![using darwiinremote using darwiinremote](https://i.ytimg.com/vi/7O7tCESfgUk/maxresdefault.jpg)
- #USING DARWIINREMOTE SERIAL#
- #USING DARWIINREMOTE UPDATE#
- #USING DARWIINREMOTE FULL#
- #USING DARWIINREMOTE CODE#
The motors move according to the PWMs while also turning the coupled potentiometers. The instruction is then sent to the protoboard, which generates required PWMs. The user can send instructions (Final Positions of the Snake arm segment) either by using Hyperterminal or by moving the Wii remote in the desired direction. Increasing the Integral term helped us to get rid of oscillation problems.
![using darwiinremote using darwiinremote](https://tipsmake.com/data/images/how-to-use-your-wii-remote-as-a-mouse-on-a-mac-picture-5-lGVjPK36d.jpg)
Finally we increased Ki until the loop worked within an acceptable error range High values of Kd lead to extreme motor motion and instability.
#USING DARWIINREMOTE FULL#
After having full load on the motor we increased Kd until the motors were able to move the entire segment to the extreme points. We first set the Ki and Kd values to zero and kept on increasing the Kp until we reached a suitable value. In our case the sensor is a potentiometer coupled with the motor shaft through a gear assembly and pulley system.īlock diagram showing components of the PID mechanism.ĭiagram illustrating the concept of the PID algorithm. The error is the difference between the desired condition set by the user through one of the input modes, and the actual condition reported back by a sensor.
#USING DARWIINREMOTE UPDATE#
The main feature of the motor controller is the ability to use feedback from sensors to continually update the motor operation and minimize error using the PID algorithm. This gives the snakearm more intuitive wireless flexibility in terms of motion control. We have also implemented Wii remote interface with our motor controller. This saves enormous cost and pain of calibration for the team. In this project, we implement a multiple PID motor controller using the Atmel Mega644 microcontroller which can drive up to 8 motors. The fact that each Pololu PID controller can drive only one motor and has a cost of $50 imposes an inherent limitation in terms of cost and utility as the complete snake arm would require at least 10 controllers (5 segments). The Snake arm team initially planned on using one Polulu 3-A motor controller to drive each DC motor. The feedback is provided using potentiometers coupled with the motors through gears and shafts. In order to move the arm accurately to a desired position, a real-time feedback is required. The Snake Arm team at Cornell designed its fourth generation arm having multiple cells involving gear assemblies, chains, springs, strings and pulleys. High Level Design Rationale and Motivation
#USING DARWIINREMOTE SERIAL#
The Wiimote sends IR data via Bluetooth to a MacBook, which then sends the information to the MCU through a serial connection. Hyperterm allows for numerical input of each motor's position ranging from 0 to 255. The motors can be controlled with Hyperterm or a Wiimote. Since we used DC motors, we implemented a PID control algorithm that determines the speed of the motors using PWM to achieve the best accuracy possible.
#USING DARWIINREMOTE CODE#
Button mapping īy editing the source code or customizing the application's preferences, the buttons on the remote can emulate any key combination on the Mac.The main idea for our project was to implement an inexpensive solution to the current CU Snake Arm motor-driving system by using a Mega644 microcontroller instead of multiple 3-Amp motor controllers as the snake arm was originally intended to be driven.
![using darwiinremote using darwiinremote](https://www.starstryder.com/wp-content/uploads/2008/02/wiimote_in_use.png)
One can also, however, use a string of infrared LEDs or a single IR LED from a remote control instead of a sensor bar.
![using darwiinremote using darwiinremote](https://i.ytimg.com/vi/_JAZG5ZawRA/mqdefault.jpg)
However, to use this feature, the bar must be plugged into a powered socket on a Wii console, or it must be a battery-powered model. In addition, DarwiinRemote can accept the infrared signals from the Wii Sensor Bar. The rumble features and LEDs are fully programmable. All of the buttons on the Wii Remote, including the Nunchuk and classic controller attachments, can be used, and the control stick position can be displayed, but it is not possible to use the control stick to control anything. All three accelerometers feed information to the Mac. DarwiinRemote employs most of the features of the Wii Remote.