Omni wheel Robot part 1 : prototype

Yes, I'm back :)
stuff used:
- Arduino Due
- 12V DC Motor 251RPM w/Encoder
- LSM303D 3-Axis Accelerometer and Compass
- Cytron 13A, 5-25V Single DC Motor Controller
- NRF24L01
- 3S lipo battery
Souce code and cad files on github
github.com/neuroprod/omniBotP...

[@GiacoWhatever]

New videooooo! :)

[@GiacoWhatever]

Was that delrin?

[@KrisTemmermanNP]

Yes, that took way to long! :) Thanks man! No, that was acrylic.

[@standardobserverstandardob6072]

Kris Temmerman i love thish

[@flapjackattack4]

Kris is back!!! Between the beautiful hardware & software, awesome projects, and relaxing piano music you're one of my all time favorite makers on youtube and one of THE most underrated for sure. So happy you're back.

[@KrisTemmermanNP]

Thanks man!

[@kentvandervelden]

Awesome workshop, with all that natural light! Glad to see you're back

[@leonard-riccardowecke2773]

the amount of love you put in the video is truly fascinating and binding. Good job!

[@cpayne1123]

Dude! so glad you're back! Your videos are wonderful, and your building/software skills are incredible and really inspiring. Thanks for taking the time to document your work in such a pleasantly watchable way!

[@cpayne1123]

Also I'm curious, what language/program are you using to create that 'mouse vector' control program?

[@KrisTemmermanNP]

Thanks! my pleasure :) Its C++, using libcinder.org/. Github link of this project is in the description.

[@MagnusNyborgMadsen]

That workshop looks like a dream. Hope to see more videos, you have some cool projects! Thank you for uploading

[@KrisTemmermanNP]

Yes, definitely a dream! Thanks!

[@justinssleeyt]

Technical enough to laser cut his own parts, yet flexible enough to use masking tape. Great video!

[@KrisTemmermanNP]

Sometimes you have to take the easy route, especially if you'r just testing some stuff :) Thanks!

[@mayurbalwani7277]

Can't tell you how happy I am to see you back Kris! Amazing to see a legend at work.

[@KrisTemmermanNP]

Thanks :)

[@maccacino2]

Hazaar! You're back mate! Fantastic news. Pretty sure I've been checking and rechecking your channel every week for the last year... Great to see a new vid.

[@KrisTemmermanNP]

Thanks man! glad you kept sticking around :)

[@nicklebeezy]

Back and better than ever! Great looking shop too, I'm very jealous.

[@KrisTemmermanNP]

Thanks! Yes, I'm very happy with the shop

[@chris_1337]

One of the best channels on KZbin! Your videos are not only fascinating from a technical point of view, but they're also quite poetic, I must say! Can you reveal your plans for this omni robot? Anyhow.. I'm in awe of your skills!

[@KrisTemmermanNP]

Thanks man! :) I have some ideas I want to test. but I'm not sure where its going to lead me. so no concrete plans for now.

[@tonyz7563]

It is a pleasure watching you making stuff

[@KrisTemmermanNP]

thanks :)

[@theowlsgo]

Congrats on the shop and great content as always!

[@KrisTemmermanNP]

Thanks :)

[@mdandry]

I love your workspace. Very jealous 🙌🏻

[@leikoravelo4384]

Good to have you back, keep making more videos! :D

[@KrisTemmermanNP]

Thanks! :)

[@UncoveredTruths]

ah magnifique, good to see you again

[@uncharted4076]

You're BACK!!!!!!!!!!! Please never leave us again.

[@KrisTemmermanNP]

I will try :) thanks!

[@1951split]

@@KrisTemmermanNP Try harder!

[@samiant5199]

Your back. I love your work space. I know (with a little touch up on my java) I could code and build prototypes like yours. I do for school just not at home

[@KrisTemmermanNP]

Thanks! You should build your own stuff!

[@samiant5199]

+Kris Temmerman I do I'm just so jealous of your space.

[@othmensami9065]

@@samiant5199 can you help me

[@azyfloof]

Welcome back! Missed you! I'm sure you're gonna get a ton of questions asking if you're gonna be working on the balancing robot and rolling cube etc :P

[@KrisTemmermanNP]

Thanks! :) I did quite a lot of stuff on the balancing robot since the last video,, so maybe there will be more about that. But the cube is not going to happen.

