Arduino controlled wheelchair

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Re: Arduino controlled wheelchair

Postby Burgerman » 27 Jul 2019, 21:52

its a BIG mower and i use a engin crane to lift it for when i need to work on it

and it can drive over a 2" sapling and not even leve a stump :ugeek: :mrgreen:

not to mention its driveing on thick grass and up a decent incline


Thats enertia not torque. Also it takes less amps the faster you go and I would expect a hill wouldnt tax it. But you will be under powered in ZERO SPEED turns, as thats where motor amps matter meaning you will not have accurate control at that time. But using an arduino with no proper mis or control algo, and no positive feedback loop (motor load compensation) you dont anyway. So if thats good enough carry on, but its still not correct!
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Re: Arduino controlled wheelchair

Postby Adverse Effects » 28 Jul 2019, 02:26

Burgerman wrote:Thats enertia not torque.

nope i can nose the mower in to a wall/fence and it will just turn the wheels (not spin because there only turning at walking pace) till it cuts trenches till its to its axels, that is torque

Also it takes less amps the faster you go and I would expect a hill wouldnt tax it.

it dosent go much faster than fast walk (limited in my RC controller hand set)

But you will be under powered in ZERO SPEED turns, as thats where motor amps matter

hmm its ~1400mm long from back wheel axle to front wheel axle and it will whip around so quick it will catch you off guard i have the mixing in the RC controller so it will rotate in the middle of the back 2 wheels

meaning you will not have accurate control at that time.

this is true you need a light touch on the steering because it will whip around so quick if your not carfull
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Re: Arduino controlled wheelchair

Postby Max71 » 28 Jul 2019, 10:54

woodygb wrote:What EXACTLY do you want the wheelchair to do?

Can you program an Arduino ... and by that I mean write the relevant code ?


Hi woody, I'm developing an app that can work as a command emulator for a motorized system. My aim is to make a wheelchair (of my mother) move independently in the home environment, as it is experiencing a period of great depression due to the impossibility of moving independently. The house is small and moving is difficult even for a young person, let alone an elderly person with reduced vision. Going back to my request for help, my lack of experience with electronic devices, I am afraid that by following the specifications highlighted on this topic I could combine damage to the original system (shark). for this reason I would also be willing to purchase detailed specifications (simplified for those who do not understand much about electronics) to avoid burning the original system.
I currently have an arduino (Uno rev3) with a motor shield connected (L293D based DC Motor/Stepper/Servo Shield for Arduino) to a small robot that moves as I would like, only that everything works at 5v and not at 12v as I imagine the Shark works and this is already a big obstacle for me overcome.

Starting from the beginning :roll: , what am I missing as essential components?

Thanks.

Massimo
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Re: Arduino controlled wheelchair

Postby gcebiker » 28 Jul 2019, 11:08

http://greenmobility.com.au/rc-wheelchair-controller/
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Re: Arduino controlled wheelchair

Postby gcebiker » 28 Jul 2019, 11:24

Adverse Effects - Ive a Jazzy 600, complete and working. $400
Batteries are gone but will work enough to drive it around.

There is an internal break in one of the motor wires (happens with the fixed rear/moving motor of these models), i have it held up with a zip tie and works no problem.

Ill hold onto woodys BT controller, its a handy thing to have on hand 'just in case'
http://greenmobility.com.au/rc-wheelchair-controller/
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Re: Arduino controlled wheelchair

Postby Adverse Effects » 28 Jul 2019, 13:29

gcebiker wrote:Adverse Effects -
Ill hold onto woodys BT controller, its a handy thing to have on hand 'just in case'

no problem mate
i dug through my hobby parts boxes and have come up with most of the things i need to manually control it with the RC gear i have

pic of what i am doing
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Re: Arduino controlled wheelchair

Postby Max71 » 28 Jul 2019, 18:32

gcebiker wrote:http://www.wheelchairdriver.com/board/viewtopic.php?f=2&t=6503&start=300#p140043


thanks gcbicker, what you did is really a good job, congratulations :clap:

I will try to get help in making the card from some friend, who is competent in electronics.
To then connect the card to the shark (DK-REMD01B), could you tell me what kind of cable I should buy?
Can you imagine that the card works for any type of shark joystick?

