication
  Serial.begin(SERIAL_SPEED, SERIAL_8N1);

  // Initialize
  for (int n = 0; n < NUMBERACTUATORS; n++)
  {
    // Initialize pins
    pinMode(actuator[n][LIMITS_PIN], INPUT);
    pinMode(actuator[n][HALL_1_PIN], INPUT);
    pinMode(actuator[n][HALL_2_PIN], INPUT);
    pinMode(actuator[n][HALL_3_PIN], INPUT);
    pinMode(actuator[n][DIRECTION_PIN], OUTPUT);
    pinMode(actuator[n][SPEED_PIN], OUTPUT);

    // Setup PWM
    ledcSetup(actuator[n][PWM_CHANNEL], PWM_FREQUENCY, PWM_RESOLUTION);
    ledcAttachPin(actuator[n][SPEED_PIN], actuator[n][PWM_CHANNEL]);
    ledcWrite(actuator[n][PWM_CHANNEL], 0);
  }

  // Create thread that gets position from hall sensors to run in the core 0
  // It will run in paralell with the main loop that uses core 1 by default
  xTaskCreatePinnedToCore(
    TaskUpdatePositions,  // Task function
    "UpdatePositions",    // Name
    10000,                // Stack size
    NULL,                 // Task input parameter
    1,                    // Priority of the task
    NULL,                 // Task handle
    0);                   // Core

  // Initialize pin to light up onboard led and blink for 5 seconds before starting calibration
  pinMode(2, OUTPUT);
  for (byte n = 5; n > 0; n--)
  {
    delay(500);
    digitalWrite(2, HIGH);
    delay(500);
    digitalWrite(2, LOW);
  }
  digitalWrite(2, LOW);
 
  // Calibrate actuators, searching for minimums and maximums
  calibrate();
 
  // Put actuators in the minimum after calibration (for easy access to the rig)
  for (int n = 0; n < NUMBERACTUATORS; n++) actuator[n][PRETENDED_POSITION] = actuator[n][MINIMUM_POSITION];
}


// =========
// Calibrate
// =========
void calibrate()
{
  // Move all actuators to maximum
  // =============================
  for (int n = 0; n < NUMBERACTUATORS; n++)
  {
    digitalWrite (actuator[n][DIRECTION_PIN], UP);
    ledcWrite(actuator[n][PWM_CHANNEL], CALIBRATION_SPEED);
    actuator[n][FOUND] = false;
  }
  int found = 0;
  while (found < NUMBERACTUATORS)
  {
    for (int n = 0; n < NUMBERACTUATORS; n++)
    {
      // Read limit switch position (we are looking for big value 4095)
      // We read more than one time to be sure (4 times in this case)
      if (!actuator[n][FOUND] && (analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN])) / 4 >= 4095)
      {
        ledcWrite(actuator[n][PWM_CHANNEL], 0);
        actuator[n][CURRENT_POSITION] = 0;
        actuator[n][FOUND] = true;
        found++;
      }
    }
  }
  // Move all actuators to minimum
  // =============================
  for (int n = 0; n < NUMBERACTUATORS; n++)
  {
    digitalWrite (actuator[n][DIRECTION_PIN], DOWN);
    ledcWrite(actuator[n][PWM_CHANNEL], CALIBRATION_SPEED);
    actuator[n][FOUND] = false;
  }
  found = 0;
  while (found < NUMBERACTUATORS)
  {
    for (int n = 0; n < NUMBERACTUATORS; n++)
    {
      // Read limit switch position (we are looking for zero)
      if (!actuator[n][FOUND] && (analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN])) <= 0)
      {
        ledcWrite(actuator[n][PWM_CHANNEL], 0);
        actuator[n][MAXIMUM_POSITION] = -actuator[n][CURRENT_POSITION] / 2;
        actuator[n][MINIMUM_POSITION] = -actuator[n][MAXIMUM_POSITION];
        actuator[n][CURRENT_POSITION] = actuator[n][MINIMUM_POSITION];
        actuator[n][FOUND] = true;
        found++;

