User:Amirreza Saharkhiz/enes100/My second work

Write problem/project Goal
What is your wording of the overall problem/project goal?

I'm wondering to make a helicopter and control the motion and speed of helicopter by the remote. That is my final goal.

My First Task
What are you going to do for the team this first weekend?

I want to work on a different type of ESC and motor (Zagi 5C). I want to connect the motor and ESC to the audrino board and then I want to control the speed of motor with audrino programming.

Summary of actual work over first weekend
How is what you did different than what you planned?

I worked On Zagi 5C motor and the correct connection the wires to the motor, Esc, and power supply to start motor working.

Week1 Narrative
Tell a detailed story describing what you did for your team over the weekend. I worked On zagi 5c motor, this kind of motor is faster, lighter and more powerful than the old one. I used three wires to connect the motor to the audrino board. The orange wires goes the pin 9 in audrino board and the green one goes to the 5v pin in audrino board and the yellow one goes to ground. all three wires go to the motor from audrino board and black and red wires go to the power supply. I connected red and black wires to the power supply and also I connected audrino board to the power directly. After uploading the program motor start to work.

I also worked on power supply because I think for specific amount of voltage and amperage motor will work with the highest speed. In those connection actually I had two power sources one of them was connection of motor to the power supply and the other one, I connected audrino board to the power directly.I found actually I don't need to connect the audrino board to the other power supply because the zagi5C motor just need 0.78 V that the connection of motor to the power supply can provide enough energy for motor

My Second Task
Record what you are planning on doing for the team during the second weekend.

For the next week I plan to remove the wire that goes to 5V pin(green wire) on audrino board and after removing i want to provide enough energy for motor with just two wires goes to the motor from board.

Summary of actual work over second weekend
How is what you did different than what you planned?

I did bunch of works first,I figured out Esc working with 2 wires and I tested with motors and I worked on sea saw to keep balance after putting stuff on it.

Week2 Narrative
Tell a detailed story describing what you did for your team over the weekend.

Last week I used three wires to connect Esc to the arduino board, in this week I removed the wire that goes to the 5V pin in arduino board and also I removed the wire that connected arduino board to power supply directly and I just use the USB cable to connect the audrino board to the computer for uploading program. I found out I don't need any wire to connect to the pin 5V because this pin for a output power and I connected the ESC to the power supply directly and it could provide Enough power for motor and ESC. I removed the 5V pin wires and the wire connected the arduino board to the power sup ply directly and I just use to wires that one of them goes to the pin 9 and the other one goes to ground on arduino board and motor started working I tested the arduino board with three more motors because I wanted make sure it could be worked with two wires and the main reason was for testing the motors. For quad copter I need 4 motors and for that reason I tested for motors because I wanted to put correct motors on the seesaw.

My Third task
Record what you are planning on doing for the team during the third weekend.

I plan to work on gimbal and I want to make it with cardboard

Summary of actual work over third weekend
How is what you did different than what you planned?

I worked on gimbal and I understood the concept of gimbal and I started to build it with a cardboard. []

Week3 Narrative
Tell a detailed story describing what you did for your team over the weekend.

First, I had to find correct values for radius of circles because I wanted to build a gimbal with two circles that the small circle can turn in a build circle. The arduino board should be attached on the small circle for this reason I need to find a dimensions of board before choosing the radius of small circle. I measured the length of arduino board, it was around 2.7 inches and I need to attach the arduino board in the middle of small circle. I chose 3 inches for radius of small circle and I think it is a reasonable value because if I put the midpoint of arduino board on a center of circle the length of the board from left and right side of center of circles is 1.35 inches for each side and also distance between the edge of board and edge of circle is 1.65 inches.Second, I had to find the radius of bigger circle. The small circle should be solid for attaching board on it but the big circle can't be solid because the small circle can turn in it.I need to find two values for radius of big circle because I have to make it like ring. I chose 6 inches for radius of big circle (outer) and then I chose 5 inches for radius of inner circle and I need to bring out a circle with 5 inches radius from a bigger circle with 6 inches radius. I used compass to draw a circle on a cardboard and first I drew a circle with 3 inches radius after that I used cutter and scissors to cut a cardboard but one layer of cardboard was thick to cut easily and symmetrically. For this reason I cut a cardboard in a small pieces and I made a small hole to the center of circle and I drew a circle with a same radius and center back to the cardboard. I cut the circle on the front of cardboard and I also cut the circle on back of cardboard. Because with cutter the edge of circle it was not soft I used the scissors for make it more symmetric to circle. this circle is a solid circle.I drew two circles with a same center and 5,6 inches radius by compass. First I cut the bigger circle with 6 inches radius and I did same procedure as before for cutting now I have a solid circle with 6 inches radius. For the next step I had to cut a circle with 5 inches radius and bring it out from a solid circle and finally I have a ring with 1 inch wide. For making a gimbal more stronger I cut two circles from each one and I stuck two circles with a glue together and i put some heavy stuff on the circles and I left it for couple hours. I did a same procedure for making ring more stronger. after all I had to attach two circles that a small circle could turn in a ring. I need to find some pin for attaching two circles together. I used wood stick for pin and I need to find the correct length of wood stick for attaching. I put a solid circle in the middle of ring(approximately) so the actual ring radius is 5 inches and a small solid circle has a 3 inches radius so The distance between edge of circle and ring is 2 inches. The wide of ring is 1 inch so 2+1=3 I had to find a correct number that is greater than 3 inches. I chose 4.5 inches for length of wood stick so 1 inches go threw the ring and 2 inches for connecting two circles and 1.5 inches go threw the solid circle. I used a scissors that it is for gardening for cutting a wood stick. After I connected two circles with wood stick the small circle couldn't turn in a ring for this reason I made hole for wood stick a little bigger because when I turn a small circle the pin is also turning.I tested with a solid and long wood stick I mean I used a wood stick with 10 inches length and I threw it between the ring and small circle and the other side of wood stick goes out from the other side of ring. In this test wood stick and small circle couldn't turn because the pin can't turn in a small circle.Finally I painted the gimbal with spray to look better.[video of turning small circle in a ring]

