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+--- Thread: Ross' H015 Build (/showthread.php?tid=487)
RE: Ross' H015 Build - r_saggio - 11-01-2018
Ok, now for the drive system upgrade.
[attachment=274]
Here is the system wire diagram for the drive system. It's just a more detailed version of the existing diagram but with a DPDT switch and charge port added. The LED system is run from a separate arduino nano and powered from the 12V to 5V step-down board.
Motor Controller: https://www.amazon.com/gp/product/B00XZ9NA9Q/ref=oh_aui_detailpage_o00_s01?ie=UTF8&psc=1
RC Controller: https://www.amazon.com/gp/product/B01BXS0BWO/ref=oh_aui_detailpage_o00_s02?ie=UTF8&psc=1
DC-DC Step Down Converter: https://www.amazon.com/Lysignal-LM2596-Supply-Adjustable-Converter/dp/B074J4NXCM/ref=sr_1_42?ie=UTF8&qid=1541135775&sr=8-42&keywords=12v+to+5+volt+converter+board
RE: Ross' H015 Build - r_saggio - 11-01-2018
This is the arduino code I used for the drive system. It's basically the code available here but minus the LED stuff.
RE: Ross' H015 Build - r_saggio - 11-01-2018
I designed the drive platform to fit inside the LEGO greeblies. Since the body of the droid is pretty light, it's made from 1/4 plywood and the corners are notched out enough the have the omni wheels clear the inner face of the greeblies. I installed a C-Channel chris-crossed on top and bottom to stiffen the board
Motor:https://www.amazon.com/gp/product/B01KTZXZ1G/ref=oh_aui_detailpage_o05_s00?ie=UTF8&psc=1
(see my 5/12/19 post with the updated motor information)
Motor Mount Brackets:https://www.amazon.com/gp/product/B06VT8RSM1/ref=oh_aui_detailpage_o04_s01?ie=UTF8&psc=1
The 5 inch tall carriage bolts are for the battery hold down bracket and for mounting the body to the lower section. The 2 shorter bolts are for mounting the electronics board.
RE: Ross' H015 Build - r_saggio - 11-01-2018
I like to put the systems electronics onto a separate board so that I can easily remove it from the droid to bench test it. The connector at the upper left connects to the DPDT switch. I also used bolts as a bus for the positive and negative power distribution. The black strip next to the 12V to 5V step-down converter in the second pictures is a mini power distribution board I made using a short segment of 0.10 inch dual row straight pin header mounted into a flat piece of plastic and each row soldered together underneath.
RE: Ross' H015 Build - r_saggio - 11-01-2018
The wheels that are used on the original sentry droid are the standard VEX omni wheels. To attach the wheel to the 6mm D-axle of the motor, I found hubs made for the motor and the fastener pattern matches the gaps between the wheel spokes. To get the 4-40 bolts through the spokes, I had to lightly file the Vex wheel hub. You only need to remove about .030" between each of the spokes. Don't file too deep. For the opposite side, I drilled out a large pan washer with the same pattern as the mount hub. Also, I had to drill out the center of the Vex hub part of the way through with a 6mm (15/64) drill bit to allow the motor hun to fully engage the axle.
Motor Mount Hub: https://www.amazon.com/gp/product/B00B887FX8/ref=oh_aui_detailpage_o04_s00?ie=UTF8&psc=1
I also drilled a shallow dimple into the flat of the D-axle of the motor to help retain the set screw and to help prevent the hubs from slipping.
RE: Ross' H015 Build - r_saggio - 11-01-2018
Here is the electronics board mounted to the platform.
RE: Ross' H015 Build - r_saggio - 11-01-2018
Here is the battery mounted and the switch bracket. The switch bracket is simply a bent piece of sheet metal. You can see I cut a piece of pipe to use as a spacer to be able to tighten battery mount. You can see the connector from the DPDT switch to the electronics.
DPDT Switch: https://www.amazon.com/Heavy-Handle-Momentary-Toggle-Switch/dp/B000LFVFA8/ref=pd_sbs_328_2?_encoding=UTF8&pd_rd_i=B000LFVFA8&pd_rd_r=f91fe807-de5e-11e8-82a3-29f22d3591dd&pd_rd_w=uviKj&pd_rd_wg=ISZ1x&pf_rd_i=desktop-dp-sims&pf_rd_m=ATVPDKIKX0DER&pf_rd_p=7d5d9c3c-5e01-44ac-97fd-261afd40b865&pf_rd_r=F1JV1KY49AQG5GHM5Z0S&pf_rd_s=desktop-dp-sims&pf_rd_t=40701&psc=1&refRID=F1JV1KY49AQG5GHM5Z0S
RE: Ross' H015 Build - r_saggio - 11-01-2018
Drive system installed onto the platform.
RE: Ross' H015 Build - r_saggio - 11-01-2018
To attach the drive platform to the greeblies, I used some deck screws into the step of the greeblies. I pre-drilled through the LEGO so that the screw would go in easily.
RE: Ross' H015 Build - r_saggio - 11-01-2018
Lower portion fully assembled. The body mounting posts have pipe spacer and a washer so that the body can be tighten to the base without deforming the body mount points.