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  • Author Author: ninjatrent
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BeagleBone Blue - Drive Motor and Steering Servo Tests

ninjatrent

BeagleBone Blue - Drive Motor and Steering Servo Tests

 

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The BeagleBone Blue is ready to go. https://beagleboard.org/blue

 

Available at http://www.newark.com/beagleboard/bbone-blue/beaglebone-blue-robotics-platform/dp/95Y0640?st=beaglebone%20blue

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Front View of the BB Blue RTV (Road Test Vehicle)

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Side View

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Rear View

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Top View.

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Bottom View.

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The motor is powered directly from the BB Blue via 2-Pin JST-ZH Connector.

The cable for the steering servo is also connected to the BB Blue.

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Conversion of the steering mechanism was an interesting challenge.

 

Testing

 

This BB Blue is running the  latest Debian Strech IoT Image and the Robotics hardware API (libroboticscape).

 

https://beagleboard.org/latest-images

 

http://www.strawsondesign.com/#!manual-install

 

The following tests were performed with the vehicle elevated on a stand.

 

Steering Servo Test

 

Drive Motor Sweep Test at 0.3 motor duty.

Drive Motor Sweep Test at 0.5 motor duty.

Drive Motor running at 0.3 and 0.5 duty. Short pause between tests.

Torque from motor at 0.5 knocks vehicle from stand.

Drive Motor running at 0.5 and 1.0 duty, 100% BeagleBone Power.

 

Thanks for stopping by. Stay tuned for updates.

 

Trent

  • in reply to genebren

    A swarm of tiny robots sounds awesome.

     

    Thanks, found the sticker at Adafruit.

     

    Trent

  • in reply to ninjatrent

    Sounds like great plans.  I really like the autonomous plan.  I have been working on and off on tiny (less than 1 cubic inch) robots for a swarm application.  I hope to re-start that soon, once I clear my work backlog.

     

    I like your 'reverse engineer' sticker on the back.

    Gene

  • in reply to genebren

    Thank you. For these tests I used some of the examples provided with the Robotics Hardware API.

    The Beaglebone Blue is controlled by terminal cli via SSH connection.  Range of the WiFi module is impressive and quite fast. These tests were performed in another room separate from the wireless network router. The BB Blue responds as quickly as if it was in the same room. The factory antennas can also be replaced for ones with greater gain.

    Bluetooth would be a method of control that I have not yet considered. Great idea. The BB Blue has an exceptional BT chip.

    I am working towards a completely autonomous system.

    I believe the bit of lag on the duty cycle only occurs during 0.3 or lower duty. This might be due to the resistance from gears in drivetrain. I only noticed during 0.3 duty cycle sweep.

    It's not a perfect vehicle design but the BB Blue has more than met the expectations of these tests.

     

    Glad you mentioned, there is more GoPro action planned for the future.

     

    Trent

  • in reply to neilk

    Thanks. It's still a work in progress

  • in reply to DAB

    I'm not sure. The motor and drivetrain was taken from a cheap 1/16 scale RC car. It looks like the motor is a 6V brushed motor. I can't remember how much amperage is provided by the BB Blue.

     

    I could give an exact measurement if I still had a fish scale.

     

    Trent