S15: SJeight Octocopter - Revision history

Proj user22: /* Design & Implementation */

2015-05-27T17:12:58Z

‎Design & Implementation

Proj user22: /* Objectives & Introduction */

2015-05-27T17:09:34Z

‎Objectives & Introduction

Proj user22: /* Design & Implementation */

2015-05-27T17:06:27Z

‎Design & Implementation

Preet: /* Grading Criteria */

2015-05-27T14:53:43Z

‎Grading Criteria

Proj user22: /* Issue #1 */

2015-05-27T07:30:25Z

‎Issue #1

Proj user22: /* Issue #1 */

2015-05-27T07:30:12Z

‎Issue #1

Proj user22: /* Issue #1 */

2015-05-27T07:29:55Z

‎Issue #1

Proj user22: /* Software Design */

2015-05-27T07:21:34Z

‎Software Design

Proj user22: /* Testing & Technical Challenges */

2015-05-27T07:19:59Z

‎Testing & Technical Challenges

Proj user22: /* Conclusion */

2015-05-27T07:19:32Z

‎Conclusion

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 '''Brushless Motor'''
-The brushless motor is mounted to the end of the rod. The brushless motors operates linearly which means when the motor shuts down, it slowly decreases rather than immediately braking. The brushless motor used for this design is the Donkey ST4010-820kv. The kv is the constant motor which indicates the maximum RPM the motor could rotate.
+The brushless motor is mounted to the end of the rod. The brushless motors operates linearly which means when the motor shuts down, it slowly decreases rather than immediately braking. The brushless motor used for this design is the Donkey ST4010-820kv. The kv is the constant motor which indicates the maximum RPM the motor could rotate. The kV rating is how many rotations, without resistance, the motor will rotate per volt. A motor with a lower ESC usually has more torque and is a better choice for a multi-rotor craft. Our research showed that the optimal range for a multi-rotor is 300-800kV. Usually high kV motors are used for traditional airplanes. We chose the Donkey ST4010 due to the low price, despite it not being the best selection.
 [[File:S15 244 SJeight Octocopter Motor Weight.jpg | 220px| thumb|center| Motor Weight]]

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 == Objectives & Introduction ==
-The goal of this project was to design an octocopter that flies. This project is consist of four people and each team member worked in pairs. We have to use the SJone board for this project and implement topics we learned in class. The class topics we used for this project are I2C, UART, Semaphores, and Queue.
+The goal of this project was to design an octocopter that flies. This project consisted of four people and each team member worked in pairs. We used the SJone board for this project and implemented topics we learned in class. The class topics we used for this project are I2C, UART, Semaphores, and Queue.
 === Team Members & Responsibilities ===

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 '''Electronic Speed Controller'''
-We mounted eight 80A ESC (Electronic Speed Controller) underneath the frame using zip ties. The input of the ESC was connected to the Power Hub where power is drawn. Shown in Figure ESC attrached to frame illustrates how the ESC are connected around the frame. The ESCs are connected to the DC motor, through the inside of the carbon fiber rod. The ESCs varies the throttle of the DC motors by sending PWM signals.
+We mounted eight 80A ESC (Electronic Speed Controller) underneath the frame using zip ties. The input of the ESC was connected to the Power Hub where power is drawn. Shown in Figure ESC attrached to frame illustrates how the ESC are connected around the frame. The ESCs are connected to the DC motor, through the inside of the carbon fiber rod. The ESCs varies the throttle of the DC motors by sending PWM signals. The ESCs have three thick wires that go to three wires on the motor. They are labeled A, B, and C. The motor wires are color coded with red, yellow, and black wires. You will need to hook up the wires in a configuration you choose. We chose the following pairing.
   [[File:S15 244 SJeight Octocopter power hub esc.jpg| 220px| thumb|center| ESC attached to frame]]

← Older revision		Revision as of 14:53, 27 May 2015
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−	~~=== Grading Criteria ===~~
−	~~<font color="green">~~
−	* How well is Software & Hardware Design described?
−	* How well can this report be used to reproduce this project?
−	* Code Quality
−	* Overall Report Quality:
−	** Software Block Diagrams
−	** Hardware Block Diagrams
−	**: Schematic Quality
−	** Quality of technical challenges and solutions adopted.
−	~~</font>~~
−
	== Project Title ==		== Project Title ==
	SJeight Octocopter		SJeight Octocopter

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 === Issue #1 ===
-One Issue that came up was the addressing of I2C. The datasheet for the PCA9685 presents the address as 0x40, but it is an 7-bit address. The SJeight function accepts a preshifted 8-bit address (0x80). This was discovered from probing the bus with an oscilloscope.
+One Issue that came up was the addressing of I2C. The datasheet for the PCA9685 presents the address as 0x40, but it is a 7-bit address. The SJeight function accepts a preshifted 8-bit address (0x80). This was discovered from probing the bus with an oscilloscope.
 === Issue #2 ===

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 === Software Design ===
-The main architecture implements FreeRTOS tasks to control the flow of reading sensors and calculations. A dedicated task is used to read the IMU. It holds the highest priority since stability is the most important aspect of the program. The second highest priority is processing the IMU data with the PID loop. The outout from the PID is sent to the motors. The controls are not as circuital for operation and does not need to be updated as frequently. This puts the the reading remote task at a lower priority. After the data has been processed, it is sent to a buffer where the next controller offset will affect the system with a new IMU reading. Transmit and receive task we implemented using queue's. This allows the processing task to sleep and reduce waist in redundant loops.
+The main architecture implements FreeRTOS tasks to control the flow of reading sensors and calculations. A dedicated task is used to read the IMU. It holds the highest priority since stability is the most important aspect of the program. The second highest priority is processing the IMU data with the PID loop. The outout from the PID is sent to the motors. The controls are not as critical for operation and do not need to be updated as frequently. This puts the the reading remote task at a lower priority. After the data has been processed, it is sent to a buffer where the next controller offset will affect the system with a new IMU reading. Transmit and receive task we implemented using queue's. This allows the processing task to sleep and reduce waist in redundant loops.
 [[File:S15 244 SJeight Soft dia.jpeg | 480px| center| Main Program]]

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 When you have stability, I encourage you to add a disturbance to the system, such as quickly off setting the axis with a push or touch. The system should stabilize quickly.
-Yaw is the most difficult to control and is done by creating a differential speed between the clockwise propellers and the counterclockwise propellers. This is why many people suggest that you place counter clockwise props on one axis, and clockwise props on the other axis. A better explanation is given here on wikipedia. http://en.wikipedia.org/wiki/Quadcopter#Flight_control
+Yaw is the most difficult to control and is done by creating a differential speed between the clockwise propellers and the counterclockwise propellers. This is why many people suggest that you place counter clockwise props on one axis, and clockwise props on the other axis. A better explanation is given here on wikipedia. [http://en.wikipedia.org/wiki/Quadcopter#Flight_control/ Wikipedia: Multirotor Flight Control]
 '''Challenges and Problems'''

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 === Project Source Code ===
 *  [https://sourceforge.net/projects/sjsu/files/CmpE_SJSU_S2015/ Sourceforge Source Code Link]
-*  [https://github.com/csawtelle/SJEight-Octocopter.git/ Github Source Code Link ]
+*  [https://github.com/csawtelle/SJEight-Octocopter.git/ Github Source Code Arduino/XBEE RC Version Link]
 *  [https://github.com/twin1q/SJeight-Octocopter.git/ Github Source Code DSXM Version Link]