Is this the exact scheme?

http://www.wheelchairdriver.com/board/download/file.php?id=10789&mode=view

Thanks.
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Re: Arduino controlled wheelchair

Postby woodygb » 28 Jul 2019, 18:44

Is this the exact scheme?

download/file.php?id=10789&mode=view

Thanks


That is similar ...but has the addition of pull ups / downs and a reconfiguration of the placement for the 22k resistor.
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Re: Arduino controlled wheelchair

Postby woodygb » 28 Jul 2019, 18:56

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Re: Arduino controlled wheelchair

Postby Max71 » 28 Jul 2019, 19:42



Thanks woody, I saw that you designed a robot very similar to the one I would like to make, I hope I can make it myself, maybe I'll ask you for advice if I can.
Did you make the app you use, or did you discard it from the store?
In the second case I could help you with my project to be able to customize it, I'm trying to implement a small IA session in the code to take advantage of voice commands and visual recognition... maybe in addition to just asking for advice, I can be useful in some way :? ;)
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Re: Arduino controlled wheelchair

Postby woodygb » 28 Jul 2019, 22:06

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Re: Arduino controlled wheelchair

Postby Max71 » 03 Aug 2019, 14:52

Hello, can I ask you if between the electronic components are essential tolerances (for example diodes and resistors), because I I found some with tolerance + - 5% in contrast with those listed at 1%

http://www.wheelchairdriver.com/board/viewtopic.php?f=2&t=6503&start=300#p140043

and if the electrolytic capacitor can be on 10v instead of 6.3v?

Can I , also, ask you what kind of cable I have to buy to connect the board to the shark joystick?
Thanks.
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Re: Arduino controlled wheelchair

Postby woodygb » 03 Aug 2019, 14:58

The components that you have should be fine.

You can just cut your existing cable and use that... inside it has two large 24v power cables ( Red and Black ) plus the yellow and blue of the RS482 connections.
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Re: Arduino controlled wheelchair

Postby gcebiker » 04 Aug 2019, 12:57

woodygb wrote:The components that you have should be fine.

You can just cut your existing cable and use that... inside it has two large 24v power cables ( Red and Black ) plus the yellow and blue of the RS482 connections.


edit / #RS485

The electrolytic capacitor should ....technically, not even be necessary (due to the specs of the voltage regulator) but I put it in, just in case someone was using a 7805 transistor with a heat-sink, which would need it.
http://greenmobility.com.au/rc-wheelchair-controller/
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Re: Arduino controlled wheelchair

Postby Max71 » 04 Aug 2019, 21:49

Excuse the trivial question, but should the board be connected to the joystick or to the control unit? I have this input on the joistick

https://ibb.co/thvKDZh

which I think is its programming input, can you tell me if I can use both the emulator board and the joystick in this case if the board doesn't work?
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Re: Arduino controlled wheelchair

Postby woodygb » 04 Aug 2019, 22:17

That picture you posted is of the charging and programming port and has NOTHING to do with how you wish to connect or control the chair.

You can either CUT the wire from the joystick to access the 4 wires that you want OR buy an extension cable like the one link to below and cut that.

https://www.ebay.com/itm/303127416583


You can then just swap between the two EITHER the joystick OR the emulator board.

It is however possible to combine both if you incorporate a DPDT relay.
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Re: Arduino controlled wheelchair

Postby woodygb » 04 Aug 2019, 22:24

Here is one that I made with a relay....this gave me a choice of just the joystick with the relay OFF /closed or Radio Control with the relay powered / ON

INTERFACE LABELS DYNAMIC A.jpg
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Re: Arduino controlled wheelchair

Postby woodygb » 04 Aug 2019, 22:32

Dynamic BUS CABLE...

Note:- That your joystick may or may not have the bus cable hard wired in.

You will most likely want to buy the purple one.


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Re: Arduino controlled wheelchair

Postby Max71 » 05 Aug 2019, 19:04

Here is one that I made with a relay....this gave me a choice of just the joystick with the relay OFF /closed or Radio Control with the relay powered / ON


I understand, so I need a relay and an extension cable :)

I saw behind in the post a diagram with relay, can I follow that?