[@azyfloof]

***** Aww it's shame on the cube :O :( Follow up vid anyway? Great to see you again anyway, can't wait for more awesome :D

[@antonolivaresjuanjose2992]

Muy completo y detallado, Ok

[@kid-vf4lu]

I'm glad to see you back! Just yesterday I was going through your channel. Can you share your software development tools, they don't look familiar.

[@KrisTemmermanNP]

Thanks! Its C++, using libcinder.org/. IDE is xcode , Github link of this project is in the description.

[@cuserroro]

Welcome back!

[@KrisTemmermanNP]

Thanks :)

[@ivannightly1919]

chris I dont think you see what you just built, thanks so very much. have a look at the base of yawvr 1 this could be your next project ;)

[@Addybhoot93]

Your videos are really inspiring. Which designing software is that at the beginning of the video ?

[@ahmadfathulalim_te_0433]

Wow keren

[@cchaos11]

joepee, kris is back !

[@KrisTemmermanNP]

Thanks, I'm glad to be back :)

[@TutocarloCV]

nice

[@tiajudarobotica3978]

Awesome! Did you tried a autonomous one?

[@Spirit532]

Yay, you're back! Does this mean we'll see more videos in the very near future? I also see a bit of rust on the lathe :)

[@KrisTemmermanNP]

I hope so, but don't expect a video every week ;) Luckily it's just dried out oil instead of rust. Thanks!

[@Spirit532]

Expecting weekly tech videos that involve actually doing something is unreasonable, I'm just glad you're not dead :)

[@nicklas7825]

Nice project. Have you built your laser cutter?

[@ahocan100]

hey kris :D great video btw still waiting for you to finish the cube man :D come on

[@KrisTemmermanNP]

thanks :) the cube... don't count on it... :(

[@ahocan100]

Kris Temmerman oh :( tears has fallen kris :/ rip cube

[@danibacsur9318]

Hi! Nice Job! How to run the pc code? (the "vector calculator")???

[@JeN-iy8rq]

What's logic level from hall encoder, 5v or 3v3? It's direct to i/o arduino due?

[@atec9228]

Hello, I love your project I think it's amazing, you see that you've put hours and has many interesting features. I would like to know in the vuteo 1 minute 3.46 an animated animation of the movement of the robot appears according to strips of a vector, what program is ?? Have you left it in some place to share it? On the other hand you use the Lsm303d but I do not see documentation of how you have implemented it with Arduino and I do not know how it works. I hope you can help me to realize my omniwheel that is still very green. Thanks

[@KrisTemmermanNP]

Thanks :) You can find the source code of the vector thing on my github github.com/neuroprod/omniBotProto (pc tester) you need libcinder.org/ to run it. I don't use the Lsm303d anymore (I use the camera tracking to get the rotation) but you can find it in an older version of the arduino code on github

[@shubhambahl]

Hey, what software have you used for knowing the motion of the wheels at 2:15 in the video? I really love you work style.

[@KrisTemmermanNP]

Thanks! Its something I wrote. See the github link in the description.

[@shubhambahl]

I am sorry. But I can't find the name there.

[@uncharted4076]

It's custom made software Kris wrote himself.

[@Kay-ye3bj]

I really love your way of making videos. May I ask in which country you live? Cheers Kay

[@KrisTemmermanNP]

Thanks Kay! I'm from Belgium :)

[@Kay-ye3bj]

That was a surprisingly quick answer :D I am planning on building a waterproof aerial photography tricopter, eventhough I am not quite sure how good thats gonna work out :) And since I am just a 16 year old student I have quite limited ressources for machining and stuff like that, which is gonna make the plan of using carbon fibre a bit more difficult. But long story short I am planning on building a plastic hull with carbon fibre structure inside and I planned to embed all the microcontrollers inside the carbon fibre(as in cutting holes in the plates for the circuit boards to fit in) and wanted to ask you for your opinion regarding the stability of such system :D Cheers Kay

[@KrisTemmermanNP]

Hi Kay. I really cant tell. Don't know much about copters or carbon fibre. But you should try it : )

[@aakash512]

Hey What was the program used at 2:11

[@felixdietzCGN]

What an awesome Shop! Is that a lasersaur?

[@KrisTemmermanNP]

Thanks! :) Yes, Its a Lasersaur

[@AfricanTimeMeal]

What was the vector direction program in?

