tag:blogger.com,1999:blog-28091403656693414582024-03-06T10:33:53.674+09:00木楽らぼ実験ノート古楽を楽しみながら、電子工作の実験をしている工房です。Unknownnoreply@blogger.comBlogger35125tag:blogger.com,1999:blog-2809140365669341458.post-27897111758969556112022-09-11T23:13:00.009+09:002022-09-14T18:07:51.239+09:00バランスロボをESP NOWで操縦<p> <span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;">月刊I/O(2022年7月号、工学社)で紹介していただいたM5ATOMのバランスロボ(</span><a href="https://kirakulabo.blogspot.com/2022/03/m5atom.html" style="-webkit-text-stroke-width: 0px; background-color: white; color: #3778cd; font-family: Arial, Tahoma, Helvetica, FreeSans, sans-serif; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration: none; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;">リンク</a><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;">)を、ESP NOWを使ってジョイスティックで操縦できるようにしました。</span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;">左がロボット、右がジョイスティックコントローラです。</span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"></span></p><div class="separator" style="clear: both; text-align: center;"><div style="text-align: left;"><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEig2TiI5tz3rqEVdcnEWhyvaYRqMVwY-eGdXW284Ur8YQN9M2Rdb5acyW5sHlCHc6SdG9OPhPNJXO_M_SGCvtHApzwsDiK9ef0VGAcQBXO5ZIvVr1FGYEvUI6O41ZkxLIThTJ0rAX_-GfhDOEjnKxUyrWAd4nM-N1RS3u3z_I_q68IBM5g1qKazIM939g/s1920/P9112935.JPG" style="clear: left; float: left; margin-bottom: 1em; margin-left: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEig2TiI5tz3rqEVdcnEWhyvaYRqMVwY-eGdXW284Ur8YQN9M2Rdb5acyW5sHlCHc6SdG9OPhPNJXO_M_SGCvtHApzwsDiK9ef0VGAcQBXO5ZIvVr1FGYEvUI6O41ZkxLIThTJ0rAX_-GfhDOEjnKxUyrWAd4nM-N1RS3u3z_I_q68IBM5g1qKazIM939g/s320/P9112935.JPG" width="320" /></a></div></span></div><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><br /></span></div><div class="separator" style="clear: both; text-align: center;"><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><br /></span></div><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;">ジョイスティックコントローラの裏側からの写真です。M5StackのATOM Lite、TailBAT、 Joystick Unit(ATMega328内蔵の旧バージョン)を利用しています。(MFT2022で展示したものは、M5StickCで制御していましたが、ソフトを簡略化するためにATOMに変更しました。)</span></p><div class="separator" style="clear: both; text-align: center;"><strike><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjoDiH8cbNm_oW5cpWWtU0fc5Dbg0dhrYvkzijGX33i3jfI61C_qQPzagUDFxdanCdJGr6N_vvZ8bxBzC6l8PFDyMkp0xSkGl62nz1oW8XNa-0eMMZb8yI5HB7MGoZe4MtqfIJUobu77I0iDQugyHYeypQBD20uX7nkNc7ysBiAEVZQ8yDs8IkP1pjAbQ/s1920/P9112936.JPG" style="clear: left; float: left; margin-bottom: 1em; margin-left: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjoDiH8cbNm_oW5cpWWtU0fc5Dbg0dhrYvkzijGX33i3jfI61C_qQPzagUDFxdanCdJGr6N_vvZ8bxBzC6l8PFDyMkp0xSkGl62nz1oW8XNa-0eMMZb8yI5HB7MGoZe4MtqfIJUobu77I0iDQugyHYeypQBD20uX7nkNc7ysBiAEVZQ8yDs8IkP1pjAbQ/s320/P9112936.JPG" width="320" /></a></strike></div><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><br /><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><br /> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> <br /></span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> このロボットとジョイスティックでサッカーを試してみました。ボールが転がりすぎないように、サッカーフィールドには布を貼ってあります。 <br /></span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"></span></p><div class="separator" style="clear: both; text-align: center;"><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjYMViCD3_Z-GH8i1M4Be_7n_GWc2fLDY5odIF9X3uFJUWQKoTrplD4wOKFKRVwrfItz3oOnwFjxP6fz-oPzABXA5uFIRZjy_Cl4-lQ0IUh_Rz4HqBmSal_0ny7A8pXUPGPh9hknANaQFFrW09-1NZ46EtLleC2CMnkCxpnm0B8c2e5_QfUiRQ_XR-fzg/s1920/P9112938.JPG" style="clear: left; float: left; margin-bottom: 1em; margin-left: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjYMViCD3_Z-GH8i1M4Be_7n_GWc2fLDY5odIF9X3uFJUWQKoTrplD4wOKFKRVwrfItz3oOnwFjxP6fz-oPzABXA5uFIRZjy_Cl4-lQ0IUh_Rz4HqBmSal_0ny7A8pXUPGPh9hknANaQFFrW09-1NZ46EtLleC2CMnkCxpnm0B8c2e5_QfUiRQ_XR-fzg/s320/P9112938.JPG" width="320" /></a></span></div><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><br /> </span><p></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> </span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><br /></span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><span> ビ</span>デオです。ジョイスティックを押し込むと、ロボットの顔が赤くなるようになっています。</span></p><p style="text-align: left;"><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"></span><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"></span></p><div class="separator" style="clear: both; text-align: left;"><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><iframe allowfullscreen="" class="BLOG_video_class" height="266" src="https://www.youtube.com/embed/C1Gmyklpq_o" width="479" youtube-src-id="C1Gmyklpq_o"></iframe></span></div><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"></span><p></p><p style="text-align: left;"><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><br /></span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><a href="https://kirakulabo2.blogspot.com/2022/09/m5atomespnow.html" target="_blank">ロボットのソースコードです</a>。</span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"><a href="https://kirakulabo2.blogspot.com/2022/09/espnow.html" target="_blank">コントローラのソースコードです</a>。</span></p><p><span face="Arial, Tahoma, Helvetica, FreeSans, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #444444; display: inline; float: none; font-size: 13px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"> 2022/9/14 上記ソースコードのリンクが間違っていたのを訂正しました。<br /></span></p>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-41152129168102961242022-04-01T23:18:00.006+09:002022-06-04T05:24:27.856+09:00M5StickCとサーボでバランスロボ<p> 倒立振子を研究されている <a href="https://n-shinichi.hatenablog.com/" target="_blank">n_shinichi</a> さんとのやり取りの中で、思いついたバランスロボです。M5StickCと連続回転サーボと車輪だけの構成です。</p><p> サーボはFS90R、車輪は「ちっちゃいものくらぶ」のプーリー+Oリングです。 </p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2-cdZ-RraJ7do6dWvadNVeRy4MxguSbFsINH0f0qrvImMIKPiBX80h3DwovhxefskfZi4ngpi-XYaDJ5owUdMjmnKPM8HGJF3YL9E_TJhJn8N-c0eUTIWYp5yUSpylJu23bvZMXO_55-UFRLlGeAnj-5c_JUy0GSiBkgpCsgmLID9OTpoDokIrD5BgQ/s1920/P4011231.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2-cdZ-RraJ7do6dWvadNVeRy4MxguSbFsINH0f0qrvImMIKPiBX80h3DwovhxefskfZi4ngpi-XYaDJ5owUdMjmnKPM8HGJF3YL9E_TJhJn8N-c0eUTIWYp5yUSpylJu23bvZMXO_55-UFRLlGeAnj-5c_JUy0GSiBkgpCsgmLID9OTpoDokIrD5BgQ/s320/P4011231.JPG" width="320" /></a></div><br /><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKe0AFYBLldunflHVuPqUPzMBDGRJLRkp_yVy3B1tqxnqtJrC1Iro66RKrwrKZcjriSpNpJlqveW9n5c4oFGz2-1zAh2O0CjF5ZAjM_Gwe3ycTorw2i6wG0cr6OXU0tNPoIdeSdYolM8mT_o9RQEy9_PjD65YJIJ3r09GQvNdWYriviNeXe1Q-99lBjA/s1920/P4011232.