Thanks
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Re: Arduino controlled wheelchair

Postby woodygb » 05 Aug 2019, 19:14

You can try...but I'm not sure if it is very well documented.
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Re: Arduino controlled wheelchair

Postby Max71 » 05 Aug 2019, 19:23

woodygb wrote:You can try...but I'm not sure if it is very well documented.


unfortunately I am not very familiar with electronics, I understand the basic concepts but when I have to mount a simple relay for me it is already difficult. Can I ask you how to connect it with the on-off button on the board?
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Re: Arduino controlled wheelchair

Postby woodygb » 05 Aug 2019, 20:05

I you have little or no experience of electronics or programming an Arduino .... then it's going to be VERY difficult to guide you.

There is NO on/off button on the board for the relay ...there is however an on/off switch that I used for isolating the power to the Arduino.

The relay is connected via a transistor to a pin on the Arduino ... this pin is coded to go "high" in response to a R/C signal and " turns on " the transistor which in turn activates the relay.

Did you understand any of that?
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Re: Arduino controlled wheelchair

Postby woodygb » 05 Aug 2019, 20:11

YOU might find it easier to go the manual route with one of these ..a DPDT slide switch instead of a relay.

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Re: Arduino controlled wheelchair

Postby Max71 » 05 Aug 2019, 20:40

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Re: Arduino controlled wheelchair

Postby Max71 » 05 Aug 2019, 20:51

The relay is connected via a transistor to a pin on the Arduino ... this pin is coded to go "high" in response to a R/C signal and " turns on " the transistor which in turn activates the relay.

Did you understand any of that?


I understand the concept but I do not feel safe in applying it in practice. I wouldn't want to burn the circuit due because of incompetence
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Re: Arduino controlled wheelchair

Postby woodygb » 05 Aug 2019, 21:12

Max71 wrote:http://datasheetz.com/data/Switches/Slide/25146NLDB-datasheetz.html

Woody, do you think this could go?


Yes ..that looks fine.
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Re: Arduino controlled wheelchair

Postby ex-Gooserider » 06 Aug 2019, 02:42

Max71 wrote:Hi woody, I'm developing an app that can work as a command emulator for a motorized system. My aim is to make a wheelchair (of my mother) move independently in the home environment, as it is experiencing a period of great depression due to the impossibility of moving independently. The house is small and moving is difficult even for a young person, let alone an elderly person with reduced vision. <SNIP>
Massimo


While not directly related to how to do your project, the above bit makes me feel rather concerned - it is generally not considered safe or wise to do radio or other remote control / autonomous stuff with an OCCUPIED power chair, UNLESS the occupant has the mental and physical ability to at least trigger an emergency stop if something goes wrong - the factory control systems are designed and heavily tested to be both 'Fail-safe' and 'Safe-Fail' in that they are unlikely to fail, and if they do the chair stops moving (Generally the safest option)... Radio signals can be disrupted, and not all of our designs have been torture tested to ensure 'Safe-Fail' operation.... Driving your mother through a wall if something goes wrong is likely to leave her with worse problems than just depression... :problem: :( BE CAREFUL!

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Re: Arduino controlled wheelchair

Postby Max71 » 06 Aug 2019, 12:04

Hi ex-Gooserider

I fully agree with you. I would never risk leaving the tool management in total autonomy. My goal is to be able to make it move for small movements,with my supervision, with the help of some sensor that would only work as a stop if it gets too close to an obstacle, on the other hand, she has visually impaired so the problem has it. Thanks anyway for the warning. I will do the tests on automatic driving movements without her.
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Re: Arduino controlled wheelchair

Postby Max71 » 06 Aug 2019, 12:06

woodygb wrote:
Max71 wrote:http://datasheetz.com/data/Switches/Slide/25146NLDB-datasheetz.html

Woody, do you think this could go?


Yes ..that looks fine.


Thanks woody!
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Re: Arduino controlled wheelchair

Postby woodygb » 06 Aug 2019, 12:24

Any DPDT switch will do ...use a toggle switch if that better suits you .

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