Showroom FlyPT - 6DOF Brushless DIY Actuators

Hi Flypt ,
I used a pose ( rig 4 dof ) to setup my actuator . It’s not possible to setup like the direct input from 0 to max matching with the actuator travel . The 0 is always the middle of the travel , right ?
But anyway, it’s a little bit better but always when touching the limit switch the behavior strange . The motor go reversed at full speed and again forward and touching the limit switch .
Difficult to analyze something . A little bit better than the direct input but with half actuator travel 50 mm difficult to make conclusion .
When the limit switch is touched it’s a problem .
I can’t say firmly if the actuator travel matching with the slider in rig window in test mode .

I 've not really well explained .
- first I just used a rig ( 3 DOF ) and made some tests to setup and played with the slider . Results wasn't really great.
-second I used a pose from dof setup for heave and I used the rig 3 dof and tested with the loop function . I setup 45 mm travel for the dof normally inferior of my travel . I was wanting to watch if the actuator was oscillating around the middle of its complete travel from -45 mm to +45 mm but that was not good . I have to make an another test with less travel 20mm . The problem is that always I hit the limit switch .

Hi @pmvcda ,

My actuators always find and always want to correct the requested position, especially without load on them. As you mentiond before it happens because of cheap motor drivers, but Im not sure it is the reason only. I tried to change PID values, but it didn't help. (Or maybe I was wrong)
What could I do with this position holding problem?

That's bad!

I had that problem when I adjusted speed between controllers. You might have to lower it.
The motor was turning with speed = 0

For that you have to open the bldc8015A and adjust the screw until it stops turning, and match the other controllers to that speed.
Not sure it will work, but for me it worked.

I could say it's weight , but I think my rig has now way more weight than yours and I don't have that problem.
Are you using the default PID values of the code?

Yes, I use the default, because this is the best I think:
P=256
I=0
D=256

I adjusted the speed of actuators (with those blue potentiometers inside the box) but not to the minimum, rather to maximum almost. Or was I wrong?
If I turn the motor drivers speed to minimum would the actuators become too slow in motion? Would not they?

They will be slower. It's a compromise.

Anyway, when I sit on the rig, actuators almost stopped, so much better if it has more weight. But on the other hand, during small heave moving there are small lateral moves too, because of those position problems. It can be strange when you go strait on a road. It feels like somebody hits a brake pedal some milliseconds, however it feels tiny right and left side lateral moves too.

One of my biggest problem is that all ESP32 boards have the same hardware ID and COM ports are swapped sometimes in Windows.
I've been struggling with this problem for months...
Yesterday I found a solution how to change ESP32 board serial number to get a uniqe hardware ID. After it windows could reserve COM port to all uniqe ESP32 board.
You need to change serial number using with CP21xx Device Customization Software:
https://www.silabs.com/documents/public/example-code/AN721SW.zip
Device Customization Software General Overview on page 24. :
https://www.silabs.com/documents/public/application-notes/AN721.pdf
Need to change serial number only!!!

I have to put this in the first page! Thanks.

Hi FlyPT,
i really like your project and your Software FlyPT Mover. I just started testing around and planning my own 6DOF. Currently I'm planing to use an arduino as interface between your FlyPT Mover and my rig, but i was thinking of using an esp32 like you did which would be much faster. I read your code and understood what it is doing, but i could not figure out why you disabled the watchDog timer. Is this to avoid timing problems? Are there any disadvantages doing it?

If your are looking for something more powerful and as easy to work with I would suggest a Teensy 4.0
Still cost efficient and leaps and bounds faster and very flexible as well !

i dont have a 6DoF with BLDC motors.. but i think i remember reading something about signal wires should be shielded.. i think i read one of @SilentChill 's post saying that it supceptable to noise..if i recall

Good idea, I will try that.
Thank you

Nearly perfect design, I like it very much! Great!

It's a great design, and I'm very interested in it!

I stumbled op on your project and decided this is the sim i am going to build! You really impressed me with the build!

Just one small question, i want to build the HALL version of your build but there are no 3D print files for this yet. Are you planning of releasing these to the public too?

I will post my build in a link to! Allready ordered all parts from the BOM list.

Oh, I never done the 3D files, I'm still using the ones for pots.
What motors did you get?
Nanotec?

Yeah i ordered all parts from your BOM. So nanotec motors, same drivers, power supply you mentioned.
Do you want to share the source so we can change the files?

No problem, but I have to find them first.
They where made in an old pc, that burned, but I have the drive somewhere

Take you time! We are not there yet ... and we can start with the potentio versions too ;-)

We want to print parts maybe from carbon PEEK ... just to see the strength...