Showroom FlyPT - 6DOF Brushless DIY Actuators

Yes, bring the questions

Hello @pmvcda , I haven't found any info about state of SW1 dipswitch on the BLDC 8015A controller. The manual says SW1 can be setup to fit motors with different electrical angel. But what options do you use in your ESP32 setup?

SW1 ON 120°or 240°hall signal，they are in opposite rotation direction
SW1 OFF 60°or 300°hall signal, they are in opposite rotation direction

Thanks
Gabor

Hi ,
I don't see a difference , No change always the same ….
Control Specifications of my drive for Switching Frequency is 33 kHz and your is up to 1 kHz ?
I did that but no change : #define PWM_FREQUENCY 33000 ( you = 1000) // The 8015A accepts up to 1 KHz


I lost the light at the end of the tunnel …..
Thanks

Hey,

So here is the first lot of questions. Thanks in advance.

So I'm copying this design however I'm using the BLDC 8015A + 57BLF03 so hopefully not too different. Has anyone noticed any changes who've used this?

On the wiring diagrams there is a minimum and maximum switch, just to check the minimum switch goes at the motor end of the actuator.

Looking at the internal hall sensor wiring diagrams. There are 2 different ones, one for 1 actuator and one for 3 actuator. I've tried building the 3 motor design, with only 1 attached though and doesn't seem to work. Do I need to assemble all 3 and attach them for it to work?

Also I saw on a few pages previously that the switches could be wired up wrong. Is the correct way the one posted by @Flymen on page 19?

Do you power all of the 5v off of the Vin pin when the ESP is powered from the USB?

Will have to work out how to program the ESP32 as well as how your mover interface works.

Thanks

There's no difference with the 57BLF03. You get more steps per turn, a bit slower.
The @Flymen problem is different. He's using a different controller and needs to make changes. Not your case.
Use the code from this post: https://www.xsimulator.net/communit...hless-diy-actuators.10799/page-18#post-186795
Change the

#define NUMBERACTUATORS 3

to

#define NUMBERACTUATORS 1

Because with 3, the code waits for the 3 actuators to calibrate before starting the positioning loop.
The diagrams are the same, but the one with one actuator is just with actuator #1.
The switches work for me. I think the diagram is correct.
I power everything with the USB, so if you are sharing the USB port with other devices, you might need a powered USB HUB.

I'm sorry, those last weeks, it's year closing at work and family.
So I might take more time answering.

Some updates on the current state:







Needs cable management...
There's something new here, the batteries.
With the increase in weight, the PSU was always at full power and I was afraid to run into problems with the back current, so I used two batteries.
The PSU now runs silently, and there's more power for sudden moves. General behaviour seems better, but it has a cost €€€.

I have to adjust the PID, because of the extra load. Need to differentiate the up from down movements, to give more power to the up compared to down. The extra load is starting to make problems,but I think it's not going to increase much more.

Video soon, when cables are organised.
Also need a good box for the controllers.

Looking good. I thought you were going with VR not a screen, that would save some weight.

Thanks. Will give that a go when I have a chance. Don't worry about taking time as will take me a while too. ha.

I'm all for VR, but I can't use it to much time. I get nauseas easilly.
Also, it was stolen by my kids, not only the vive, but also the PC where it's connected

The nauseas problem is most because of a GTX980, I know I can make it better, but for all the setup and tests, the monitor is practical. And the rig is on the garage, while the vive is inside the home.

Was pointed to me by @Gabor Pittner , that I have the direction and speed pins swapped between actuator 1 and 3 (0 and 2 in the array).

When I made the drawing, I swapped it. Really sorry for the error.
To solve it, we need just to swap the pins in the code. So I updated the code in the first page to reflect it.
-The change is this: (picture by @Gabor Pittner )



So all the code is now updated to solve the problem. In my boards it's different, but anyone following the schematic, should use the latest code version.

Hi @pmvcda !!

(First of all I want to say many thanks for your help!!!! my FlyPT configuration is work well now, I plan to start my own topic to document this project too.)

At first I've been struggling with limit switches, so I changed a bit the circuit. Put one more 10k resistor between resistors and GND wire. The result is fine. Now the voltages on the control wire :

Normal state 1,65V
Maximum switch is activated 3,3V
Minimum switch is activated 0V

I tested it with your limit switch test code, and it works well, the values are:

Normal state = about 2000
Maximum switch is activated = 4093
Minimum switch is Activated = 0

Waiting for the PCBs.. Lets see if i messed it up

I made a design, but never had a board made. So it's not tested.



WARNING! NOT TESTED!
https://easyeda.com/pedroantunes/flypt-hexapod

I have tested my PCB already, it worls well, but I have to make lots of pictures and videos to start a topic with my own FlyPT project.
I will make a documentation as well and plan to share everything, 3d printed files, PCB schematic and gerber files etc...
This is a small trailer of that

That looks amazing! I was thinking about "soundproofing" the actuators. Does your cover make a difference?

I have not tested yet with full cover, so I dont know...

@Gabor Pittner , It looks great.
Are they 100% infill (the printed u joint) ?

Yes, all parts are made of PETG 100% infill, without cooling at all. They are strong enough I think.
Except covers, they are made of PLA 15% honycomb infill.

What actuators ! they make me dream

i dont find the 24 teeth pulley for 6mm GT2 belt.....it's possibile?

Here's some: https://www.ebay.de/itm/2GT-GT2-24-...hash=item340b875527:m:mrwiSzr1bqAr6mHmc-cmohA

But if you want to make actuators like mine, you don't need them.