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKe0AFYBLldunflHVuPqUPzMBDGRJLRkp_yVy3B1tqxnqtJrC1Iro66RKrwrKZcjriSpNpJlqveW9n5c4oFGz2-1zAh2O0CjF5ZAjM_Gwe3ycTorw2i6wG0cr6OXU0tNPoIdeSdYolM8mT_o9RQEy9_PjD65YJIJ3r09GQvNdWYriviNeXe1Q-99lBjA/s320/P4011232.JPG" width="320" /></a></div><p></p><p> </p><p>裏側です。サーボの電源はM5StickCの5V出力を使っていますが、BATから取ったほうがよいかもしれません(試してません)。</p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjbTpsBOSyvplHTwpnzJHVE03_P8X0odDNJdVvM8T-qDYgv-XeUj6bFCJ5h3BEkvPTE3Q2aEgHHF32dLcWj2buBFCBWZv6jxr-zxPnW9YOpekUE6Sq-E9UYP6mkCB1r7c95V7RrmDY2tS3hU3ph8qNnT2Us8MewKNtLTfcghUzWbeZO78ScFD8QHWQBag/s1920/P4011233.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjbTpsBOSyvplHTwpnzJHVE03_P8X0odDNJdVvM8T-qDYgv-XeUj6bFCJ5h3BEkvPTE3Q2aEgHHF32dLcWj2buBFCBWZv6jxr-zxPnW9YOpekUE6Sq-E9UYP6mkCB1r7c95V7RrmDY2tS3hU3ph8qNnT2Us8MewKNtLTfcghUzWbeZO78ScFD8QHWQBag/s320/P4011233.JPG" width="320" /></a></div><p><br /></p><p>ビデオです。<br /></p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen="" class="BLOG_video_class" height="266" src="https://www.youtube.com/embed/8wpzE-4YlYQ" width="320" youtube-src-id="8wpzE-4YlYQ"></iframe></div><p></p><p><br /></p><p>回路図です。(2022/6/4 追加)<br /></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVRG0wmDdg7-rwE9GcVghbMvy1JV5U6OPBPKMEZ-4KSXXKfaziGu6mDMJkIx72e0jwSQwt_YbI_7k79SGqp3xFjQPEVEE4ee7XG_JVetnTDiadciU5YGamy4mJyPT8JOLpRczFhXhNHb1i1WlsQHP7h-Mzeq4rWmZZ1i7W619schFQq2L5-pM4hpQw6Q/s611/M5StickCServoBal.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="394" data-original-width="611" height="258" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVRG0wmDdg7-rwE9GcVghbMvy1JV5U6OPBPKMEZ-4KSXXKfaziGu6mDMJkIx72e0jwSQwt_YbI_7k79SGqp3xFjQPEVEE4ee7XG_JVetnTDiadciU5YGamy4mJyPT8JOLpRczFhXhNHb1i1WlsQHP7h-Mzeq4rWmZZ1i7W619schFQq2L5-pM4hpQw6Q/w400-h258/M5StickCServoBal.png" width="400" /></a></div><p></p><br /><p></p><p><a href="https://kirakulabo2.blogspot.com/2022/04/m5stickc.html" target="_blank">ソースコードはこちら</a>。</p><br />Unknownnoreply@blogger.com12tag:blogger.com,1999:blog-2809140365669341458.post-74277145328732264242022-03-19T18:25:00.008+09:002022-03-21T17:34:12.851+09:00M5Atomでバランスロボット<p> M5ATOM MATRIXとTailBATでバランスロボットを作ってみました。</p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEh1rqcCR6YXdmVXw9YirDhyTNDdKBBg5M3wk9r0i8hHfmhbotTRhAPrWNY-gBGiBRbspjhKhcm7je9qrvtpeQyf3ezGsWJHa6tFUmYxTOtMmdJXl2dPJ11d89jfUvTCegFZ9TUWhYOg7MHvCrtd_y1DSsQJ9J2JShhzBM10CslDqLt56w-knO2hrMhtuQ=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEh1rqcCR6YXdmVXw9YirDhyTNDdKBBg5M3wk9r0i8hHfmhbotTRhAPrWNY-gBGiBRbspjhKhcm7je9qrvtpeQyf3ezGsWJHa6tFUmYxTOtMmdJXl2dPJ11d89jfUvTCegFZ9TUWhYOg7MHvCrtd_y1DSsQJ9J2JShhzBM10CslDqLt56w-knO2hrMhtuQ=s320" width="320" /></a></div><br /> <p>TailBATの中には若干スペースの余裕があるので、そこにモータードライバ(共立エレショップのKP-DRV8830)を入れました。GROVE端子の基板接続部分からモータードライバへ、i2c信号と電源5VおよびGNDを配線してあります。i2cのプルアップ抵抗は追加せず、ESP32の内部プルアップのみを使っています。i2c(Wire)のクロックを50kHzに落として使っています。</p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEjtE5yKCpHU27nKpbWTYNbQ60Sy01u3TBRypCpOW3rkfzd50wn50Y5qaOUmn6hqrcxqvBTsCcGtU6y7ggc12_rir_bZX6WGmTy1QMk9siSNjYZHfR9MgoPcARQEFJiOQKv3BICJk78-UmgCd-GzOlkleG5v-V6J3qDKwZCbtsTbz78bLB2zl3OD_DD5IA=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEjtE5yKCpHU27nKpbWTYNbQ60Sy01u3TBRypCpOW3rkfzd50wn50Y5qaOUmn6hqrcxqvBTsCcGtU6y7ggc12_rir_bZX6WGmTy1QMk9siSNjYZHfR9MgoPcARQEFJiOQKv3BICJk78-UmgCd-GzOlkleG5v-V6J3qDKwZCbtsTbz78bLB2zl3OD_DD5IA=s320" width="320" /></a></div><p><br /></p><p>モーターは、「ちっちゃいものくらぶ」の「ちびギアモータ+プーリー・タイヤセット」(https://tiisaishop.dip.jp/product/sg/)です。<br /></p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEgDQFnca7PExzNfOsYvEZZEGMtWA9Sb_-1arNNaLXIAJFcxLBxT8RGKpDhjiSKyomh0W0RGyBGevTcJBvWGU6u4epaq67FJH16ORTow4MpOD2CpwZFCuFYxp1VBWZ4ix1i6SJXhJ6XfXG8wqFQk5R4Xo6O58bFvvUd8LySjvzt7807Rj9-XZ7dcKKSnmw=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEgDQFnca7PExzNfOsYvEZZEGMtWA9Sb_-1arNNaLXIAJFcxLBxT8RGKpDhjiSKyomh0W0RGyBGevTcJBvWGU6u4epaq67FJH16ORTow4MpOD2CpwZFCuFYxp1VBWZ4ix1i6SJXhJ6XfXG8wqFQk5R4Xo6O58bFvvUd8LySjvzt7807Rj9-XZ7dcKKSnmw=s320" width="320" /></a></div><div class="separator" style="clear: both; text-align: center;"><div style="text-align: left;"><br /></div><div style="text-align: left;"><br /></div><div style="text-align: left;">モーターへの電線を通すために、やすりでTrailBatのケースを一部削りました。<br /></div><div style="text-align: left;"><br /></div><div class="separator" style="clear: both; text-align: center;"><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEiAZm0yH_5sLIHTmynLuOc27GYkJ2Gd6_s8EoQFQOWba_OcYP5DHYyZWcg_uhfUDTDsaSvdU27omathmG__ZPMZg12HMqA5vnzZLMeoXqWa6t1lMFvBEt_t5M8X0GYu7fJKJf5GvHiQYLHTnDM01Kk75oRSaP8Gqi74C6FUQ0tsMPmESOV9a3mlHzMkLA=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEiAZm0yH_5sLIHTmynLuOc27GYkJ2Gd6_s8EoQFQOWba_OcYP5DHYyZWcg_uhfUDTDsaSvdU27omathmG__ZPMZg12HMqA5vnzZLMeoXqWa6t1lMFvBEt_t5M8X0GYu7fJKJf5GvHiQYLHTnDM01Kk75oRSaP8Gqi74C6FUQ0tsMPmESOV9a3mlHzMkLA=s320" width="320" /></a></div> <br /></div><div class="separator" style="clear: both; text-align: left;"> </div><div class="separator" style="clear: both; text-align: left;"> </div><div class="separator" style="clear: both; text-align: left;"> カバーを付けたところです。 <br /></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"></div><div style="text-align: left;"><br /></div></div><div><div class="separator" style="clear: both; text-align: center;"><div style="margin-left: 1em; margin-right: 1em; text-align: left;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEhalfKoovqUgk0c9vhpOzT4U-Qv2cReu_3Ce9RZNRmX7gybtW8DPTJ1OQOi6-yq5r-dJ_lpPfpT7ONZbM1BWsVW3wILVmRWDXcoFIkwoR4FOhuNjFrQKBOYrVHOx5LNYaeZWxEJglHjr0thXZmh2bsvUMYljqFo3m0Lb5VvYUREMz5KaT38NH6ZLaDXVg=s320" width="320" /></div></div><div><br /><br /></div><div><p>2つのモータは、厚めの両面テープで貼り付けました。M5ATOMを取り付けた全体像の写真です。</p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEh0nA59Wyg89o53HF7MdEy31Nzw0DkKZkbL6X7NtS8o_JiSKxrhS-OO3422xgHQu33KUaZcnvdYBt7kMYhN4SjTPIr-l59Z8BggKAo1_wKi6GZP_00fPsFxfkDwF50X6_2KhazrMupqY38hLosphQ2bcCFnyDRIefgFieXvKhMRXTWaGKXs9C2C8yggLQ=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEh0nA59Wyg89o53HF7MdEy31Nzw0DkKZkbL6X7NtS8o_JiSKxrhS-OO3422xgHQu33KUaZcnvdYBt7kMYhN4SjTPIr-l59Z8BggKAo1_wKi6GZP_00fPsFxfkDwF50X6_2KhazrMupqY38hLosphQ2bcCFnyDRIefgFieXvKhMRXTWaGKXs9C2C8yggLQ=s320" width="320" /></a></div><br /> <p>裏側です。</p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEi8YW9klHUkRHs-fWtqp3J-smLYrBJqnVG7mbZn4hab18FyZNeAePjM9qRFI7bjSQnPxFQotC8TdR_u-zWN-N8f6CNbRGD3P6hlFvFdhM9o6V0ZwzmO6Rtj5CLUEIzTTMqAhmI7m7K9DEJ8_BzldmIWgSk0M6NcBPlYeRVuZq3LqVJU8WPRNefiNuu1ng=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEi8YW9klHUkRHs-fWtqp3J-smLYrBJqnVG7mbZn4hab18FyZNeAePjM9qRFI7bjSQnPxFQotC8TdR_u-zWN-N8f6CNbRGD3P6hlFvFdhM9o6V0ZwzmO6Rtj5CLUEIzTTMqAhmI7m7K9DEJ8_BzldmIWgSk0M6NcBPlYeRVuZq3LqVJU8WPRNefiNuu1ng=s320" width="320" /></a></div><br /> <p>M5Stack の Timer Camera X に付属のマウンターを使って、M5CAMERAに付属のスタンドを取り付けると、腕のようになります。