Fenix autopilot project - tiller autopilot based on Arduino

[spascual90]

Originally Posted by lodnik

I'd rather work in Arduino-IDE ... :-) Is it possible? I'm just an amateur.
Vitek

Hi Vitek,
I have not tested Arduino IDE for C++ programming, but based on the information available on the Internet you can use it. If you just want to play changing smart parts of the code it might be suficient. Indeed I tested the serial terminal in Arduino IDE and I cannot say I really liked it. I prefer the one integrated in Eclipse or even Putty in order to send and read messages back from Fenix autopilot.
If you finally use Arduino IDE, please share your experience!

Regards,
Sergio

[barnakiel]

Sergio,


After the ARC is over I could devote some time to help if my help is of any use. I am in Las Palmas on my boat. I can get an Arduino here and I can possibly still program it it, or test your code.


I may have a couple of ideas coming from actually sailing a small boat over long distances. Sometimes the long time use angle differs from people who have shorter trips.



The tiller arm - the mechanical drive - what brand do you use?


And which arduino board do you use?


barnakiel

[lodnik]

Hi Sergio, is this scheme working?

https://github.com/spascual90/Fenix/...S-2fa9d745.jpg

I see differences ...

https://github.com/spascual90/Fenix/...S-b93938db.png

Does not match description ...

https://github.com/spascual90/Fenix/...S-9f91e269.PNG

Thanks for the clarification, Vitek

[lodnik]

Test connection ...

Vitek

[spascual90]

Originally Posted by barnakiel

Sergio,


After the ARC is over I could devote some time to help if my help is of any use. I am in Las Palmas on my boat. I can get an Arduino here and I can possibly still program it it, or test your code.


I may have a couple of ideas coming from actually sailing a small boat over long distances. Sometimes the long time use angle differs from people who have shorter trips.



The tiller arm - the mechanical drive - what brand do you use?


And which arduino board do you use?


barnakiel

Hello Barnakiel,
your feedback and sea trials will be more than welcome!
To start, you have a list of components in,
https://github.com/spascual90/Fenix/.../SCHEMATICS.md

Linear actuator: I purchased it in Aliexpress (Motor Factory Store), but any linear actuator providing the following main requirements should work are:
- 12V as per standard batteries.
- Feedback: provides a potenciometer in order to report the current position of the tiller.
- 300mm stroke (long) is the minimum I might consider
- As fast as possible. I chosed the fastest as I consider the rudder tiller will never provide a load higher to 30 Kg (300N).
Attached is the diagram of the different configurations you can get from supplier.
There is some engineering (I didnt go through) to verify the correct mix of tiller speed/ current consumption/ load in order to calculate the linear actuator installation distance from tiller to rudder axis. I encourage anyone who wants to go through this analisis.

Arduino board: Mega. It provides sufficient TX/RX channels to support USB and Bluetooth communication.

Hope this helps.

Regards,
Sergio

[spascual90]

Originally Posted by lodnik

Hi Sergio, is this scheme working?

https://github.com/spascual90/Fenix/...S-2fa9d745.jpg

I see differences ...

https://github.com/spascual90/Fenix/...S-b93938db.png

Does not match description ...

https://github.com/spascual90/Fenix/...S-9f91e269.PNG

Thanks for the clarification, Vitek

Dear Vitek,
Some clarifications/ limitations on Fenix PCB:
There is an identified error in the current Fenix PCB design. The pins for PWM/DIR are not correctly allocated. PIN 6&7 are the right PINS. PIN 11&12 should be discarded. In consequence, provisions for these signals in Fenix PCB are not valid.

Mitigations proposed:
1 - Usage of a motor controller Arduino shield instead where PWM/DIR pins are directly connected to Arduino through the shield and can be configured correctly. For this purpose I recommend the shield version of MD10C,
https://www.robotshop.com/es/es/moto...no-shield.html

2 - If you already have the MD10C R2, and still wants to use Fenix PCB you can still do so, just connect the PWM/DIR pins from motor controller to the arduino 6&7PINS through cables.


I will update documentation in Github at the first oportunity.