My Fourth task
''Record what you are planning on doing for the team during the final weekend of project work.

'' For the next week I plan to make a base for gimbal and also I want to attach arduino board on the gimbal.

Summary of actual work over fourth weekend
How is what you did different than what you planned?

I started to build a base for gimbal and I tried to turn a solid circle in a ring smoothly.

Week4 Narrative
Tell a detailed story describing what you did for your team over the weekend.

Last week I built a gimbal with circles that has two axes a solid circle can turn in a ring vertically( around y-axes) and a ring should turn horizontally (x-axes) for this reason I need to make a frame and attach a ring to the base for turning horizontally. I decided to make a simple frame that it has two columns and columns attached the piece of wood like rectangle shape. because of ring turns horizontally, so the height of two columns should be greater than diameter of ring. The diameter of ring is 18 centimeters(external circle) and for this reason I chose 32 centimeters for height of two columns and I cut them with a saw. The next step was measuring the length of rectangle wood and find a midpoint of it.The length of wood was 60 centimeters and width of rectangle was 26 centimeters.I chose 10 centimeters from edge of wood to columns from each side and for width of rectangle I chose 3 centimeters from each sides so the coordinate of midpoint is (25,10). Because the two columns should be symmetric for attaching gimbal on it I tried to assume a hypothetical center for gimbal and put on a midpoint. The radius of gimbal is 9 centimeters so I chose 13 centimeters from left and right sides of gimbal and 4 centimeters is for attaching pin between a gimbal and two columns. I cut the woods for column with saw and I made a hole on each columns, I chose 5 centimeters down from a top of columns to make a hole. I made a big hole that pin can turn in it so smoothly but the problem is, when pin is turning in the hole, pin goes to the left and right and it causes to ring hit the column. I think washers is the best solution because washer can turn with a pin and also it doesn't allow to pin goes left and right.The next step is attaching columns on the rectangle wood. I used screw and drill for this work. I made a small hole on a rectangle wood and I put the screw from back side of wood in to the each columns. In my first try I used a big screw and as a result the bottom of column was broken. Because being symmetric is important I use a long pin for making sure the holes are in front of the each others. For making column more stronger I used wood glue between edge of columns and the base. The final step is putting the gimbal on the base and for connection I used wood stick. The length of wood stick is important because distance from columns and external circle is 4 centimeters and a ring has 2.5 centimeters wide and also I need to pin goes out from the holes for attaching washers on it I used 12 centimeters for the length of pin and I used garden sheer to cut it.I used a longer pin to test that holes are exactly in front of each other and after I make sure a bout that I used wood glue to attach the columns more stronger.One problem that happened when I attached columns was, the bottom of vertical wood was broken because I used a big screw for attachment and I need to replace it. I used a same wood stick as before for attaching a gimbal on the base and i did same procedure as before for cutting pines. Because when pin is turning in hole it is also goes to the left and right and causes to hit gimbal to the columns for this reason, I used caps and I made a hole in each cap and then I thru the pin from caps. Caps can turn with a pin and also they don't allow to the pin goes left and right.

Videos

[[http://www.youtube.com/watch?v=k4jirrVJSIc&feature=youtu.be Explanation of problem before to start building

[[http://www.youtube.com/watch?v=acmvIKxrXk0&feature=youtu.be explain the axes of Gimbal

[[http://www.youtube.com/watch?v=zZH0fhZ3-7I&feature=youtu.be Finally the ring can turn so smoothly on the base

Complete Team Page
Helicopter team page