(格好だけです)</p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEgc8eYdhKFsLiJQyl5T8DgE8WSq9auKUZ9cv7PT6t1j5OfDQt-B50-N1YX0ZbrP68RNwY-n-hu7a3cP3DuA0ViJbGkG2RANirAJIBAdDfaUqM3gdR52Qoi9o0zr7tOdpvs87LjygF1qVq2ORAmdYSGNwbzAKr7G8YomaZ6r73sHAx5iPFGk4mBY6M7NyA=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEgc8eYdhKFsLiJQyl5T8DgE8WSq9auKUZ9cv7PT6t1j5OfDQt-B50-N1YX0ZbrP68RNwY-n-hu7a3cP3DuA0ViJbGkG2RANirAJIBAdDfaUqM3gdR52Qoi9o0zr7tOdpvs87LjygF1qVq2ORAmdYSGNwbzAKr7G8YomaZ6r73sHAx5iPFGk4mBY6M7NyA=s320" width="320" /></a></div><p></p><p><br /></p><p>回路図です。TailBATは省略してあります。</p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwrz4-qZ07SU-9kVKQECgNUNkwGmL428VyVarfgRTWSRJgkdnw2Ud5KIUCWrkrwns1iNRZjM5LDaU78bIM56-CU7tNq3h5Dv7vUuCdYl72XWE_I5QY9APPyEcpKt9N_z17XEF4GsXFUj7BNaVMnYtyEqQEYLIyw-hhaojMTugq7cH-OqLXGpU3-NuoSw/s548/M5ATOMbalance.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="548" data-original-width="403" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwrz4-qZ07SU-9kVKQECgNUNkwGmL428VyVarfgRTWSRJgkdnw2Ud5KIUCWrkrwns1iNRZjM5LDaU78bIM56-CU7tNq3h5Dv7vUuCdYl72XWE_I5QY9APPyEcpKt9N_z17XEF4GsXFUj7BNaVMnYtyEqQEYLIyw-hhaojMTugq7cH-OqLXGpU3-NuoSw/s320/M5ATOMbalance.png" width="235" /></a></div><p><br /></p><p>ビデオです。</p><p style="text-align: left;"></p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dwII0JGhlMvq8q5rBfrAbZck0Hn4JDjqEpqM-Z5Ek3SAPg4ZwAozOuTBcCTvlKoF11_XSceRA9kaVP-bPieXA' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /><p></p><p> </p><p>TailBATについての注意。手元にあるTailBATには2種類あって、古いタイプ(写真左)は、Grove端子のソケットがATOMのピンに届きませんでした。新しいタイプ(写真右)ならば、大丈夫でした。</p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/a/AVvXsEi-knTIEmyAs27WZ4ZDbrHFYbipvRqexe2J2q-HhU_L6ch2u_OgBzpkCS4VaDd6vHStrYDyGQHWiXpamAbKSXNht6Xqfq_IaRwWFFieH3brMe3NeDkO8MlN6d3H5EByKUcZzarZ6j67mRJ-QtynGGRykVW2573-sHFM8jRYK4l11rtiW38D-nMYMxm-SQ=s1920" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/a/AVvXsEi-knTIEmyAs27WZ4ZDbrHFYbipvRqexe2J2q-HhU_L6ch2u_OgBzpkCS4VaDd6vHStrYDyGQHWiXpamAbKSXNht6Xqfq_IaRwWFFieH3brMe3NeDkO8MlN6d3H5EByKUcZzarZ6j67mRJ-QtynGGRykVW2573-sHFM8jRYK4l11rtiW38D-nMYMxm-SQ=s320" width="320" /></a></div><br /> <p><a href="https://kirakulabo2.blogspot.com/2022/03/m5atom.html" target="_blank">ソースコードはこちら</a>です。</p><p> <br /></p></div></div>Unknownnoreply@blogger.com22tag:blogger.com,1999:blog-2809140365669341458.post-9016953411082924012021-07-28T10:09:00.015+09:002021-07-28T14:51:38.240+09:00M5StickC Clock Auto Tuner<p></p><p>M5StickC (ESP32) controls the accuracy of a small pendulum clock. The pendulum has a small magnet attached to it. The CPU detects pendulum vibration with a Hall sensor
(A3144), and determines the rate of the clock. It then compares with
the internet time, and depending on the difference, the coil under the pendulum pulls down
or push up the pendulum. This has the same effect as adjusting the
gravity.</p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiFlDlqU6cTh90pQivlXo6QioMOlujmQv4yNQuChttoVyiCDJ0G9AP07SJu_PM4R6g3yFJAwRpaJ9uw0mvyyCyYfbktZXaA4SeIxxM49EDqDWSW5Bdv12w2jLLG31iSkQqR0b2vWtKkCFm/s1920/P7282116.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiiFlDlqU6cTh90pQivlXo6QioMOlujmQv4yNQuChttoVyiCDJ0G9AP07SJu_PM4R6g3yFJAwRpaJ9uw0mvyyCyYfbktZXaA4SeIxxM49EDqDWSW5Bdv12w2jLLG31iSkQqR0b2vWtKkCFm/s320/P7282116.JPG" width="320" /></a></div><br /><p>Here is the close-up of pendulum, magnet, coil and Hall sensor.</p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg432byuR7TbcbMXJ9Kk-swo9TS6jWlE68wauZ8F5_56fzo1vtxLgAqFpM3n0xghlxTX5CogjiVe7Sm9m_2koaImySgw5JVcdlWgLYu1kJIjPoBC1qXOLvxVKSNtOKaOymenfpGFD6oQOO-/s1920/P7282114.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg432byuR7TbcbMXJ9Kk-swo9TS6jWlE68wauZ8F5_56fzo1vtxLgAqFpM3n0xghlxTX5CogjiVe7Sm9m_2koaImySgw5JVcdlWgLYu1kJIjPoBC1qXOLvxVKSNtOKaOymenfpGFD6oQOO-/s320/P7282114.JPG" width="320" /></a></div><p> </p><p>The accuracy chart of the clock displayed on the M5StickC.<br /></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhr-S2KJ1lQ9j0ZfxfaBizZyVD3mPCvNeAD4X9iGVwG0cEpCx6H2rwjgPhyphenhypheniF8-Gfx_glmpNEEEdhC0ftjpV0GPs7o9hCfEbK4fUXD1MtaUyzBhjxyJjLzfh018zvBym3dWoCFKHTgo5fTi/s1920/P7282124.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhr-S2KJ1lQ9j0ZfxfaBizZyVD3mPCvNeAD4X9iGVwG0cEpCx6H2rwjgPhyphenhypheniF8-Gfx_glmpNEEEdhC0ftjpV0GPs7o9hCfEbK4fUXD1MtaUyzBhjxyJjLzfh018zvBym3dWoCFKHTgo5fTi/s320/P7282124.JPG" width="320" /></a></div><p><br /></p><p>The chart below shows accuracy and current for about 4 hours. The blue line is clock accuracy (left scale in seconds). Once it gets stable, the deviation is within +/- 0.2 seconds. The red line is relative coil current. As the clock's mainspring gets unwound, the coil current is gradually changing.</p><p><img alt="" height="197" src="data:image/png;base64,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" width="640" /></p><p><br /></p><p><br /></p><p>Below is the schematic diagram. The clock has a tiny pendulum which weighs only 3.3 grams including the magnet, thus does not require much magnetic force
to change cycle time. So the coil is connected directly to the M5StickC GPIO with a series resistor of 100ohm.<br /></p><p></p><p></p><p></p><p></p><p></p><p></p><p><img alt="" height="124" src="data:image/png;base64,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" width="400" /></p><p><br /></p><p>Here is the video. The clock accuracy chart and the relative coil current chart are alternating every 5 seconds.<br /></p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dxQb8sgm_0zitcayYuZu6E4dph9w_D_LVAAZhPN2yehPlU7VC668uJeAhiKT_Ini_mnsNe-AvwPXOaveqR8Sw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /><p><br /></p><p><br /></p><p><br /></p>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-79216768723845554072021-06-16T20:37:00.001+09:002022-03-21T07:05:54.244+09:00壁に張り付くロボットの試作<p> プログラミング教室でデモをするときに、ホワイトボードに張り付いて動くロボットがあると便利だろうと考え、JK Soft・ランニングエレクトロニクスさんの「<a href="https://qiita.com/jksoft/items/dbcbdff875e8e4a63ee2" target="_blank">うぉーるぼっと</a>」をまねて、Arduino Nanoで動くロボットを作ってみました。</p><p>全体像です。メイン基板は<a href="http://kirakulabo.blogspot.com/2021/06/arduino-nano.html" target="_blank">別のプロジェクト</a>で作ったもの、N20ギヤモーターとタイヤはうぉーるぼっとBLEのものを流用しています。タイヤの直径は約43mm、摩擦を増やすために液体ゴムを塗ってあります。</p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVV5I5g7oqkE59zMyAT0AJx_QKyz8-GKBy_QqdzEtEXg7ZnJDTe4isJjHdCwah0cNBHSBlsk2jCb3GSztF32OOeLtE6Koncle81GCAcB4ieEKEZ-9480XpNIbmLZlOCiNNeILNFPsDjpef/s1920/P6151561.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1280" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVV5I5g7oqkE59zMyAT0AJx_QKyz8-GKBy_QqdzEtEXg7ZnJDTe4isJjHdCwah0cNBHSBlsk2jCb3GSztF32OOeLtE6Koncle81GCAcB4ieEKEZ-9480XpNIbmLZlOCiNNeILNFPsDjpef/s320/P6151561.JPG" width="320" /></a></div><p></p><p></p><br /><p></p><p>裏側です。