Powersoccer chair that really kicks

[sepos]

I have done those, but don't know why all those light are on.

Throt setting: I see that you have mark only in first box after "motor command" text. Need to check that.

I just reseted all settings to default and checked with slider how motors behave. Motor1 was ok. Motor2 seem to work nicely too, but it has MOSFET light on. Any idea why could that be and could it be part of my problem?

akuva.gif (129.96 KiB) Viewed 1988 times

[Burgerman]

You could have the mosfet output pin reversed. Or you could have something else using that pin too.

It all needs to be correctly configured.

Throt works "motor 1"
Steer works "motor 2"

Don't tell me you have both ticked...

[sepos]

I do

Some how that was messed up from early beginning. In first version I had only 1 in throt, but for some reason 1,2 in steer.

Great thanks! now I can move forward as it seem to work.

[Burgerman]

Current sensors are the next easy thing to get wrong. Reverse one (polarity), or wrong motor... Or calibrate wrong, That causes all kinds of weirdness as you increase motor compensation.

And as far as I know there's only you using this roboteq script at low voltage. Will is using it at 48V brushless, and I am at 45V brushed.

Lenny is running a similar thing but on a different tool, and controlling via bus commands I think...

But while I see no reason it wont work, you will need vastly different settings. So best tested by:
- Sitting on blocks and watching
- RC to begin with using a third channel to cut off the power via a contactor in the event of a runaway.

[sepos]

Yes. Still testing on bench with wheels up.

Trying to make motors change direction more rapidly.
Now going forward and suddenly reversing, motors slow down really slowly before changing the rotation direction.

Any hints for suitable parameters to tune?

[sepos]

DecelBoost = 540
this is doing part of the trick I quess.

Increased from configuration motor acceleration and deceleration for both motors to 3000 RPM/s.
Still feeling that it is accelerating a bit too slow.

[Burgerman]

There are lots.
Are you talking about with speed pot at "full" or lower?
Are you talking about just forwards and reverse, or turn left/right?
At 24V you will need to increase acceleration a lot! And deceleration.
Are you using motor compensation? Because it reacts totally differently once sat in it with compensation.
These for a start:

ONE THING AT A TIME! And a small amount at a time. Test on blocks, And test while sat in it. My settings were a steady starting point on 45V




'JOYSTICK AND SPEEDPOT SETTINGS
Damping = 1 'Number of joystick readings to moving average. 1 to 20 acceptable figures. Set to 1
SpeedPotInstalled = TRUE 'Is speed potentiometer installed? (TRUE/FALSE)
SpeedPot = 90 'Default if SpeedPotInstalled = FALSE. 90, allows speed headroom for steer/mixing.
SpeedPotLowFault = 30 'Chair speed used if pot fails giving too low voltage.
SpeedPotHighFault = 60 'Chair speed used if pot fails giving too high voltage.

SpeedPotFwdMax = 100 'Percent max forward speed at max speedpot setting. <100 for turn headroom at speed.
SpeedPotFwdMin = 17 'Percent max forward speed at min speedpot setting.
SpeedPotRevMax = 26 'Percent max reverse speed at max speedpot setting. reverse speed? Choose.
SpeedPotRevMin = 13 'Percent max reverse speed at min speedpot setting.

TurnPotFwdMax = 20 'Percent max turn rate going forwards at max speedpot setting. TURN RATE!! increase
TurnPotFwdMin = 12 'Percent max turn rate going forwards at min speedpot setting.
TurnPotRevMax = 14 'Percent max turn rate going backwards at max pot speed setting. TURN RATE!! increase

TurnPotRevMin = 10 'Percent max turn rate going backwards at min pot speed setting.

TurnAtFullSpeed = 100 '100=no reduction of turn rate with speed, 0=turn rate zero at max speed.

' DRIVING CHARACTERISTICS
'the following override the settings in the Roboteq configuration:
M1Accel = 2200 'Max motor 1 acceleration. Set much higher!!!
M2Accel = 2200 'Max motor 2 acceleration. (Set both the same!) Set much higher!!!

M1Decel = 2200 'Max motor 1 deceleration. Set much higher!!!
M2Decel = 2200 'Max motor 2 deceleration. (Set both the same!) Set much higher!!!

AccelMotorComp = 0 'Adjust accel & decel for motor compensation 0 = no effect,
DecelMotorComp = 0 'but I have no idea of how sensitive this parameter will prove to be
'20 makes a noticeable difference in initial acceleration in bench test

AccelSteerMixWeight = 400 'Turn Acc. 0 = no effect of M1-M2 motor power on accel/decl, 100 = full effect (set higher to make it start turning fast!!! Eg try 600 or 800)
'if 100 is not enough, it's OK to try values > 100
DecelSteerMixWeight = 400 'Turn dec. 0 = no effect of M1-M2 motor power on accel/decl, 100 = full effect (set higher to make it stop turning fast!!! Mines at 600 and needs to be higher.)
'if 100 is not enough, it's OK to try values > 100
' BACK STICK BRAKING
DecelBoost = 140 'Back stick braking. Percent of added deceleration to use if Throttle crosses 0. (Increase this for more reverse / back-stick braking power)
'effect of this is proportional to how far past 0 the stick is moved.

MotorResistance = 45 'MOTOR COMPENSATION. (SETTING THIS TOO HIGH IS DANGEROUS AND WILL CAUSE A RUNAWAY) (Set too low and chair doesent steer well, or track correctly, or accelerate or decelerate as expected)
'Set to less than motor mOhms, then adjust based on response a little at a time.

UseCurrentSensors = TRUE 'Set to TRUE if using external current sensors on analog inputs
'Set to FALSE to use Roboteq's internal motor current estimates. (Erratic results).

[Burgerman]

http://www.wheelchairdriver.com/BM3-con ... reenshots/

My roboteq settings - if you are struggling! Use your calibrations obviously...

[Burgerman]

And... This is what you should be seeing.

http://www.wheelchairdriver.com/gopro/delete.mp4