        // Send info to serial monitor for debug (use 500000 in serial speed to work with the Arduino IDE)
        Serial.println();
        Serial.print("Actuator ");
        Serial.print(n);
        Serial.print(":  Minimum=");
        Serial.print(actuator[n][MINIMUM_POSITION]);
        Serial.print("  Maximum=");
        Serial.println(actuator[n][MAXIMUM_POSITION]);
      }
    }
  }
}


// ======================
// Update actuator action
// ======================
// Here we calculate the PID depending of desired vs current position and send respective signal to motor controller
void updateActuatorSpeed(byte n)
{
  // Calculate PID
  // =============
  error = actuator[n][PRETENDED_POSITION] - actuator[n][CURRENT_POSITION];
  actuator[n][INTEGRATED_ERROR] += error;
  p = actuator[n][P_PID] * error;
  i = actuator[n][I_PID] * constrain(actuator[n][INTEGRATED_ERROR], -255, 255);
  d = actuator[n][D_PID] * (error - actuator[n][LAST_ERROR]);
  actuator[n][LAST_ERROR] = error;
  actuator[n][SPEED] = FlyPT_Constrain((p + i + d) >> 8, -255, 255); // 2 4 8 16 32 64 128 256 Divide by 256
 
  // Apply changes to motor controller
  // =================================
  if (actuator[n][SPEED] > 0)
  {
    ledcWrite(actuator[n][PWM_CHANNEL], actuator[n][SPEED]);
    digitalWrite (actuator[n][DIRECTION_PIN], UP);
  }
  else
  {
    ledcWrite(actuator[n][PWM_CHANNEL], -actuator[n][SPEED]);
    digitalWrite (actuator[n][DIRECTION_PIN], DOWN);
  }
 
  // Check limits
  // ============
  // Adjust position if minimum or maximum switch is activated in case of a drift in position calculation
  limitValue = (analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN]) + analogRead(actuator[n][LIMITS_PIN])) >> 2;
  // If they are actuated, recalibrate position
  if (limitValue >= 4095) actuator[n][CURRENT_POSITION] = actuator[n][MAXIMUM_POSITION]; // We are at maximum position
  else if (limitValue <= 0) actuator[n][CURRENT_POSITION] = actuator[n][MINIMUM_POSITION]; // We are at minimum position
}


// ======================================================
// Replacement for constrain function (seems to be buggy)
// ======================================================
int FlyPT_Constrain(int value, int low, int high)
{
  return (value < low) ? low : (value > high) ? high : value;
}


// ====================================
// Update current position of actuators
// ====================================
void updateCurrentPosition(byte n)
{
  int angle = digitalRead(actuator[n][HALL_1_PIN]) * 4 + digitalRead(actuator[n][HALL_2_PIN]) * 2 + digitalRead(actuator[n][HALL_3_PIN]);
  if (actuator[n][LAST_SUM] > 0) actuator[n][LAST_SUM] = stepUp[angle][actuator[n][LAST_ANGLE]];
  else actuator[n][LAST_SUM] = stepDown[angle][actuator[n][LAST_ANGLE]];
  actuator[n][LAST_ANGLE] = angle;
  actuator[n][CURRENT_POSITION] += actuator[n][LAST_SUM];
}


// ===========================
// Main loop running on core 1
// ===========================
// Here we get the simtools commands and make the actuator move
void loop()
{
  if (Serial.available())
  {
    bufferPrevious = bufferCurrent; // Store previous byte
    bufferCurrent = Serial.read(); // Get the new byte
    bufferCommand[bufferCount] = bufferCurrent; // Put the new byte in the array
    bufferCount++; // Change to next position in the array
    if(bufferCurrent==255 && bufferPrevious==255) bufferCount = 0; // Two 255 in sequence are the start of the position info
    if(bufferCount==6) // Having 6 bytes means we have the 3 positions and that we can update the pretended position
    {
      actuator[0][PRETENDED_POSITION] = map((bufferCommand[0] * 256) + bufferCommand[1], 0, MAXIMUM_BIT_VALUE, actuator[0][MINIMUM_POSITION], actuator[0][MAXIMUM_POSITION]);
      actuator[1][PRETENDED_POSITION] = map((bufferCommand[2] * 256) + bufferCommand[3], 0, MAXIMUM_BIT_VALUE, actuator[1][MINIMUM_POSITION], actuator[1][MAXIMUM_POSITION]);
      actuator[2][PRETENDED_POSITION] = map((bufferCommand[4] * 256) + bufferCommand[5], 0, MAXIMUM_BIT_VALUE, actuator[2][MINIMUM_POSITION], actuator[2][MAXIMUM_POSITION]);
      bufferCount=0;
    }
  }