電池はリチウム電池2個を直列に接続。中央のネオジウム磁石は直径20mm、厚さ3mmで、真ん中に穴があいているものです。2つのキャスターもどきは、アルミのくるみボタンにプラスチックねじを接着して使っています。</p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYq-PlFwvrm0WfU3NRT_siHB6alRKorxuhyphenhyphenZAp1jl_WWbOWcXsvgquLFy9PD6ZjyWnGCEy7sAUxKOfOlXPFLSr6kx1K0AWgpWEnXQENpXi2yR4oNmL5iqB8msOt0l6wxLNL8Yr6KcIJFCj/s1920/P6141557.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1920" data-original-width="1280" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYq-PlFwvrm0WfU3NRT_siHB6alRKorxuhyphenhyphenZAp1jl_WWbOWcXsvgquLFy9PD6ZjyWnGCEy7sAUxKOfOlXPFLSr6kx1K0AWgpWEnXQENpXi2yR4oNmL5iqB8msOt0l6wxLNL8Yr6KcIJFCj/s320/P6141557.JPG" /></a></div><p></p><p> </p><p>横からの写真です。磁石はタイヤに隠れていますが、磁石と壁との距離は2.5mm程度にしています。</p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJJZpsy-4c79SzxM9iE8Iad9b4nO5FN1pji-ddk6jU87jX7j6cltsls5KxmTUD9WBM_qJ1Ib7dKTJoUWM5Ieh51uETtb7mWE5LP1QkD5ylf0NAyLZEMCxeAEO7SJvvkEvR6rsLeDWh3Q-I/s1920/P6141558r.jpg" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1280" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjJJZpsy-4c79SzxM9iE8Iad9b4nO5FN1pji-ddk6jU87jX7j6cltsls5KxmTUD9WBM_qJ1Ib7dKTJoUWM5Ieh51uETtb7mWE5LP1QkD5ylf0NAyLZEMCxeAEO7SJvvkEvR6rsLeDWh3Q-I/s320/P6141558r.jpg" width="320" /></a></div><p></p><p><br /></p><p>動画です。冷蔵庫に張り付けてテストしています。</p><p></p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dx4huvcHgZ9VIb1fRPfjYYVdilR5uOuuAC9P1RBYT3iPXcADeOeYEMInd6YXSTMVf87eKhtEF0JAUx92Iax5Q' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /><div><div class="separator" style="clear: both; text-align: left;"><br /></div><br /><p></p><p> </p><p> </p><p> <br /></p><p> </p><p> <br /></p><p><br /></p><p><br /></p><p><br /></p><br /></div>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-32757808635860811662021-06-15T23:10:00.010+09:002021-07-26T17:51:30.796+09:00ALGYAN6周年基板でライントレース<p> ALGYAN6周年IoT基板をいただきました。モータードライバ基板を実装できるようになっているので、ライントレースロボットを作ってみました。基板設計者様の意図とは違う使い方をしている部分もありますが、 なんとか動いています。</p><p>全体像です。</p><p></p><p> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhv1_a6Wz6VC0dn4f1ixAbs0EeHYqs55oU037MrHO3F5JBA7t3lATprv_i7I_5S0F0GCzhu9caz_jrtgjQRgRb-eXAu1odWJRe6yzR8q7cl6R_C-yl8uiscs-YDQxDY-y5rHLFRL5uwNv6F/s1920/P6151568.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhv1_a6Wz6VC0dn4f1ixAbs0EeHYqs55oU037MrHO3F5JBA7t3lATprv_i7I_5S0F0GCzhu9caz_jrtgjQRgRb-eXAu1odWJRe6yzR8q7cl6R_C-yl8uiscs-YDQxDY-y5rHLFRL5uwNv6F/s320/P6151568.JPG" width="320" /></a><br /></p><p> </p><p> 電池を取り除いて、上から撮った写真です。秋月のDRV8835ドライバーモジュールが在庫切れとのことなので、代わりに、同じく秋月のTC78H653モジュールを使いました。このモジュールは16ピンで、DRV8835モジュールより大きいですが、両端の4ピンを使わず、部品面を下にして実装すると、ほぼDRV8835モジュール同じように使えました。</p><p> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEick7uRa4oHShJSMJd6UsrHcbauk5D_t0tAb0_KlUfsLY4NOie1OBg6zsVNHFuFagJPFLkmoAqb-5xMbOwUnIkRdOjFyAaTzW4Xv4JyoeKf7oO1d9DwHq_eRl-4nchZPWc_6ty4y_m3MvmO/s1920/P6151569.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEick7uRa4oHShJSMJd6UsrHcbauk5D_t0tAb0_KlUfsLY4NOie1OBg6zsVNHFuFagJPFLkmoAqb-5xMbOwUnIkRdOjFyAaTzW4Xv4JyoeKf7oO1d9DwHq_eRl-4nchZPWc_6ty4y_m3MvmO/s320/P6151569.JPG" width="320" /></a><br /></p><p> </p><p>TC78H653モジュールの写真です。両端の4ピンと、MODEピン、STBYピンには、ピンをはんだ付けしていません。 VMとSTBYをショートしてあります。ALGYAN基板のJP3は、+5V(CN1側)をブリッジしてあります。</p><p> </p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9dFYjNQCR5nlYMULFNBrI1705jnca8sg58x9yhvZ1TIW1GS3AP7ht_gGYjRpH7doG7jsqoTMzj8EF6fDa_nf-DbOm6xCOYj1jpzb_b4OABEwrBShLZE0ViJWEq-nMKnmaeyUpsfyOFmKS/s1920/P6151571.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="150" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9dFYjNQCR5nlYMULFNBrI1705jnca8sg58x9yhvZ1TIW1GS3AP7ht_gGYjRpH7doG7jsqoTMzj8EF6fDa_nf-DbOm6xCOYj1jpzb_b4OABEwrBShLZE0ViJWEq-nMKnmaeyUpsfyOFmKS/w200-h150/P6151571.JPG" width="200" /></a><br /><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9XEi0_j9meJl0TafmPaW85dRvUnOxZxBfNQmUFyikiekRUDUnoCii6C8RJxd_ragQNRz2ze9AFBjMYJe9199uOl_9-E-HWxtMhyRGXPx8b0upAk9N8QaBt-Xuf4Y1shyPyGGCfLTtB_zG/s1920/P6151572.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="150" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9XEi0_j9meJl0TafmPaW85dRvUnOxZxBfNQmUFyikiekRUDUnoCii6C8RJxd_ragQNRz2ze9AFBjMYJe9199uOl_9-E-HWxtMhyRGXPx8b0upAk9N8QaBt-Xuf4Y1shyPyGGCfLTtB_zG/w200-h150/P6151572.JPG" width="200" /></a></div></div><br /><p></p><p>CN4USBと、SW1、SW2の穴を利用して反射型フォトセンサを取り付けました。 <br /></p><p> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZs7S_6pVuGK3mdz1lBkk85zE2Otxw7UKbpK1p2OhKs3SWGW5mvaJJLQjeBL1VoyRpyq8RwRkC5fRYMWY2KYnnVeeUCaHegrse_oA1u2GH-Vq7GI-94VN3niLfxN63O9y0VpdWDxsaqb4_/s1920/P6151570.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZs7S_6pVuGK3mdz1lBkk85zE2Otxw7UKbpK1p2OhKs3SWGW5mvaJJLQjeBL1VoyRpyq8RwRkC5fRYMWY2KYnnVeeUCaHegrse_oA1u2GH-Vq7GI-94VN3niLfxN63O9y0VpdWDxsaqb4_/s320/P6151570.JPG" width="320" /></a><br /></p><p> </p><p>裏側です。N20ギヤモータ(手元にあった3V 100RPMのもの)を秋月のユニバーサル基AE-FRISK-120-UV-THに固定し、それをALGYAN基板の取付穴を使ってスペーサを介して取り付けました。3mmのねじを使うため、ALGYAN基板の穴を少し大きくしました。</p><p><span face="Meiryo, メイリオ, "MS Pゴシック", Osaka, Tahoma, sans-serif" style="-webkit-text-stroke-width: 0px; background-color: white; color: #333333; display: inline; float: none; font-size: 12px; font-style: normal; font-variant-caps: normal; font-variant-ligatures: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: left; text-decoration-color: initial; text-decoration-style: initial; text-decoration-thickness: initial; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px;"></span></p><p> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYOXR5m_5I-cDdcrqU6LZxD_aDNCBCsKRdhN7XEGVSidrxB13TwHGyyYn9g0kp7L9_YxHD6i5vlJv5BYhq6BmRRN5_JMwrkK6XtxModunEscKhXjTiyQHXMMpU2h35sVlI081J6COzJeJg/s1920/P6151574.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYOXR5m_5I-cDdcrqU6LZxD_aDNCBCsKRdhN7XEGVSidrxB13TwHGyyYn9g0kp7L9_YxHD6i5vlJv5BYhq6BmRRN5_JMwrkK6XtxModunEscKhXjTiyQHXMMpU2h35sVlI081J6COzJeJg/s320/P6151574.JPG" width="320" /></a><br /></p><p> </p><p>電源は、とりあえず9Vの電池から3端子レギュレータで5Vを作っています。</p><p> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhLDDDRQIDtLZKC6P4Jcj5QkZolx4beal0vuZAg9FB3UFAOEF4yCaNpS80I7YIfqzWhs0YXPXsP8Idj1VIXZ2qA5iQZyyUCDTT80e84y8fgOaDnisMhm3jr-2VcmXbvw_K2xMzYaT4fSwBG/s1920/P6151573.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhLDDDRQIDtLZKC6P4Jcj5QkZolx4beal0vuZAg9FB3UFAOEF4yCaNpS80I7YIfqzWhs0YXPXsP8Idj1VIXZ2qA5iQZyyUCDTT80e84y8fgOaDnisMhm3jr-2VcmXbvw_K2xMzYaT4fSwBG/s320/P6151573.JPG" width="320" /></a><br /></p><p> </p><p>回路図です。</p><p> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhuslB7UfyOhZf6dODw3MMCOq7XpNLjoX1LeIinV9TW0qNeiu-ss697V_2riouh6_wTRQGxjyLAiq2SW9WumlmTj9qBq5EqnLDwKscsfVsmo5vJJYmCEtMKkKuaFkmQ0oFPmfrtRrLT-FJo/s1000/AlgyanRobot.