[@thienan7206]

Hi, Kris. It's been a long time since you last answered a question, but can I ask, in the code, there is a part where speedFactor = (secEllpased* 64.f*43.7f), what is the meaning of 64 and 43.7? Anyone understand? Thanks

[@SirArghPirate]

Any reason you use dc motors instead of stepper motors? I'm currently trying to use this kind of dc motor (or quite similar) on a balancing robot, but I'm having problems calculating the velocity accurately. It seems like your code calculates the velocity, but how accurate is it, and is it accurate enough for a balancing robot?

[@KrisTemmermanNP]

The motors have encoders, so I know the velocity. But for your balancing robot you don't really have to care about the velocity (for a basic one). You just work with the angles from your IMU, put those in a PID that outputs the pwm of your motors. your PID input=current angle, target=(0 if you stand still, +x to move) , output =the pwm. Its all about tuning the PID :)

[@SirArghPirate]

Yes, I tried using only a PD loop for balance (basically pitch as input and pwm as output) and that worked quite well and it's able to balance for a while. This means it's depending on a perfect levelled imu, otherwise it will drift off and eventually fall over. In my understanding you need a control loop for velocity in order to make it able to balance in place for an indefinite amount of time.

[@ZainUlAbideenxaainulabideen]

Hello, I really appreciate your videos. Can you tell me that where is PID-v1.h library.?

[@KrisTemmermanNP]

thanks, you can fiend it here :github.com/br3ttb/Arduino-PID-Library/blob/master/PID_v1.h

[@yoshuakevin3662]

Would you kindly share the wiring diagram rotary encoder to arduino?

[@skyeg3]

What software are you using at 2:15?

[@triradityainawityanto1917]

Hello Kris, in minutes 2:14 , how i can open the project ominbotcontrolerApp.cpp ? i use netbean, may u help me for run that program ? or u use other c++ ide ?

[@seanbernard6516]

How well does it move on carpet

[@gyandramahato3532]

What is the name of 3 circuit near motors ?

[@vaibhavgaunkar]

which all cad modelling software do you use?

[@KrisTemmermanNP]

fusion 360 :)

[@marcelbonardy1594]

Hello, where can i found that movement simulator ? btw this is a good project i'm gonna make one thanks to you :)

[@KrisTemmermanNP]

In the github link in the description -> ominbotcontroler_PC_tester :)

[@marcelbonardy1594]

Kris Temmerman can't compile, where can i get cinder library ?

[@KrisTemmermanNP]

libcinder.org/ :)

[@marcelbonardy1594]

Kris Temmerman thanks man, sorry for asking general question, i'm new to this thing haha

[@KrisTemmermanNP]

no worries :) if you have more questions, or can't compile it, just let me know

[@Null_pointer_]

what is Back Ground Music name?

[@RexusKing]

Hey... since when you got a laser cutter ;)

[@KrisTemmermanNP]

Gotta fill up the extra space I have now ;) Thanks for your comment!

[@phamdacphuoc1995]

Hello, I can see u used an accelerometer in your robot, but i can't find it in your code. So you didn't use it? Can you tell me why ?

[@KrisTemmermanNP]

Yes, your right, I don't use it anymore (you can still find it in an earlier version of the repo :github.com/neuroprod/omniBotProto/blob/7b099f19433d80172ef91988a643607e6ec20ab6/arduino/Omniwheels/Omniwheels.ino) I now use the camera and leds to get the orientation :) check the next videos in this series

[@phamdacphuoc1995]

Can you share some experiences when you work with the compass? Such as the precision, disavantages when using the compass ? Thank you so much (:

[@KrisTemmermanNP]

The main issue with using a compass is that it get distorted with the magnetic field of the motors. That's why i put it on the wooden stick, away from the motors :)

[@MakingWithMihir]

Could you post a link for the wheels?

[@martinfriedrich9634]

gtfrobots.com here I bought the wheels before

[@airpocket555]

Can you add some information/link about the Omni wheels?

[@KrisTemmermanNP]

they are "GTF Robots" wheels, 50 mm. Liked them because they have rubber wheels outer wheels.

[@martinfriedrich9634]

I bought the wheels from this site before. gtfrobots.com

[@kartoffelwaffel]

What are you building at 0:38?

[@KrisTemmermanNP]

It's an old project :) kzbin.info/www/bejne/maDHkIaEppKXbMU

[@rachitagrawal3570]

Hey if I can get these codes for Arduino

[@joyouswhimsical5402]

What omni wheels are these?

[@martinfriedrich9634]

gtfrobots.com I bought the wheels from this site before

[@lanabrown9066]

With all that machinery anyone can make that type of robots easily that it's not amazing