A-Bike

Dieses Gefährt ist nicht TUV geprüft. Für weitere Fragen wenden Sie sich an Max Gmöhling (maximilian.gmoehling@stud-mail.uni-wuerzburg.de)

Chinesische Referenz

YouTube: https://www.youtube.com/watch?v=kCL2d7wZjU8
GitHub: https://github.com/peng-zhihui/XUAN-Bike
CAD (Fusion360): https://myqq12800.autodesk360.com/g/shares/SH919a0QTf3c32634dcfa0a0a591cd7f0f5a

Hardware:

Component	Link	Specs
IMU	https://www.adafruit.com/product/4754	connected qtpy RP 2040
IMU serial (SPI)	https://learn.adafruit.com/adafruit-qt-py-2040/overview	USB (5V)
Reaction Wheel
Motor driver bike	https://shop.odriverobotics.com/products/odrive-pro	12-56V Operation (58V max)
Motor driver
Motor for (Reaction) Wheel -> strong	https://www.omc-stepperonline.com/de/24v-3500rpm-0-6nm-220w-14-0a-5757x89mm-buerstenloser-gleichstrommotor-57blr90-24-01	U = 24V
Motor for (Reaction) Wheel	https://www.omc-stepperonline.com/de/24v-3740rpm-0-284nm-100w-5-3a-f61-2x34mm-aussenlaeufermotor-60ble34-24-01	U = 24V
Servo motor to steer	https://www.amazon.de/ANNIMOS-Hochspannung-Geschwindigkeit-Wasserdicht-Baja-Servos/dp/B07KTS4L94
Batteries
Onboard Computer	https://www.bee-link.com/en-de/products/beelink-minis-n5095	12V 3A
DC-DC Transfo
Deep discharge protection
Lidar

Servo Motor

O-Drive

https://docs.odriverobotics.com/v/latest/hardware/pro-datasheet.html#pinout

Software

Connection to beelink

ethernet

sudo ssh bike@192.168.0.24

connect to wifi bike with pwd mypassword

sudo ssh bike@10.42.0.1

for the account the pwd is abcdef

ROS requierment

The software is written for ROS2 humble, for installation see tutorial.

Workpackage Description

Overleaf: https://www.overleaf.com/project/6735e736fafec1995388407e

IMU

Using the following library for topics IMU

In the android IDE:

• Sketch > Include Library > Manage Libraries.
• Adafruit BNO08x
• tested with version 1.25
• add new board, File > Preferences, Additional Boards Manager URLs, https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
• Board manager, Tools > Board > Boards Manager: install Raspberry Pi Pico/RP2040/RP2350 version 5.5.1

Notes

Interesting papers:

• Steering balancing: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6181613
• PID for bicycle control: https://ejournal.ptti.web.id/index.php/jfsc/article/view/188/77

cooler dude:
https://scholar.google.de/citations?user=F6ayKFUAAAAJ&hl=de

cubly github

https://github.com/remrc/Self-Balancing-Cube

Funny stuff

https://community.simplefoc.com/t/reaction-wheel-bicycle/105 \