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="750" data-original-width="1000" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhuslB7UfyOhZf6dODw3MMCOq7XpNLjoX1LeIinV9TW0qNeiu-ss697V_2riouh6_wTRQGxjyLAiq2SW9WumlmTj9qBq5EqnLDwKscsfVsmo5vJJYmCEtMKkKuaFkmQ0oFPmfrtRrLT-FJo/s320/AlgyanRobot.png" width="320" /></a></p><p><br /></p><p>8の字ライントレースの動画です。</p><p></p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dxn87WL7yxHWROe80pnYYnyEy_yDkUsfI8zUYZnYAOAWtQwAxIrANBZ5RCDYHGmvKIGrfa2CqB_MTormFuVtw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /> <p></p><br /><p><br /></p><p><br /></p><p><br /></p>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-598745341095193152021-06-12T09:26:00.006+09:002021-08-08T17:36:23.290+09:00Arduino Nano でミニロボット<p><br />Arduino Nanoを利用したミニロボットです。 鎌ケ谷市中央公民館でのデジタルワークショップ(2021年8月8日)で使いました。</p><p> <a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEivYGq1qdb8k3xTsKzghJmWTt4ITeCCriQa6BvLtpAX53UYcrcl53X4bhjwPgqu-iN2GLAdZNDLPywtJf0s7npeK0G5bg0lbvwN3wTQbQp8ay3g_09krubDDiSTILKifFAgUlK89ZKM9zzz/s1920/P7031823.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1920" data-original-width="1440" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEivYGq1qdb8k3xTsKzghJmWTt4ITeCCriQa6BvLtpAX53UYcrcl53X4bhjwPgqu-iN2GLAdZNDLPywtJf0s7npeK0G5bg0lbvwN3wTQbQp8ay3g_09krubDDiSTILKifFAgUlK89ZKM9zzz/s320/P7031823.JPG" /></a></p><br /><p></p><p></p><p>全体像です。台車は9V電池のケース、車輪とDCギヤモータは「ちっちゃいものくらぶ」で調達しました。</p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEikoaDPULJ1FGjaVqSj5M-Zpi1jUAJPfp5o5-TUkpuUnrLEgRbG8GkBfLts_GdnHFvOdtjFjQQUp-fRwX27De9B2_iYrQXalWBmkhKCcYre5hJa2-_Zg_IgeZqBtUXf_ky7jC-kGpkRmopD/s1920/P6111539.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1280" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEikoaDPULJ1FGjaVqSj5M-Zpi1jUAJPfp5o5-TUkpuUnrLEgRbG8GkBfLts_GdnHFvOdtjFjQQUp-fRwX27De9B2_iYrQXalWBmkhKCcYre5hJa2-_Zg_IgeZqBtUXf_ky7jC-kGpkRmopD/s320/P6111539.JPG" width="320" /></a></div><p><br /></p><p>KiCADで設計して作った基板です。Seeed Fusion PCBで製造してもらいました。モータードライバとして、秋月のTC78H653またはDRV8835が使えるようになっています。</p><div class="separator" style="clear: both; text-align: left;"></div><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjGhFvcbyB4H-eXCP4KWFI5JRkttMYWin3jB23aYeEu0d1CoH9J_5Dju2_ta-qT6MoRGFXvkdJuhN3CYxGXESYvAsHSMzgV9OBLSdNfNchHOg3Nr3q2LKwzkgHgT042fINHi4a04IBUCO99/s1920/P6111542.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1280" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjGhFvcbyB4H-eXCP4KWFI5JRkttMYWin3jB23aYeEu0d1CoH9J_5Dju2_ta-qT6MoRGFXvkdJuhN3CYxGXESYvAsHSMzgV9OBLSdNfNchHOg3Nr3q2LKwzkgHgT042fINHi4a04IBUCO99/s320/P6111542.JPG" width="320" /></a></div><p> </p><p>部品を実装した裏側です。白い球形のプラスチックはスペーサーです。(2021/8/7 アップデート)<br /></p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjUt6URXN6AdZq1IeATO6JFIpShksCn0ILwzRx5uldTSLiKw9a0siTUQomUqSkjLe-cyNKTLeu8AvL1ewNRl2C2fSWitU9HCVfWadBW5tTQ2cNa-r_QlhmTkGvGTe3rhwOiiC-krepS66i/s1920/P8072158.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1440" data-original-width="1920" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjjUt6URXN6AdZq1IeATO6JFIpShksCn0ILwzRx5uldTSLiKw9a0siTUQomUqSkjLe-cyNKTLeu8AvL1ewNRl2C2fSWitU9HCVfWadBW5tTQ2cNa-r_QlhmTkGvGTe3rhwOiiC-krepS66i/s320/P8072158.JPG" width="320" /></a></div><br /> <p></p><p>回路図です。(2021/8/7 アップデート)<br /></p><p></p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglqOIK3-nq14GVKYqw8te5EoV8o_aC6rp5vQGXOA6SvjJWOOJ8Gavt-sSYDFmY7ZjEBjnAMnB0vMONtMwg5B0AGqkqLFoIuYguVgiBVy8V5fW-VL6zbu9o5t7fko80JaTpRtPZ3RMlk_U9/s1000/KAISmini23ss2.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="750" data-original-width="1000" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEglqOIK3-nq14GVKYqw8te5EoV8o_aC6rp5vQGXOA6SvjJWOOJ8Gavt-sSYDFmY7ZjEBjnAMnB0vMONtMwg5B0AGqkqLFoIuYguVgiBVy8V5fW-VL6zbu9o5t7fko80JaTpRtPZ3RMlk_U9/s320/KAISmini23ss2.png" width="320" /></a></div> <p></p><p> </p><p>細い線のライントレースができるようにしてみました。</p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dy5Wgts7uQcAfgGddTRxwD8ToumKQUflyJqxCIRGW3S1gAyST-_tmXo_fYM6Jdk4eO9yFmOKIx7cdvKJmTWRg' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><p><br /></p><p>カーナビの赤外線リモコンで操縦してみました。</p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dzLM1UTkuSMthhBSYRp3L1979JaQ1IYb5FRU1Q2FlWozwdl7m1NePHKLb2_21UJr_22gpYhD4Zeyz14_Ith2Q' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><p><br /></p><p>ソースコードは、後日アップロード予定です。</p><p><br /></p><br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-18762677569950386502020-09-22T22:51:00.010+09:002021-07-28T21:27:14.596+09:00M5StickCバランスロボにBLE<p> 月刊I/O(2020年3月号、工学社)で紹介していただいたM5StickCのバランスロボ(<a href="https://kirakulabo.blogspot.com/2019/08/m5stickc.html">リンク</a>)を、BLEジョイスティックで操縦できるようにしました。</p><p>ジョイスティック送信機は、M5Stack社のJoyC+M5StickCです。右ジョイスティックに左右の回転、左ジョイスティックに前進後退を割り当てました。</p><p> </p><div class="separator" style="clear: both; text-align: left;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEikSVbFqVvgqFkj7pkGKs9fL8nOVIULQ_7oLypzs28FNWgHR-gANs5elqtG5LFn0Qu5kd-PvqbvVWqGI9tJ5cmDH-8JFmFCqei7twCA-ETYSRZ0f8pOKBVLrQZwMOT_VyH6L4zVOg-H3l-F/s1920/P9220248.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1280" data-original-width="1920" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEikSVbFqVvgqFkj7pkGKs9fL8nOVIULQ_7oLypzs28FNWgHR-gANs5elqtG5LFn0Qu5kd-PvqbvVWqGI9tJ5cmDH-8JFmFCqei7twCA-ETYSRZ0f8pOKBVLrQZwMOT_VyH6L4zVOg-H3l-F/s320/P9220248.JPG" width="320" /></a></div><br /><p></p><p> </p><p>動画です。</p><p></p><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen="" class="BLOG_video_class" height="266" src="https://www.youtube.com/embed/5CSgeQhrIu0" width="320" youtube-src-id="5CSgeQhrIu0"></iframe></div><br /> <p><br /></p><p>2021/5/16 ソースコードをアップロードしました。<a href="https://kirakulabo2.blogspot.com/2021/05/m5stickcble.html" target="_blank">こちら</a>。 </p><p>BLEジョイスティックのソースコードは<a href="https://kirakulabo2.blogspot.com/2020/08/m5stickcjoycble.html" target="_blank">こちら</a>。<br /></p><p> </p><p> <br /></p>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-88575146708696581702020-08-10T17:33:00.006+09:002021-04-24T21:02:36.765+09:00micro:bitと電動消しゴムでバランスロボ<div>
100円ロボット部のMAENOH!さんのアイデアで、ダイソーの100円電動消しゴムとmicro:bitでバランスロボを作りました。BLEと赤外線リモコンで操縦できるようにしてみました。<br /></div><div> </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSscO5xVOQWcCYQ-dYDS3hhP7mJWB-b7snsI0xZmSN5dmAPZp5fC3EHk19zfldX7kw_x8-rsMG0OjhPKZFiQCklUZkpwErUI2_7Wq_kcuF5xSb2diAB_qrQ_y1y9ldXwBsuCidaXd_A4Ct/s1600/P8070083.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSscO5xVOQWcCYQ-dYDS3hhP7mJWB-b7snsI0xZmSN5dmAPZp5fC3EHk19zfldX7kw_x8-rsMG0OjhPKZFiQCklUZkpwErUI2_7Wq_kcuF5xSb2diAB_qrQ_y1y9ldXwBsuCidaXd_A4Ct/s400/P8070083.JPG" width="400" /></a></div>
