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Commit 41a9bb4a authored by Shahrul Kamil bin Hassan's avatar Shahrul Kamil bin Hassan
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Update README.md

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11. Helium
12. Three DC motors (https://www.amazon.com/Hobbypower-Coreless-53000rpm-8-5x20mm-Propeller/dp/B076M7G24G/ref=pd_sbs_6/140-9159272-8519647?pd_rd_w=TKtuN&pf_rd_p=0f56f70f-21e6-4d11-bb4a-bcdb928a3c5a&pf_rd_r=VR3D6QW63FJ4FG19JE97&pd_rd_r=c10d4879-cb04-4453-87fe-8cfa37d04396&pd_rd_wg=7TWip&pd_rd_i=B076M7G24G&psc=1)
13. Three Propellers (https://www.amazon.com/Hobbypower-Coreless-53000rpm-8-5x20mm-Propeller/dp/B076M7G24G/ref=pd_sbs_6/140-9159272-8519647?pd_rd_w=TKtuN&pf_rd_p=0f56f70f-21e6-4d11-bb4a-bcdb928a3c5a&pf_rd_r=VR3D6QW63FJ4FG19JE97&pd_rd_r=c10d4879-cb04-4453-87fe-8cfa37d04396&pd_rd_wg=7TWip&pd_rd_i=B076M7G24G&psc=1)
14. Putty (https://www.amazon.com/Removable-Adhesive-Non-Toxic-Multipurpose-Photography/dp/B08DTHJTSZ/ref=sr_1_9?crid=38S8BXT4S632I&dchild=1&keywords=sticky+clay+adhesive+putty&qid=1629782480&sprefix=sticky+clay%2Ctoys-and-games%2C221&sr=8-9)
*: Although we are currently using a 3D-printed gondola as a mount, anything else that can hold the components together can be used.
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4. Connect the vertical motor to M1, right motor to M2, and left motor to M4.
5. The motor itself can be connected differently if you are using a different vehicle. If so, changes might be needed for the motor controller code section.
Note: depending on the wiring and the propeller design, the propeller might push the blimp in the opposite direction as the code intended. Ways to solve this problem include reversing the polarity wiring of the motor, use the oppsite-direction propeller of the one you have right now, or change the code so that all BACKWARD motor calls are FORWARD and vice versa.
Note: depending on the wiring and the propeller design, the propeller might push the blimp in the opposite direction as the code intended. Ways to solve this problem include reversing the polarity wiring of the motor, use the oppsite-direction propeller of the one you have right now (if it is clockwise, use the counter-clockwise propeller instead), or change the code so that all BACKWARD motor calls are FORWARD and vice versa.
**Other Physical Setup**
1. The stack, starting from the bottom is the ESP32 Feather, Radiowing Feather, DC Motor Shield, and the Neopixel LED Panel.
2. Just like the OpenMV, reverse the wiring before connecting a battery to the ESP32. Optional: if weight is an issue, you can use a single battery and connect the ESP32 and OpenMV in parallel. However, it is strongly advised that you use a separate battery for the DC Shield as it consumes a lot of power.
3. Fill the two blimp balloons until both of them together can carry around 130-140g.
4. Using the velro tape, attach the top of the electronic mount to the bottom of the blimp
5. Similarly, use velcro tape to attach the OpenMV camera to the front of the mount in such a way that the camere is facing the forward direction.
6. Plug the motor to its corresponding location on the mount
7. Place the ESP32 and the rest of the stack into the mount
8. Test to see if the whole blimp floats weightlessly in the air. If it is falling down, add more helium to the blimp balloon. If it is floating up, add putty into the mount. Repeat this until it approximately stays still in the air without any external force acting on it.
**Setting Up the Libraries and Codes**
**Setting Up the General Libraries and Codes**
1. Go to https://git.uclalemur.com/arnhold/espmeshnetworking/-/tree/master/MeshCode
2. In that repository, follow the instructions to install the ArnholdMesh.zip and Painless_Mesh.zip libraries.
......@@ -61,22 +67,12 @@ Note: depending on the wiring and the propeller design, the propeller might push
5. Download or Clone the Adafruit_Motor_Shield_V2_Library.zip from this repository and use that for Step 4. The reason we are using an alternate library from the default one is because the motor library and the mesh library uses the same name for one of their macros. This changes the macro's name in the motor library to ensure that this doesn't happen.
6. Download the PID library, which is needed for the motion control. (https://playground.arduino.cc/Code/PIDLibrary/)
**Running the Code**
1. Create a folder name feather_main_personaldemo in your directory of choice.
2. Copy everthing in the Main Code repository into the feather_main_personaldemo folder except for OpenMV_main.py, the motor library, and the other ino file that is *not* feather_main_personaldemo.
3. Open feather_main_personaldemo.ino and upload the sketch into your ESP32 Feather
4. Upload the OpenMV_main.py into your OpenMV camera
4. Upload the OpenMV_main.py into your OpenMV camera as main.py so that it can run without being connected to the IDE
5. By default, it should start detecting and responding to green blob.
**Varying the Parameters**
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