  // Update orders sent to motor driver
  updateActuatorSpeed(0);
  updateActuatorSpeed(1);
  updateActuatorSpeed(2);
}


// ==============================================
// Update positions thread loop running in core 0
// ==============================================
void TaskUpdatePositions(void * parameter)
{
  while (true)
  {
      updateCurrentPosition(0);
      updateCurrentPosition(1);
      updateCurrentPosition(2);
  }
}

I will update the first posts with this soon

Edit:
In the version designation, i means internal PID calculation and s means limit switches
Serial should be:
BitsPerSec: 921600 - If you want feedback on the serial monitor of the Arduino IDE, you have to change this to 500000 in the defines
Data Bits: 8
Parity: None
Stop Bits: 1
Bit Range: 15
Type: Binary
Interface string format: <255><255><Axis1a><Axis2a><Axis3a>

Click to expand...

Hi , I try but nothing ...missing something ? nothing moves :rolleyes:

BitsPerSec: 921600 = ok
Data Bits: 8= ok
Parity: None = ok
Stop Bits: 1 = ok
Bit Range: 15 = but here ….. where you put this number ?
Type: Binary = ok
Interface string format: <255><255><Axis1a><Axis2a><Axis3a> = ok
Thanks ..

pmvcda · Nov 20, 2019

Flymen said: ↑

Hi , I try but nothing ...missing something ? nothing moves
BitsPerSec: 921600 = ok
Data Bits: 8= ok
Parity: None = ok
Stop Bits: 1 = ok
Bit Range: 15 = but here ….. where you put this number ?
Type: Binary = ok
Interface string format: <255><255><Axis1a><Axis2a><Axis3a> = ok
Thanks ..

67140 67141
Click to expand...

15 bits is set on the rig:

The logic is that the rig as actuators and the actuators are defined by dimensions, but bit range is also something specific to the actuator, not the output.
In essence a rig is a collection off actuators.

Flymen · Nov 21, 2019

pmvcda said: ↑

15 bits is set on the rig:
67152

The logic is that the rig as actuators and the actuators are defined by dimensions, but bit range is also something specific to the actuator, not the output.
In essence a rig is a collection off actuators.
Click to expand...

HI ,
Nothing move again !
I did some test with esp32 like communication and see if everything work good (flash led test with D-15/Gnd) and it's ok
I don't have any idea what wrong now !
Thanks!

pmvcda · Nov 21, 2019

Flymen said: ↑

HI ,
Nothing move again !
I did some test with esp32 like communication and see if everything work good (flash led test with D-15/Gnd) and it's ok
I don't have any idea what wrong now !
Click to expand...

Try to lower speed to 115200, to discard that. Both in the sketch and in Mover or simtools.
Calibration is working?
Are you using Mover? If so, send me the setup file.

Flymen · Nov 21, 2019

pmvcda said: ↑

Try to lower speed to 115200, to discard that. Both in the sketch and in Mover or simtools.
Calibration is working?
Are you using Mover? If so, send me the setup file.
Click to expand...

1- I did that :
Edit: Try different calibration speeds. Just to test if speed is send correctly and it's working as it should. Seems a bit fast for calibration.
CALIBRATION_SPEED 60 // Speed used to search for minimum and maximum values (0 to 255) if calibration is to fast or to slow, adjust this value .
Answer : yes , like 30 it too slow and 60 it little bit faster than you. ( seem like 50 is good for me )
More Info : when the calibration is finish ( actuator down) I have no more power on them , but after , when I put serial outputs * connect * on Flypt Mover 2.7.4 automatically I have power active on each actuators ( they want to go down again ) .

