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倒立振子三号機さらに改良

https://blog.with2.net/link/?1965529

倒立振子三号機さらに改良

https://blog.with2.net/link/?1965529

一応の完成を見た3号機ですが、追加変更の末に写真のようにジャイロセンサなどを載せたシールド基板はゴチャゴチャの様相で、元技術者としてはこのままでは見っともないので、この際Arduinoはマイコンと最小の部品だけとして他の部品とともに一枚のユニバーサル基板に統合することにしました。
 便利なarduinoモジュールですが、機能を倒立振子専用にするとなれば余分な部品がスペースをとり過ぎている。それに最小構成にすれば消費電力とか制御時間とかなにか余分なご利益があるかもしれない。
 ということで、まずはarduinoの贅肉をそぎ落とすことにしますが、5月11日の記事のように自作してもよいが、aitendoというところからタイミングよく「あちゃんでいいの」というキットが発売されているので、これを使うことにしました。
ちなみにaitendoは低価格で電子部品をネット購入できるのでよく使っています。
スケッチ書き込み用のUSB-シリアル変換基板(これは今後使い回しできる)が必要になりますがこれは以前に購入済です。今後のこともあるので「あちゃんでいいの」は3セットゲット。
マイコン用の5Vと無線モジュール用の3.3V電源は別途用意しなければならない。元電源はニッケル水素電池単三4本の6Vなので。DC-DCコンバーターが必要になります。秋月電子からMAU101,MAU102というコンバーターを入手。(注:最近は小型で出力の高いMRAシリーズをよく使っています)
始めての部品でもあるので、ブレッドボード上に試作回路を組んで実験してみました。この部分はいずれ別記事にて紹介します。
ということで途中の製作工程は省略して出来上がった基板です。
これで上の写真と同一機能ということになります。リモコンは赤外線との二本立てにしています。これを実機に取り付けてみました。機体の後ろにあるのがジョイスティック仕様の発信機です。
デモ動画です。以前に比べると時々バランスを崩して転倒したりすることが少なくなりました。

これにて倒立振子三号機は完成とします。

この機体について国内外から数件問い合わせをいただき、その都度回答は済ませておりますが、三年前に製作した機体で現在は次機種へ部品提供ということで分解してしまっております。よって残念ながらこの機体についての追試は出来ない状況にあります。

今、三年たった時点での経験と知識であらためて機体写真を眺めているとセンサ基板にはまだスペースがありそうなのでモータドライバを市販キットを使わずにL298N単体にして同一基板内に搭載可能だなとは思っています。

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