The UCN 5804 Stepper Motor IC. By using an external stepper motor controller, such as the UCN 5804, you can simplify your programs and control as many motors as you. ON Semiconductor supplies integrated stepper motor drivers and controllers. Stepper-Motor-Speed-Control-with-ADC-PIC18F4550.jpg?x49121' alt='Usb Stepper Motor Controller Schematic' title='Usb Stepper Motor Controller Schematic' />Your Arduino Balancing Robot YABRBrokking. Your Arduino Balancing Robot YABR Home. Your Arduino Balancing Robot YABR is a self balancing robot that you can build yourself as a school project or as a fun project with your kids. It might look simple but there is a lot that you can learn from building this self balancing robot. In contrast to most self balancing robots, this one uses stepper motors instead of regular DC motors. The main reason is that stepper motors are precise and have no performance loss when the battery voltage drops. One pulse is always an exact amount of motion. Regular DC motors can have mechanical friction and electric resistance differences. This can cause performance differences. As a result the robot will not move in a straight line. The total cost to build this robot is approximately 8. ST28.jpg' alt='Usb Stepper Motor Controller Schematic' title='Usb Stepper Motor Controller Schematic' />This includes a battery, Nunchuck, charger, stepper motors, etc. The Arduino program that you can download for free is 1. The code is well commented and clearly explained. This makes it possible to further develop the code for your own purpose. Click to see the full image. If you encounter any problems during the build or setup please check the. Most questions are already answered in detail. Step 1 Software. First download the complete YMFC AL software package. YABR. zip version 1. Step 2 Hardware. To build this robot you need hardware. I made the following list for convenience purpose alone. You are free to get your own hardware from different sources. But this is the hardware that I usedordered. If the 3. 5mm stepper motors are out of stock. You could also use these stepper motors. Please note that these are 4. So you have to modify the frame. Most of the following parts can be found in your local electronics store. But in case you dont have an electronics store nearby I will put links here. And finally you need an old inner tube and two sheets of plywood. I used 2. 5mm and 1. And of course you need some simple tools like a soldering iron, screwdrivers, a fretsaw, compact drill, etc. Step 4 The build. YABR hardware build video. Detailed pictures of my own YABR balancing robot can be found in the. The diode and resistors. Click to see the full image. The resistor R1 on the schematic is needed for uploading a program to the Arduino. The TXD output of the transceiver is forced high or low. As a result the FTDI programmer cannot change this output anymore and you will get an upload error. By adding this resistor the FTDI programmer can change the voltage on the RX pin of the Arduino despite the state the transceiver output and the program is uploaded without any problems. The other two resistors R2 and R3 form a voltage divider. Meaning that the 1. Resulting in a 4. In the main program this analog input will be used to protect the battery. This is because lipo batteries can be damaged when the voltage drops below 3 volt per cell. The diode D1 protects all the electronics against reversed polarity. So when you accidentally reverse the connections of the battery the components wont go up in smoke. The MPU 6. 05. 0 gyroaccelerometer. Click to see the full image. The only gyro accelerometer that is supported by the YABR software is the MPU 6. This is because the self level feature requires an accelerometer and a gyro as I explain in these two videos. The orientation of the gyro is important. Make sure to mount the gyro in the exact same orientation as shown on this picture. Otherwise the YABR software cannot calculate the correct angle and the robot will not work. Click to see the full image. Hardware test. Please note that you are soldering the wires on the back side of the PCB. Facebook Hacker V1.0.1 on this page. The schematic is drawn facing the components from the front. So everything is mirrored and you need to double check all the connections before you connect any power to the PCB. With everything in place its time to connect the FTDI programmer to the Arduino pro mini. Dont connect the battery yet. If the LEDs dont lit up there is a short circuit in the wiring and you need to disconnect the FTDI programmer as soon as possible. Normally the Arduino pro mini is already programmed with the blink sketch so the LED on the Arduino should start to flash. To check if the gyro is connected correctly and to check the balancing point of the robot you need to upload the hardware check program that you can find in the software package that you downloaded earlier. Click to see the full image. Test the balancing angle of the robot and fix it in that position on a stand as I showed in the video. Diablo 2 Download Iso. Upload the hardware check program, open the serial monitor and set the baud rate to 9. After uploading the program, open the serial monitor and set the baud rate to 9. The program will check if there is any I2. C device is connected and if this is a MPU 6. If everything is working as expected the program will output several raw gyro values on the screen. These are just examples and your values may be different. Note down the balance value that you see in the serial output. You will need it later in the main program. Click to see the full image. Limit the motor current. Next thing on the to do list is to set the stepper controllers to the correct drive current. If the motor current is set to high the stepper controllers will heat up and they might get damaged. First set the potentiometer at the same position as shown in the picture below. Now always be careful when connecting the lipo battery for the first time. A short circuit can cause high currents, heat, sparks, and burns. A good alternative is to use a small DC fuse like the one below. This fuse will blow if the wiring on the back side of the pcb holds a short circuit. Click to see the full image. The easiest and safest way to set the correct current and to check if the wiring is correctly connected is by measuring the current in the power supply wires with a bench power supply. The power supply is limited to 5. This is an extra safety feature. If there is a short circuit the power supply will limit the current to 5. First connect one motor. With the potentiometer its possible to set the current between 1. A. This is more than enough to get good performance. Do the same with the other stepper controller. If you dont have the possibility to measure the current just set the potentiometer in this position and feel if the stepper driver doesnt get to hot. But its always best to measure the current. Click to see the full image. The remote control. If you open the Nunchuck you can note the wire colors that are connected to the various pins as you can see on the schematic. The Nunchuck works on 3. V and you can use the 3. V output of the Arduino Uno to power the Nunchuck. The 5. V output can be used for the transceiver. Again, connect the wires as shown on the schematic to get it to work. To check if the Nunchuck is connected correctly you need to upload the hardware check program that you can find in the software package that you downloaded earlier. After uploading the program, open the serial monitor and set the baud rate to 9. The program will check if there is any I2. C device is connected and if this is a Nunchuck. If everything is working as expected the program will output several raw joystick values on the screen. Click to see the full image. Step 5 Upload the software. And finally you can upload the YABR remote program to the Arduino Uno and the YABR robot program to the Arduino pro mini. Calidad En El Desarrollo De Software Guatemala. The YABR remote program does not need any modification.