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表側です。</div>
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEihqTKwUuDYESszUdHL5c-RKfw6sPSKY-HI-CTMxeqN9lbFvEHhc60WMLKGB1avmkhB3K2zBUAcUGuqWtfFv-OoNrUphEsE87h2xRDRsxQ8SFBxPkj5Xht7VWm8YPmUkVPsKhEBQY_dNG64/s1600/P8070082.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1067" height="512" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEihqTKwUuDYESszUdHL5c-RKfw6sPSKY-HI-CTMxeqN9lbFvEHhc60WMLKGB1avmkhB3K2zBUAcUGuqWtfFv-OoNrUphEsE87h2xRDRsxQ8SFBxPkj5Xht7VWm8YPmUkVPsKhEBQY_dNG64/w340-h512/P8070082.JPG" width="340" /></a>
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<div> </div><div>裏側です。 </div>
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<div class="separator"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi8Vc5mbCPJjFHFbxZ00lkqAHERbx5ovODUH-mwYaZ356DisJ1ZUVVWSMf7sMb-C5ChNJyS1n12o863IRkNjchyphenhyphenwS6fQ0ppB2J67tq9VkQ0c8MyShJiWeimSXaRMwpC5RUPPUrIWCCfNf3I/s1920/P8070078.JPG" style="display: block; margin-left: 1em; margin-right: 1em; padding: 1em 0px;"><img border="0" data-original-height="1920" data-original-width="1280" height="512" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi8Vc5mbCPJjFHFbxZ00lkqAHERbx5ovODUH-mwYaZ356DisJ1ZUVVWSMf7sMb-C5ChNJyS1n12o863IRkNjchyphenhyphenwS6fQ0ppB2J67tq9VkQ0c8MyShJiWeimSXaRMwpC5RUPPUrIWCCfNf3I/w342-h512/P8070078.JPG" width="342" /></a></div></div>
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BLEリモコンです。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWxVRWGv8tlWPRV5MHBpeKA_5mgKOoMBFhFwZne2Og2UHLYZvccx3zR5UEb9D3hCwoCyAs-JkIvEqdfYafi44o7Dtd87Rf0lM9ZXoFwHZN8Y0mtsK30Jb-s180SSeGLOZIrtcuVU500LFB/s1920/P8070080.JPG" style="display: block; padding: 1em 0px;"><img border="0" data-original-height="1280" data-original-width="1920" height="274" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgWxVRWGv8tlWPRV5MHBpeKA_5mgKOoMBFhFwZne2Og2UHLYZvccx3zR5UEb9D3hCwoCyAs-JkIvEqdfYafi44o7Dtd87Rf0lM9ZXoFwHZN8Y0mtsK30Jb-s180SSeGLOZIrtcuVU500LFB/w410-h274/P8070080.JPG" width="410" /></a></div>
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ロボットは、基本的に両面テープと結束バンドのみを使って組み立ててあります。</div>
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ロボットに使用している部品は、</div>
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マイコン: micro:bit</div>
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モータードライバ: KS0308(TB6612) </div>
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ジャイロ: GY-521(MPU6050)</div>
<div>
赤外線受光素子: GP1UXC41QS(互換品)</div>
<div>
モーター・車輪:ダイソーの電動字消しx2</div>
<div>
電池:16340(3.7Vリチウムイオン)x2 </div>
<div>
電池ホルダー:18650電池1本用</div><div>電源スイッチ <br /></div><div>転倒時の衝撃吸収用パッドなど少々<br /></div>
<div>
<br /></div><div>
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<div>
BLEリモコンに使用している部品は、</div>
<div>
マイコン:M5StickC</div>
<div>
ジョイスティック:JoyC</div>
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<br /></div>
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<div>
ロボットの回路図です。 </div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmlAkdm4LVQkjNtHDwKJONFjhsad_Fg5C9tYYtxY4uhY6VflHLDSq45XrlkCDn78VMLghQLcHh4Je9-bmR_xmxcZzU7iPpbe3yOqBI-D2GkIMzy-ZVGM7DABvS2A6lPFkx9c8hh6XjQ3od/s782/schematic.png" style="display: block; padding: 1em 0px;"><img border="0" data-original-height="672" data-original-width="782" height="430" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjmlAkdm4LVQkjNtHDwKJONFjhsad_Fg5C9tYYtxY4uhY6VflHLDSq45XrlkCDn78VMLghQLcHh4Je9-bmR_xmxcZzU7iPpbe3yOqBI-D2GkIMzy-ZVGM7DABvS2A6lPFkx9c8hh6XjQ3od/w500-h430/schematic.png" width="500" /></a></div>
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<br /></div>
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<br /></div>
<div>
ソフトの開発には、Arduino IDEを使用しました。</div>
<div>
<a href="https://kirakulabo2.blogspot.com/2020/08/microbit.html" target="_blank">ロボットのソースコードはこちらです。</a></div>
<div>
PWM周波数の変更と、i2cのタイムアウトのためにライブラリを一部変更しています。</div>
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<br /></div>
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<br /></div>
<div>
<a href="https://kirakulabo2.blogspot.com/2020/08/m5stickcjoycble.html" target="_blank">BLEリモコンのソースコードはこちらです</a>。</div>
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リモコン操縦をしているビデオです。</div><div class="separator" style="clear: both;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dz4kS2HJoMAcmcepubI06O71Hn9Qp-e9q-95sc8UwzOfo2XjKgPmTVsBO3YxOqdBmvr-q7o_6i_jlLqL_ZNBQ' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div>
Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-24264409686393456942020-05-25T22:36:00.001+09:002022-03-21T07:06:34.229+09:00BalaCでライントレースM5Stackから<a href="https://m5stack.com/collections/m5-application/products/bala-c-esp32-development-mini-self-balancing-car" target="_blank">BalaCという倒立振子のキット</a>が発売されました。M5StickC、モータードライバが載った基板、ギヤモーター、ホイール、充電池がセットになっています。<br />
これに反射型の赤外線センサーを取り付けて、ライントレースをしてみました。<br />
<a href="https://drive.google.com/file/d/1BTB1d5PTd1D7gt0Fhf9uXM4rrurZPSFS/view?usp=sharing" target="_blank">ビデオへのリンクです。</a><br />
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上からの写真です。サーボのように見えるのはギヤモーターです。オレンジ色のモジュールがBalaCに同梱されているM5StickCで、基板を固定するためのねじ穴が2個追加されています。先端に付いている基板が追加した赤外線センサー部分です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjukDqjATpNl5LxlrKO7egCSw6zHpeB5CC6fBOy6mJvTyzam-hFXOQQFhY5pZjIKA8k24DBiGr-UmUHjjyl-cQ2R2X6J5MvFgxqJzv9oVaI6nQvkZnxHB4Rs0r4lUiuUP_Q2XOOz6kHH4Sw/s1600/P5250041.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjukDqjATpNl5LxlrKO7egCSw6zHpeB5CC6fBOy6mJvTyzam-hFXOQQFhY5pZjIKA8k24DBiGr-UmUHjjyl-cQ2R2X6J5MvFgxqJzv9oVaI6nQvkZnxHB4Rs0r4lUiuUP_Q2XOOz6kHH4Sw/s400/P5250041.JPG" width="400" /></a></div>
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裏側です。i2cのインターフェイスとモータードライバがBalaCの基板に載っています。青い充電池があるので、モーターを回しても余裕です。M5StickCにUSBを接続すれば、この充電池に充電されるようです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiNKI4mFmhQ90qYq0DqomIsUapRFaXD0uCh9r7QK__JkYbOcj8I14Du28V_EbEt0I8k6J8RgluxmK3otMHmvJmjUAdzW6r3YkvzobUroxhjFAhNrPw0C-vSh0WTCpqpxLLg9bPNkkJAqRMT/s1600/P5250042.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiNKI4mFmhQ90qYq0DqomIsUapRFaXD0uCh9r7QK__JkYbOcj8I14Du28V_EbEt0I8k6J8RgluxmK3otMHmvJmjUAdzW6r3YkvzobUroxhjFAhNrPw0C-vSh0WTCpqpxLLg9bPNkkJAqRMT/s400/P5250042.JPG" width="400" /></a></div>
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側面です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5MkLM-dLgUzl3nPNIxIqLFUwYEvV7eY7fUq1Mq3A7IFFeIidQxaQqpEJY9HZlsQ1I71iK5XRsL2nEdaphe3KF6OT2qefgnKZrg_AalDj866fe5VrZw9bGwPXwlj30tu1tjBjUdZ9GpMOm/s1600/P5250051.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5MkLM-dLgUzl3nPNIxIqLFUwYEvV7eY7fUq1Mq3A7IFFeIidQxaQqpEJY9HZlsQ1I71iK5XRsL2nEdaphe3KF6OT2qefgnKZrg_AalDj866fe5VrZw9bGwPXwlj30tu1tjBjUdZ9GpMOm/s400/P5250051.JPG" width="400" /></a></div>
