Alfa3test. PID introductionand more…

Starting with this series of tests Alfa3,I added some new features that move the project to the final setup.alfa3_pic1In particular I add the following modification that allow the system to work wireless:

  1. I added a second ESC and a second motor.
  2. I modified the connector board adding a new 3 pin connector (C in the photo) where there is the zero volt (black wire),  the signal (white wire) that is bridged with the 4th signal (green wire), and also added the 5 volt (red wire) .connector_board In this way I can choose if rpi is powered by  the ESC (C connection) or not (B connection).
  3. So the schema for this test consist of the connection of motor M[0] in A and motor M[1] in C.
  4. I connected also my wifi dongle in the rpi usb port. I discovered that neither the pc nor the wifi dongle can act as access point. You can verify this using the comand:

iwconfig ap

So I used my smartphone activating the router wifi function,building up a network including the PC and the rpi.

Below the references used in the test:

alfa3_convention

  • M[0] turns counterclockwise, the red wire is connected to the “T” wire of the esc (the one that is closer to the T of the Turnigy logo),and the yellow wire to the “Y” wire , the black wire with the center wire of the esc.
  • M[0] mounts a standard left prop.
  • M[1] turns clockwise, the yellow wire is connected to the “T” wire of the esc ,and the red wire to the “Y” wire ,the black wire with the center wire of the esc.
  • M[1] mounts a right prop. (marked  R).
  • According to the position of the IMU,I have a negative roll rotation if M[0] moves down.

I did already some tests with this configuration. In the next post the first results and the description of th enew sw module rc.py that is the remote control module.

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