I have all these parts and nothing to velociryde on.
First, we had Velociryder V1.
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-nfAG78sZvlK29tYkL6KMkXKvKshQoyv9id6DLsRaAD4TvFxjefySIKrFftn0rRsr_nOOFwgbjdj3SkAbCHPhMT-183Oza1bOCL6vVMXdFApM4s08OpmQIQrBIcpFCnga9XGi8IHbbEUg/s320/IMG_1646.JPG) |
It actually worked. |
Then, we had Velociryder V2 for the
Inventure Prize.
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhwSm27PPJHWrbluabvrgLE3Ht4w9csoz7zHTboHNi7ZHjraITA_FVfrqTvhrDI1a2tTYczmgigPJqftKZf3ZI-9uNPOwrlLbtpNTqfTn_NNJD42gFhxxJzd0aslKH-FzUE0jfYtgsnA-rU/s320/P2180084.JPG) |
Woo waterjet aluminum. |
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiDwG7AP31wG-cGkcPH_fludrElhtYhLLGGAC-FzH9i_FFmA_hzCTd3JDi2-C0rj_H5fuD3qSjOoJmCICZjvzLbLMuQjiTarelsBOMDGBEr_1Nw6wuuh-CbrsoI9aEC8aAKjQZ2kc1GczIL/s320/AJC+-+InVenture-cropscale.jpg) |
This one worked too! |
We kinda had Velociryder V3, ambitious but never completed.
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHAAOjjOncfRYyuSzMIptFbheMZbW4jUqXjGW7pNkI8u2ecQpyJxZkIelQ7bk-Rzyejw2fMFqyCE36-db_Fgugdzv9ADU0r2Kwh6gqf2zREogW9A-Mgg-wgszWBGKgfne9iav0uLWbdtbW/s320/Velociryder+v0+revB.Final+Color+Output.png) |
I couldn't find a picture, so here's a render. It didn't work. |
Now, we will have Velociryder V4!
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiuwAc3FTdjE2_P2kMoV0wt0btoygOrZNY1SfS3Ie4k0UsKgIrUrAtgDAvzuImEw1jdW0_T92OEEu_g5rBx1tIdb32BjreELGXizCmdTmOscntv-GR8lhjeGAOCZzIWV-gl8w-2IPPmDswA/s320/v4-isometric.png) |
With 20% more height! |
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhAwD_v4ogAptQgsc7k3lHDd6oKzb1OfKFyQXHEtpLmnjYdS0E2Na13FtiU4joUfCAlEhT5l3nQ7I5qArE0gldsOPoh8oY9QpA7r-Hof7btxkYyIkoeggARkXIvQ_BH_c97fFvfMA3x95OK/s320/v4-bottom.png) |
Giving a good view of the encoders and motors. |
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjOhSD1FJt8cMtX3KVHkaBKN1Netf8VaK6RK56ORxF5mKUc-rC8wIuyR9-7cF6SQDJcT7z1mmQKCmGgc8yhQRmBk6X9yrCu3cTP93SjI5PGiJk4EBLaB8Ek2fhH3wQu9aS-F24qYIHDg6gf/s400/v4-side.png) |
From the side, showing the small sprocket for the encoder. |
New and improved, with:
- Digital accelerometer and gyroscope, less analog signals to corrupt!
- No pivoting rear section whatsoever; strain gauges for steering!
- Actual skateboard deck to stand on!
- Overengineered 80/20 frame for no structural failures!
- PIC24H core for double the speed of an Arduino!
- Quadrature encoders for real motor control!
- 5 Ah longpack! (That's one more amp-hour than before)!
A bonus effect of using strain gauges to measure steering is that they can also measure the user's weight. With this and wheel encoder information, I can use actual inverted pendulum
state space control, instead of
PID.
In the time that I have been not posting updates, I have created a control board, complete with DC regulator, super differential amplifiers for the strain gauges, and sensors.
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhvcJhyJYhHZ3VOoJCT1d0a1fyrzVmsFVmzAAopPSbRdrB43Qbp4VVb6fFstpkvE7eKWfGWrzHdGGy9MAmjgR328h-98zV62e0ncVS1pzuCzO9r23QWkev5SC0A_3mNZ0XNWp9zCJbPCIJZ/s640/velociryder-v4-board.png) |
Ooh, aah. And a logo! The actual size is 3.75" x 1.00" |
I have almost all the parts and two weeks to finish to go from computer drawings to Velociryding for a certain event and a certain trip. Including programming. Boy am I hoping my circuit design is correct.
There are still a couple kinks I hope will work itself out. The first is the incredibly wide motors are probably going to hit the ground.
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiPb8U5J0Ii10UTnT8384BhdKImSnG9fuJf2GkA0Te03vTGBifbNeqwt7wDNsyxGJEqateAip5s0bXAM21A2uMcsGyUlpAN-7ZhyphenhyphendudyWF4MrTEja9lGaiTCTKhodj59cD12l9-IXL0aMGD/s320/v4-motor-clearance.png) |
Derp. |
The second is that the strain gauge turning is completely untested. I hope I can get a good enough difference between the weight on the right and left sides to use.
Welp, here goes another build marathon. I thought I was done with them after the Inventure Prize last semester.
Appendix