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赤外線センサー基板を含む先端部分です。適当なボールキャスターが無かったので、アルミのスピンナーを流用しています。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgV77FyOKxgiQeQBB1eWxld5EjQUqc4mYhk4XKNj8SRZMww7gfIJR4HOaOsiRLWQ53Fuvqy-6y3ofZYZSWfqTCFrMsk_sCaUAqD0ZeqUw1AKNi2JVt03SmxoYcusanS0wcQatva2GKkxR3P/s1600/P5250043.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgV77FyOKxgiQeQBB1eWxld5EjQUqc4mYhk4XKNj8SRZMww7gfIJR4HOaOsiRLWQ53Fuvqy-6y3ofZYZSWfqTCFrMsk_sCaUAqD0ZeqUw1AKNi2JVt03SmxoYcusanS0wcQatva2GKkxR3P/s400/P5250043.JPG" width="400" /></a></div>
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赤外線センサー基板の表側です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhm6F2WBAKEa2QCpz36GM33NU0ekCoEtAVKYjuSl2yoqdDzjOmBDj1X04baiH9H_kuDoONpSIW5crBjdS4fcKA2VlQc5OukDeRD4Ezv2gmv6fZSAZWE9vlTcv_SjGkuITlznyNZTslBwvRN/s1600/P5250046.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhm6F2WBAKEa2QCpz36GM33NU0ekCoEtAVKYjuSl2yoqdDzjOmBDj1X04baiH9H_kuDoONpSIW5crBjdS4fcKA2VlQc5OukDeRD4Ezv2gmv6fZSAZWE9vlTcv_SjGkuITlznyNZTslBwvRN/s400/P5250046.JPG" width="400" /></a></div>
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赤外線センサー基板の裏側です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigy_5E8qXEWv_PRYDoXuhVUTSf_ZTCB0NbX5N_1ZamxWvUZkL6EZQm2ufVw08atAowIQI9WpaJuPao6mx5v8SDmPJSYZYUYemqBAo_A7yLLP-0QlzIF8KK6Xc0noLewdU4jKayCGXeQr2q/s1600/P5250045.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEigy_5E8qXEWv_PRYDoXuhVUTSf_ZTCB0NbX5N_1ZamxWvUZkL6EZQm2ufVw08atAowIQI9WpaJuPao6mx5v8SDmPJSYZYUYemqBAo_A7yLLP-0QlzIF8KK6Xc0noLewdU4jKayCGXeQr2q/s400/P5250045.JPG" width="400" /></a></div>
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回路図です。赤外線センサーはTCRT5000です。フォトトランジスタは、コレクタをLEDのアノードに接続し、約1.2Vで動作しています。M5StickCのVoutが5Vなので、このような回路にしています。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhiTpT8pk9VCeq6wYdVEnMNwobIKefS-6Edu3ChiFnodPhHrAgaAY0fMfEKP9t0zk4Db4yBIkn6bhmWyGoxu2Ik67jmJ54pbv6hZBc2M0wCo3VWPcgRlB4RqfGH3mCaqyb2xU-tQXYlhTcg/s1600/TraceSchematic.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="342" data-original-width="909" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhiTpT8pk9VCeq6wYdVEnMNwobIKefS-6Edu3ChiFnodPhHrAgaAY0fMfEKP9t0zk4Db4yBIkn6bhmWyGoxu2Ik67jmJ54pbv6hZBc2M0wCo3VWPcgRlB4RqfGH3mCaqyb2xU-tQXYlhTcg/s640/TraceSchematic.png" width="640" /></a> <br />
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ソースコードの主要部分です(LCDの制御などを省いています)。モーター制御のi2cは正しい使い方かどうかわかりませんが、動いています。<br />
<br />
<span style="font-family: "courier new" , "courier" , monospace;">#include <M5StickC.h><br /><br />void setup() {</span><br />
<span style="font-family: "courier new" , "courier" , monospace;"> M5.begin();<br /> Wire.begin(0, 26); //SDA,SCL<br />}<br /><br />void loop() {</span><span style="font-family: "courier new" , "courier" , monospace;"> </span><br />
<span style="font-family: "courier new" , "courier" , monospace;"> int16_t sLeft=analogRead(32);<br /> int16_t sRight=analogRead(33);<br /> int16_t diff=(sLeft-sRight)/35;<br /> drive (30+diff, 30-diff);<br /> delay(20);<br />}<br /><br />void drive(int16_t spL, int16_t spR) {<br /> drvMotor(0, (int8_t)constrain(spL, -127, 127));<br /> drvMotor(1, (int8_t)constrain(-spR, -127, 127));<br />}<br /><br />void drvMotor(byte ch, int8_t sp) {<br /> Wire.beginTransmission(0x38);<br /> Wire.write(ch);<br /> Wire.write(sp);<br /> Wire.endTransmission();<br />}</span>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-66541896570490739482020-02-04T15:58:00.002+09:002020-02-05T16:31:36.076+09:00M5StickCでクォーツ時計を簡単駆動(分解不要)Arduinoなどのマイコンで市販のアナログクォーツ時計を駆動する方法は数多く紹介されていますが、どれも時計を分解して、内部にあるステップモーターに配線する必要がありました。しかし、分解するときにプラスチックのツメが折れてしまったり、ギヤがばらばらになって組み立てができなくなってしまう場合がありました。<br />
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ここで紹介する方法では、時計を分解する必要がなく、時計の電池ホルダーから2本の電線でM5StickCと接続するだけで、時計の制御ができます。<br />
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全体像です。時計はダイソーで100円で売っているもので、文字盤の直径が11.5cmです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYrQxdTjIOD1EY5pNvLXYdUUZ4YxY1j5VmLOaPizCEEKVDHOmk-F9cmEQ-4JCDZhtDb26UkyucnlF_JHC_evRdP4TDZg4gVws0LOdntp63s7SrFlEPlTRTu97nMy6Eh1QTDDFUXPf12-2P/s1600/P2040245.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYrQxdTjIOD1EY5pNvLXYdUUZ4YxY1j5VmLOaPizCEEKVDHOmk-F9cmEQ-4JCDZhtDb26UkyucnlF_JHC_evRdP4TDZg4gVws0LOdntp63s7SrFlEPlTRTu97nMy6Eh1QTDDFUXPf12-2P/s400/P2040245.JPG" width="400" /></a></div>
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配線は、時計の電池ボックスのマイナス端子をM5StickCのGND端子へ、プラス端子をM5StickCのG26へ接続します。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjL1QXDcrdUSVYN_jUWnSTehRO7CA2xzjc4TB1Xp9zG3MvLpG0uPlD0kVOrSBR_Lf5JGcD3JLOD6KOB9j0LW-kdyzj-Pig4pr4njUn3AcnQPLalMkwQ5nc5zkE34w7OXtKYekfhdBzm5jgO/s1600/P2040246.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1067" data-original-width="1600" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjL1QXDcrdUSVYN_jUWnSTehRO7CA2xzjc4TB1Xp9zG3MvLpG0uPlD0kVOrSBR_Lf5JGcD3JLOD6KOB9j0LW-kdyzj-Pig4pr4njUn3AcnQPLalMkwQ5nc5zkE34w7OXtKYekfhdBzm5jgO/s400/P2040246.JPG" width="400" /></a></div>
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M5StickCで下記のスケッチを実行すると、時計の秒針が約1.5秒で2ステップ(2秒に相当)進みますので、約45秒で針が一周します。delay(50)の数値を大きくすると秒針はゆっくり動くようになります。<br />
<br />
void setup() {<br />
pinMode(26, OUTPUT);<br />
}<br />
<br />
void loop() {<br />
dacWrite(26, 255*15/33);<br />
delay(1450);<br />
dacWrite(26, 0);<br />
delay(50);<br />
}<br />
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このスケッチで動いている時計の動画です。<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dwU8OwyrOi_JSTwAH_xGBgo7dNbn7N45czhV3FF9vk5skbMayYsuRGEe7rrZ5bWW0gvVqzqWhEciAXhDcgWyw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div>
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下記のスケッチは、秒針が約0.5秒で2ステップ進みます。ただしこの方式では、loop()内の最初のdelayの数値239はかなり微妙で、値を1増減しただけでも動かなくなったりしました。時計の置き方にも影響され、同じ時計でも個体間差がありそうです。<br />
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void setup() {<br />
pinMode(26, OUTPUT);<br />
for (int i=0; i<2; i++) {<br />
dacWrite(26, 255*15/33);<br />
delay(1450);<br />
dacWrite(26, 0);<br />
delay(50);<br />
}<br />
}<br />
<br />
void loop() {<br />
dacWrite(26, 255*15/33);<br />
delay(239);<br />
dacWrite(26, 0);<br />
delay(261);<br />
}<br />
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このスケッチで動いている時計の動画です。<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dwBRlW6mRuZxmrplJTNa1_6cUhJUi_Hayja2Z7jlCeqPj2Zn5EATLA3H66kyNk9CfVQ1kaDuQBGTHGdOEEeuA' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div>
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変わった針の動きの時計や、夏時間と冬時間の自動切換えなどに応用できると思います。<br />
<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-23102864258747357632019-12-18T13:32:00.003+09:002022-03-21T07:07:22.954+09:00GR-KURUMIと電動消しゴムでバランスロボMAENOH!さん考案の電動消しゴムロボットはメーカーフェアでも好評でしたので、ルネサスナイト15での発表用に、GR-KURUMIで作ってみました。<br />
