garethnisbet / t-bots

Software for controlling and analysing T-Bots (Balancing robots)

File Structure:

TBot - Main code to run T-Bot.

Development - Check this folder regularly. This is where experimental software will show up first.

DCMotorTest - Simple example to drive motors using the TB6612FNG driver board (used to calibrate motors).

BluetoothChangeName - Used to set BAUD rate, set name for T-Bot and get MAC address.

BTListen - Read in data coming from Bluetooth controllers (useful if you want to make your own controller).

Python - Python code to retrieve and analyse data from the T-Bot.

TBotLibraries.zip - Libraries required to run the T-Bot. These can be extracted directly into the Arduino libraries folder.

Ultrasound - Simple example to interrogate the HC-SR04 ultrasound module.

ReadGyro - Simple example to interrogate MPU-6050 sensor.

SchedulerExample - A simple example to show you how to use a schedular instead of nested loops.

Joystick - Wireless USB controller to Bluetooth bridge written in python - You can use a USB Joystick or PS3 / PS4 controller - python-bluez / socket - works on Linux.

TBot_Joystick_Python_PYBLUEZ - Bluetooth joystick written in python - Requires python-bluez and Bluez - works on Linux.

TBot_Joystick_Python_SOCKET - Bluetooth joystick written in python - Python3 - works on Linux.

TBot_Joystick_Python_Pyserial - Bluetooth joystick written in python - Works on Windows and Mac.

Usage:

1. Install the arduino IDE from https://www.arduino.cc.
2. Import the libraries by extracting TBotLibraries.zip directly in the Arduino library folder.
3. You will need to select Tools -> Board -> Arduino Nano.
4. Open TBot.ino and click on the upload button to send the code to your T-Bot.

💡 Note: Windows users need to use the old boot loader. In the Arduino IDE select TOOLS > PROCESSOR > in the pull down menu change ATmega328P to ATmega328P (Old Bootloader).

💡 Note: Raspberry Pi users will need to download the ARM 32 bit version.

t-bots's Issues

No need to wait after Wire.requestFrom().

With the file "T-BOTS/TBot/I2C.ino", you have included an issue. The timeout with micros() is useless code. See: TKJElectronics/KalmanFilter#9

Bluetooth Controller

Please, can you provide brief instructions on how to set up the Bluetooth Controller.

I believe the correct app (for Android) is Joystick Bluetooth Commander.

However I cant see how to set up the trim buttons, the buttons seem to be toggle buttons, but I'm expecting to be able to increment and decrement some trim values.

A brief list of the labels for the buttons and data readbacks, plus info on how to configure would be very helpful.

Thanks, giles.

New software - some issues

Hi Gareth,

I'm trying to update the firmware on the TBot.

The .ino file in folder TBot0.4 was called TBot0.3.ino and Arduino IDE complained. I renamed the file to TBot0.4.ino and it then did upload (however I am left uncertain as to whether you have put the correct file in source control.

I tuned the deadbands and it seemed to work as expected but the bot cannot balance at all now!

Version Control

I will have a go at taking a fork and tidy it into branches for you.

Documentation

Gareth,

Please, could you update the Readme.Md to include brief instructions on:-

1. Which Bluetooth app to use and how configure the trim buttons (with meaningful labels)

2. How to tune the motor deadbands

Thanks

(P.S. My TBot now has its new parts and looks very nice - it was fun to build, your mechanical design is very neat)