Thank you
Regards,
Sergio

[spascual90]

Originally Posted by lodnik

Test connection ...

Vitek

Looks nice!

[lodnik]

Hi Sergio, what is it for:
JP2- Keypad
J3- Serial2
JP5- So
Is pin 17 Arduino correctly marked?
Thanks Vitek

[spascual90]

Originally Posted by lodnik

Hi Sergio, what is it for:
JP2- Keypad
J3- Serial2
JP5- So
Is pin 17 Arduino correctly marked?
Thanks Vitek

Hi,
These are provisions for future expansions. Currently not used.
Regards
Sergio

[lodnik]

Hi Sergio,
tested in a test connection on a table, everything works great. Phone control OK. Nice job!
I'll wait for the PCB update and have it made.
Tablet control has a complication. Virtuino reports that bluetooth is not paired, even though it is paired. In Server settings, the following appears: Module address 00: 18: E4: 40: 00: 06. Incorrect, always this same value. If I fix it in the settings, everything is OK until the next run of the program, then the error is repeated. Please, how can I solve this?
Thank you, best regards Vitek

[spascual90]

Originally Posted by lodnik

Hi Sergio,
tested in a test connection on a table, everything works great. Phone control OK. Nice job!
I'll wait for the PCB update and have it made.
Tablet control has a complication. Virtuino reports that bluetooth is not paired, even though it is paired. In Server settings, the following appears: Module address 00: 18: E4: 40: 00: 06. Incorrect, always this same value. If I fix it in the settings, everything is OK until the next run of the program, then the error is repeated. Please, how can I solve this?
Thank you, best regards Vitek

Congratulations! Just some steps ahead to have your prototype ready.
If you are using the same name HC-05 of the paired Bluetooth device as I am, maybe Virtuino is not recognizing the different devices and still looking at the same address. Reported address is MY Bluetooth device :-)
Try changing the name of YOUR Bluetooth device in Android Settings-> Bluetooth to something like 'BT-Autopilot' and select that server in Virtuino->server list.

I hope this works!

Regards,
Sergio

[lodnik]

Hi Sergio,
I tried to change the name of the HC-05 Bluetooth module in Android to BT-Autopilot, without success. Virtuino doesn't see him, he still only offers HC-05 and he behaves the same way. What next?
Regards Vitek

[spascual90]

Originally Posted by lodnik

Hi Sergio,
I tried to change the name of the HC-05 Bluetooth module in Android to BT-Autopilot, without success. Virtuino doesn't see him, he still only offers HC-05 and he behaves the same way. What next?
Regards Vitek

Im trying to reproduce your issue without success. I can change to any paired Bluetooth device and after closing and opening again virtuino retains new selected module address.Try to start from scratch. delete app, project and device and create it again with the new name.
As virtuino app is not under my control my support is limited. Maybe you can ask for advice directly to virtuino creator?

Good luck!
Regards
Sergio

[lodnik]

Hi Sergio, I contacted the author of Virtuin, updated the application, here is my reaction:
"Hi, thanks for updating. The issue has been resolved if I run Virtuino. It remembers the last running project and Bluetooth. However, if I run the project icon (created automatically when Virtuino is started for the first time), it does not remember the last running project or the set Bluetooth. However, it is a trifle that can be lived with. :-)
Best regards Vitek "

Virtuino Developer wrote:
"Hello Sir,
I know this issue.
I will fix it soon
Thanks you!

Ilias Lamprou
Virtuino Developer »

I have ordered the Linear Motor from AliExpress.
Will you be updating your PCB any time soon?

I provide this information and thank you for your reply.
Best regards Vitek.

[spascual90]

Hi Vitek,
good news! the author is responsive and has fixed the issue!
On my side, I've just updated Fenix PCB to fix the PWM/DIR error and other known minor limitations.
You can find Fenix PCB V.1.1 in Github,
https://github.com/spascual90/PCB-fo...g/v.1.1-beta.1

Please bear in mind I have NOT tested the changes in PCB and there is a remaining risk. Please let me know your experience!

Regards,
Sergio