User:Dpatel5391/enes100/Helicopter 3

Link to project Helicopter 3 team page.

Give instructor top 3 project choice list
I have been part of the Helicopter project since 8 weeks, so I am going to keep on working with the arduino, writing/editing the sketch, and taking pictures and videos. All these weeks, I have tried my best to push the Arduino-Helicopter project forward.

Write problem statement
I still have problems when trying to edit in different variables/commands/loops/setup to Gyro-5DOF sketch. I am still on basic level of writing the C++ language, so that will take me at least 2 to 3 weeks.

Assign Task1
I have planned to get as much information about Gyro-5DOF used with Arduino and Processing. I am also looking for visual tutorials which explains how to set up the hardware system rather than tutorials that provides nothing but the sketch.

Compare actual work done to Task1
The work I completed for Task1 involved researching information about the differences (also in writing a sketch) between Accelerometer-ADXL335 and Gyro-5DOF. The best way to visualize the difference is by using Gimbal Gyroscope technique.

Week1 Narrative
Let's take a look at the main difference: 1) Accelerometer ADXL335 has x,y, and z axis of rotation and measures the acceleration of each, whereas 2) Gyro-5DOF has 5 Degree of Freedom, meaning x,y,z axis of rotation, and also including X and Y Rates (measures angular velocity and inclination).

Here's how they are very different in sketch...

SKETCH FOR THE ACCELEROMETER ADXL335

SKETCH FOR THE GYRO-5DOF

Tutorials:
 * Gimbals-Lock Explained- a brief video explaining how gimbal works and also he uses an aircraft as its center object which clarifies the meaning of using Gimbal when showing the difference between the two devices.
 * Gimbals-Video Explanation- a brief video which explains the angular rotation of each x,y, and z axis and uses processing software for better view.
 * Gimbals Picture- a simple picture showing the basic structure of gimbals.

Besides that I also found the following codes:


 * 1) 1)Tilt Sensing- Processing Code for Accelerometer ADXL335


 * 1) 2)Tilt Sensing- Processing Code for Gyro

My Video shows how the codes are working, yet I still haven't figured out a way to use them with the arduino sketches.

Week1 Peer Review
My Comment was about how Sunny keeps on posting good pictures.

Assign Task2
I am planning to work with visualizing the differences between Accelerometer ADXL335 and Gyro-5DOF using the Gimbals technique. I am also planning present my arduino sketch (including the serial chart) to the class and work with designing the helicopter after class on Tuesday.

Compare actual work done to Task2
Rationalize differences

Week2 Narrative
Upload photos to wikimedia. Upload video to youtube. Convert all spreadsheets, documents, and presentations to wiki format and create wiki subpage of your page for each of them. Link to them here in a narrative that tells a story. High light the problems (engineering problems) you had and how you solved them.

Week2 Peer Review
Go to each team mates weekly summary wiki page. Read their activities and narrative. Then go the associated discussion page. Say something positive on this page. Try some constructive criticism. Add your name and 1sfoerster 13:32, 28 August 2011 (UTC) to create a time and date stamp. Create a new category if another team mate has already commented here.

Assign Task3
Record what you are planning on doing for the team during the weekend between week2 and week3 of the project here.

Compare actual work done to Task3
The work I completed for task3 involved researching for a new sketch since the previous sketches kept on getting errors, like previous sketch doesn't recognize the acceleration on XY-plane (may be the values are kept constant or hardware setup mistake). The previous codes were hard to follow, so I thought of finding, then editing, codes that were used during the ADXL335-Accelerometer experiment. I also started designing gimble to differentiate between accelerometer and gyro.

Week3 Narrative
Here's the sketch which I thought is very basic than previous ones. I am going to explain the code using the command "//".

Note: I did not get enough time to do the hardware setup and take pictures/video. I will include the media files in Week4 Activity.


 * Downloads:

1) Arduino software has been updated to 1.0. Click here to download

2) Math.h library can be accessed from HERE

Note: to install the library copy the code from 1 to 109 WITHOUT including the numbers. Paste it onto Notepad and save as math.h (locate the file in your arduino software libraries folder).

Reference to the sketch: Posted by user: BalkanLion1.0

Tutorials
"Quadcopter Prototype using Acc_Gyro and a Pic": is a project tutorial Posted on June 9, 2010 by Starlino. He has completed the same projec, yet using a different system board.

Link to his libraries

Note: just follow the same procedure as I showed for the math.h library to install all.

Link to the Serial Chart files .scc: the files provide different charts based on their INPUTS/OUTPUTS. The files ONLY support PicQuadController.

Processing Code: the file gives you the code for Processing and only supports PicQuadController.

Note: When using the sketch above, DO NOT forget to change your serial port...for example I currently have connected my arduino board to COM3 so I would change the port from COM18 to COM3. you might wanna keep bandwidth the same: 115200.

Gimble Tutorials
Video Uploaded by GuerrillaCG on Jan 14, 2009 which basically explains how the mechanism works. I am going to use the setup information provided in the video, yet making some changes to it as well. The first test using gimble is going to include arduino base with batteries as the center object. The system controlled via a wireless controller. Then later expanding the center object to the quadcopter.

Zenith Defy Classic Zero-G Tourbillon: Scroll down the link till you see "LET’S GET HORIZONTAL." You will see a diagram of a gimble. I am going to follow the diagram when building the mechanism, yet using different objects. For the base which holds the system in a place, I will be using (provide the link). I am not sure about the objects that I can use for inner and outer gimble, so I will discuss later on with Darnelle Kirby.

Week3 Peer Review
My Comment was about how he finished designing the balance system for propellers, and now he should keep up his work and help me out with designing gimble system.

Assign Task4
I am planning to do the hardware setup for my sketch, take pictures/video, present the outcome to the class, finding/writing a sketch for PicQuadController. We are also going to test the propellers using the previous sketches of accelerometer if not Gyro. I will be staying after class on Tuesday to help out my team members.

Compare actual work done to Task4
I have completed most of the arduino sketch, yet I didn't get enough time to test my sketch with a perfect hardware setup. I have turned in all the devices I've been using since Week0. The work I have completed for this task involves researching information on how to rationlize differences between accelerometer ADXL335 and gyro-5DOF.

Week4 Narrative
I was looking for tutorials which I can use to design gimble in a way that arduino system would balance on its own. I see that the static position is when x,y, and z equal to 0. However, when I place the arduino system in the center, the axis of rotation is then set to x and y equaling 0, and z instantly changing (error!). I have looked through so many comments about gyro-5DOF (on the main web) and its errors, yet no one has completely figured it out.

I have also tried another sketch as provided from the Video Uploaded by XenonJohnD on Mar 17, 2011.

Here's the description part, where he actually explains how the setup helps balance the system: IMU testing sketch

GYRO_5DOF FINAL SKETCH
This is the finaly sketch that includes LED-TEST as I did for accelerometer-ADXL335. I found the sketch from "KalmanFilter," yet editted for Led-Test. I am not sure if the sketch works or not, since I don't have the arduino system at home. This might be really helpful to those who are looking forward to work with the project.

Week4 Peer Review
My Comment was about reminding everyone to come to class on Tuesday for Poster.

Next Step
I highly recommend new comers to learn about arduino by following my steps: It'll make it easier for you to understand and learn better since I also have provided links to downloads and tutorials.

Here're the links to all my projects:
 * My First Project and My User Page


 * My Second Project and My User Page


 * My Last Project and My User Page

Dear New Comers!,
 * Good Luck for your approach to "Frustration BLVD!"