2- Try to lower speed to 115200, to discard that :nothing change

3- Both in the sketch and in Mover or simtools. : I did both and nothing move .
4- Calibration is working? yes, like the last video . and monitor serie ( new test see pic )

5- Are you using Mover? yes , last new version 2.7.4 If so, send me the setup file. ( need more info here ...like setup of Rig and outputs or …?)
Thanks !

pmvcda · Nov 21, 2019

Flymen said: ↑

1- I did that :
Edit: Try different calibration speeds. Just to test if speed is send correctly and it's working as it should. Seems a bit fast for calibration.
CALIBRATION_SPEED 60 // Speed used to search for minimum and maximum values (0 to 255) if calibration is to fast or to slow, adjust this value .
Answer : yes , like 30 it too slow and 60 it little bit faster than you. ( seem like 50 is good for me )
More Info : when the calibration is finish ( actuator down) I have no more power on them , but after , when I put serial outputs * connect * on Flypt Mover 2.7.4 automatically I have power active on each actuators ( they want to go down again ) .

2- Try to lower speed to 115200, to discard that :nothing change
67176

3- Both in the sketch and in Mover or simtools. : I did both and nothing move .
4- Calibration is working? yes, like the last video . and monitor serie ( new test see pic )
67177

5- Are you using Mover? yes , last new version 2.7.4 If so, send me the setup file. ( need more info here ...like setup of Rig and outputs or …?)
Thanks !
Click to expand...

Save the Mover setup to a file and send it so I can see if everything is OK.
For example, in the rig window, you need to check the pose you are using.

pmvcda · Nov 21, 2019

Repeated post.... Sorry

Flymen · Nov 21, 2019

pmvcda said: ↑

Save the Mover setup to a file and send it so I can see if everything is OK.
For example, in the rig window, you need to check the pose you are using.
Click to expand...

Hi,
I don't have access to send you this file .

pmvcda · Nov 21, 2019

Flymen said: ↑

Hi,
I don't have access to send you this file .
67196
Click to expand...

Put it in a zip file before sending it.

pmvcda · Nov 21, 2019

Or, wait, I will send you a file to test.

pmvcda · Nov 21, 2019

@Flymen
Here she is:

Should make the actuators go up and down in a sine wave.
You need to:

Select the port of the ESP32 in the output and try to connect.
Also put the serial speed you have in the sketch.
Also put your rig/actuators dimensions.

Important parts in red:

Flymen · Nov 21, 2019

pmvcda said: ↑

Save the Mover setup to a file and send it so I can see if everything is OK.
For example, in the rig window, you need to check the pose you are using.
Click to expand...

Hi,
I don't access to send you this file .

pmvcda said: ↑

@Flymen
Here she is:

Should make the actuators go up and down in a sine wave.
You need to:

Select the port of the ESP32 in the output and try to connect.
Also put the serial speed you have in the sketch.
Also put your rig/actuators dimensions.

Important parts in red:
67198
Click to expand...

No .. nothing move !

pmvcda · Nov 21, 2019

Flymen said: ↑

Hi,
I don't access to send you this file .

No .. nothing move !
67199
Click to expand...

So, you have the 3D in Mover moving and the output shows values changing?

Are you sure the serial speed is correct?
Should be the same you have in the sketch.

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Showroom FlyPT - 6DOF Brushless DIY Actuators

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BlazinH Well-Known Member

pmvcda aka FlyPT

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Attached Files:

flypt 3a actuator.png

pmvcda aka FlyPT

vicborder Vicborder

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pmvcda aka FlyPT

Flymen Flymen Gold Contributor

pmvcda aka FlyPT

Flymen Flymen Gold Contributor

pmvcda aka FlyPT

pmvcda aka FlyPT

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pmvcda aka FlyPT

pmvcda aka FlyPT

pmvcda aka FlyPT

Attached Files:

Test.zip

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pmvcda aka FlyPT