I have all these parts and nothing to velociryde on.
First, we had Velociryder V1.
|It actually worked.|
Then, we had Velociryder V2 for the Inventure Prize
|Woo waterjet aluminum.|
|This one worked too!|
We kinda had Velociryder V3, ambitious but never completed.
|I couldn't find a picture, so here's a render. It didn't work.|
Now, we will have Velociryder V4!
|With 20% more height!|
|Giving a good view of the encoders and motors.|
|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.
|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.
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.