Ubalance Team:

Francesco Guerri

•

0rla3

•

Umberto Cucini

Published February 14, 2016 © GPL3+

UBalance

Self-leveling platform powered by whole new MAGUM library and UDOO Neo board

IntermediateFull instructions provided15 hours2,278

Things used in this project

Hardware components

UDOO NEO

Servomotor

Breadboard (generic)

Male/Male Jumper Wires

Software apps and online services

Arduino IDE

UDOObuntu 2

MAGUM Library

Story

About this project

UBalance is an auto-leveling platform borned for testing the new Python MAGUM library (https://github.com/ubalance-team/magum) by Ubalance Team. For full documentation please check this link (http://magum.ml).

This is only an experimental project which may have further developments and improvements.

Description

Ubalance is composed by two wooden platforms linked by two servomotors that manage the inclination of two axes (x and y).

The logic behind how the platform behaves is quite simple, after that the base platform has been calibrated, the second platform linked by the servomotors opposes to the movement of the base, trying to stay parallel to the ground.

Demonstration

The following video shows a better understanding regarding how the system works:

Hardware

We assembled the engines uncoupling their movement. Below, photos to clarify how we performed the assembling:

1 / 3

This is the linking configuration of the pins. You only need 8 male to male jump wires and a breadboard:

base servo: pin 10
top servo: pin 9

Software

Ubalance works thanks to a Python script that reads the angles from both gyroscope and accelerometer (integrating measures using a complementary filter already provided by MAGUM library) and an Arduino sketch that works as a static controller and moves the engines. Below, a flow chart showing the communication between Python script and Arduino sketch:

Before you start:

Python script needs the Python module Pyserial to communicate with Arduino, and MAGUM library to read data from the sensors.

Install Pyserial running this command from your terminal:

pip install pyserial

Download MAGUM library from Github (https://github.com/ubalance-team/magum) and install it following the documentation of the README file.

How to:

1) Copy the Arduino sketch and load it on the M4 controller of your UDOO Neo

2) Copy the Python script in a new file and save it with ".py" extension

3) Run Python script typing this command on your terminal:

sudo python YourScriptName.py

Be careful at the calibration: don't move UDOO Neo while calibrating!!

caption (optional)

4) Now it should work. Move the base platform and verify it!

Code

#include <Servo.h>
#include <servo_mqx.h>


// Definition Pins of servos
#define pinBase 10
#define pinTop 9
#define pinSe#include <Servo.h>
#include <servo_mqx.h>


// Definition Pins of servos
#define pinBase 10
#define pinTop 9
#define pinSerial 13

// Creation servo objects to control the servos
Servo servoBase;
Servo servoTop;

// Definition characteristics of servos
int posBase, posTop;            // indicate the positions of the servos
int rangeBase[] = {0, 89, 165}; // indicate the ranges of servos  {minVal,90°,maxVal}, minVal >= 0° , maxVal <=180°
int rangeTop[] = {0, 89, 180};  // minVal should be the angle value when the servos is in 0° position. maxVal should be the angle value when the servos is in 180° position

int flag = 0;

void setup() {
  servoBase.attach(pinBase);          // Set the command pin where the servo is attached
  servoTop.attach(pinTop);
  servoBase.write(rangeBase[1]);      // Set the servos to 90 degrees
  servoTop.write(rangeTop[1]);
  posBase = servoBase.read();         // Get the position of servos
  posTop = servoTop.read();

  Serial.begin(115200);               // Begin serial Communication at 115200 bps
  Serial.print('1');
}

void loop() {
  int Angles[2] ={1000, 1000};
  String string = "";
  String ang1,ang2;
  char input;
  while((Serial.available() > 0) && (flag == 0)) {    // Check if there are data in the buffer and get them Byte by Byte
    input = Serial.read();                            
    if(input != '|') {                                // the " | " character separate the values of angles
      string = string + input;
    }
    else {
      // Fine primo numero
      flag = 1;
    }
  }
  if(string != "") {
    Angles[0] = string.toInt();                       // Convertion from string to integer
    ang1 = string;
  
    flag = 0;
    string = "";
  }
  while((Serial.available() > 0) && (flag == 0)) {
    input = Serial.read();
    if(input != '|') {
      string = string + input;
    }
    else {
      // Fine secondo numero
      flag = 1;
    }
  }
  if(string != "") {
    flag = 0;
    Angles[1] = string.toInt();
    ang2 = string;
  }
  if(string != "") { 

      servoBase.write(-Angles[0] + rangeBase[1]);    
      servoTop.write(-Angles[1] + rangeTop[1]);
      posBase = servoBase.read();                               // Refresh the position variables
      posTop = servoTop.read();
      delay(150);
    
    Serial.println("1");                                        // Write to the serial the command that permit to send new data from the python script
  }
}

import serial
from random import randint
import time
from magum import Magum

arduino = serial.Serial(
	port='/dev/ttyMCC',
    baudrate=115200,
    parity=serial.PARITY_NONE,
    stopbits=serial.STOPBITS_ONE,
    bytesize=serial.EIGHTBITS
) 
timeout = 0
DT = 0.02 # 20ms

magum = Magum(250,0,2,1)											# Instanzio magum

print "Collegamento Seriale OK"

# first of all calibrate the sensor
axisOffset = magum.calibrateSens(1000)

# arduino.close()
# arduino.open()
while True:															# Inizia il ciclo
	try:															# Questo serve solo per chiudere la seriale in caso di ctrl+C
		while timeout < 50:											# Finche' non ho nessun Byte nel buffer e non ho esaurito il numero di tentativi (50)
			print "Tentativo N. " + str(timeout + 1)
			textIn = arduino.read()	
			if textIn == '1':
				print "M4 Pronto"
				arduino.flushInput()								# Pulisco il buffer in entrata
				timeout = 0
				try:
					cFAngleAxis = magum.compFilter(DT,axisOffset)
				except IOError: #  avoid timeout errors
					pass
				base = 	int(round(cFAngleAxis[1],0))				# Rilevo gli angoli di inclinazione della UDOO
				top = int(round(cFAngleAxis[0],0))
				message = str(base) + '|' + str(top) + '|'			# Costruisco il messaggio da inviare	
				print str(message)											
				arduino.flushOutput()								# pulisco il buffer in uscita
				time.sleep(.100)
				arduino.write(message)								# invio il messaggio
				time.sleep(.200)
			else:
				print "M4 non disponibile\n"
				timeout += 1
				time.sleep(.100)
		print "Timeout\n"
		arduino.close()												# Chiudo la seriale
		exit(1)
	except KeyboardInterrupt:
		arduino.close()