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全体の写真です。ダイソーの電動消しゴムを使っています。電池は3.7VのLiPo。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_rbs9mx5pfuoBUz6-IOXYFhhDSye9f2-ZptfM99n0TAQFqBL7dxRTMQvoerMi_p3FK3eD5fXr8t9lYMuLihZfN4VDc7r5iOqX233liSCeIEQ-lHlEUJkEEvX6-SGOfQ_gFGCvW29EnjeG/s1600/KeshiRobo.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="713" data-original-width="1069" height="213" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_rbs9mx5pfuoBUz6-IOXYFhhDSye9f2-ZptfM99n0TAQFqBL7dxRTMQvoerMi_p3FK3eD5fXr8t9lYMuLihZfN4VDc7r5iOqX233liSCeIEQ-lHlEUJkEEvX6-SGOfQ_gFGCvW29EnjeG/s320/KeshiRobo.jpg" width="320" /></a></div>
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CPU周りの写真です。GR-KURUMIの左にジャイロセンサー(MPU6050)、下にモータードライバ(DRV8835)、リセットボタンのすぐ下に赤外線の受信モジュールが見えます。KURUMIに載っているのは3.3Vのレギュレーターです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_K0SsNVBH7l_GIwX7fu6S676ebUYpGPqGmwtQNr9zx3O01McrDeXKhvdTEF9ttXR1IClnv73v4cPK8kGAEochsTzbSWD4ViHEr_OHu5VSP7bp1QgpKmznV2tIIWQ0OW-E1JrZATI6ObTP/s1600/KeshiRobo2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="713" data-original-width="1069" height="213" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh_K0SsNVBH7l_GIwX7fu6S676ebUYpGPqGmwtQNr9zx3O01McrDeXKhvdTEF9ttXR1IClnv73v4cPK8kGAEochsTzbSWD4ViHEr_OHu5VSP7bp1QgpKmznV2tIIWQ0OW-E1JrZATI6ObTP/s320/KeshiRobo2.jpg" width="320" /></a></div>
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回路図です。Arduino ProMiniと兼用の回路なので、3.7VがKURUMIのRAW端子に接続されていますが、JP8をOFFにしていますので、KURUMIおよび周辺への電源は3.3Vのレギュレータから供給されます。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEierlaTNF1juqoqjZk8UcNdG65j4arwdztd5zZV9gqcR0OmmbyYstyIok9BsSOmjmadkACgjQlrZZIhNKuYY7aoQ3giKvvqXKBHqv_OPK-ognKLeLI0F7rKOmXqA9J8Y_JhNsqtWcvaTVaB/s1600/schematic.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="446" data-original-width="1078" height="165" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEierlaTNF1juqoqjZk8UcNdG65j4arwdztd5zZV9gqcR0OmmbyYstyIok9BsSOmjmadkACgjQlrZZIhNKuYY7aoQ3giKvvqXKBHqv_OPK-ognKLeLI0F7rKOmXqA9J8Y_JhNsqtWcvaTVaB/s400/schematic.png" width="400" /></a></div>
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<a href="https://kirakulabo2.blogspot.com/2019/12/gr-kurumi.html" target="_blank">ソースコードはこちら</a>。テレビリモコン(ソニーフォーマット)による操縦ができます。ビット順が逆になっていて、データとアドレスをまとめて12bitで扱っているので、試す場合は、シリアルモニターでコードを表示させてみて、それをキーコードのセクションに記述してください。ジョイスティックによる操縦機能は除いてあります。<br />
<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-2172009910917016512019-08-11T10:20:00.000+09:002020-02-06T10:49:18.569+09:00M5StickC バランスロボ<div class="separator" style="clear: both; text-align: center;">
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M5StickC には加速度計、ジャイロスコープ、電池、などが入っており、
モーターとドライバを追加するだけで、倒立振子を作ることができました。<br />
8月2日のM5Stackユーザーグループミーティングと8月3日4日のメーカーフェア東京で展示しました。<br />
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全体像です。左から、M5StickC、モータードライバ、モーターです。<br />
白い粘着テープは転倒したときの衝撃防止用です。<br />
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モータードライバは、共立エレショップの<span style="background-color: white; font-family: , "meiryo" , "ヒラギノ角ゴ pro w6" , "hiragino kaku gothic pro" , "osaka" , "ms pゴシック" , "ms pgothic" , sans-serif; font-size: 17.5px;">KP-DRV8830。</span></div>
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<span style="background-color: white; font-family: , "meiryo" , "ヒラギノ角ゴ pro w6" , "hiragino kaku gothic pro" , "osaka" , "ms pゴシック" , "ms pgothic" , sans-serif; font-size: 17.5px;">i2cのプルアップに4.7kΩの抵抗を使っています。</span></div>
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モーター<span style="background-color: white; font-family: , "meiryo" , "ヒラギノ角ゴ pro w6" , "hiragino kaku gothic pro" , "osaka" , "ms pゴシック" , "ms pgothic" , sans-serif; font-size: 17.5px;">も、共立エレショップの</span><span style="background-color: white; font-family: , "meiryo" , "ヒラギノ角ゴ pro w6" , "hiragino kaku gothic pro" , "osaka" , "ms pゴシック" , "ms pgothic" , sans-serif; font-size: 17.5px;">RM0TV0009AWZZ。</span></div>
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<span style="font-family: , "meiryo" , "pro w6" , "hiragino kaku gothic pro" , "osaka" , , "ms pgothic" , sans-serif;"><span style="background-color: white; font-size: 17.5px;">軸には、内径0.8mmの熱収縮チューブをかぶせています。</span></span></div>
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<span style="font-family: , "meiryo" , "pro w6" , "hiragino kaku gothic pro" , "osaka" , , "ms pgothic" , sans-serif;"><span style="background-color: white; font-size: 17.5px;">モーターや、基板の固定は両面テープで、かなりいい加減です。</span></span></div>
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhg4nARfKGAbsu5og-AwUKCXpJpL5PQIHvWzKdVNnHR4cyjPhruc5ra9V6_5811HRY1y0_6wrFXTLRwbMtZJ7ArXloHOCUSC_dqopQ8nuHvlH3t9tagkpRTc-KvQoUsvnMpnz2IekixPPUP/s1600/P8110054.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhg4nARfKGAbsu5og-AwUKCXpJpL5PQIHvWzKdVNnHR4cyjPhruc5ra9V6_5811HRY1y0_6wrFXTLRwbMtZJ7ArXloHOCUSC_dqopQ8nuHvlH3t9tagkpRTc-KvQoUsvnMpnz2IekixPPUP/s400/P8110054.JPG" width="400" /></a><br />
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裏側です。</div>
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<img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5WyeBygDPMeQDQmskYIjtnjnThNDQpy7Z7p_9W0-IMAw9ZTFQJbTSWveKSSuERDlNyAKslDEdPoboarpgcnUeE_5d504yUP_XX7LYQGYxC1Rj2CNyJMujXPiEhwtgA9nZ3q3ebdm_3xFr/s400/P8110053.JPG" width="400" /></div>
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回路図です。<br />
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<a href="https://kirakulabo2.blogspot.com/2019/08/m5stickc.html" target="_blank">ソースコードはこちら。</a></div>
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<a href="https://kirakulabo2.blogspot.com/2019/08/m5stickc-mpu6886.html" target="_blank">MPU6886対応版はこちら。</a><br />
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgb1EXHPyjQ9nYnPD7Y4A8Mar7EsR4WZI64Pe0BySU18-rEk4Uq4uhrbrpvK1kWAyZnjFUeU-6jSJokpfBLjmQOci9pKAcamydjCkZjKPaJ_NimdsOwhPEaTSS2UEHUXvGJOwk-NnAtSNVf/s1600/P8110052.JPG" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><br /></a>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-75709200376259623402019-05-06T20:48:00.001+09:002020-05-17T08:09:48.314+09:00ESP32で古時計の精度改善これまではCPUとしてESP8266を使っていましたが、今回はその上位バージョンであるESP32とOLEDディスプレイが合体したボードを使って、機能と性能の向上を図りました。<br />
モジュールの写真です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhm_wi7Kn_cE7-knGVCZrNM6-fbsiXEmb2c4x_Fg0epWF3-OBJ1eGKVyaWpMpWhXTuJF7wqOSbXhSbifXlnpFcFc7rXxVxM1YXl5fhwVmhXaDyNY87gguPy6oviqnQGbw4RbAnB5-ckjyf/s1600/P5050848.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhm_wi7Kn_cE7-knGVCZrNM6-fbsiXEmb2c4x_Fg0epWF3-OBJ1eGKVyaWpMpWhXTuJF7wqOSbXhSbifXlnpFcFc7rXxVxM1YXl5fhwVmhXaDyNY87gguPy6oviqnQGbw4RbAnB5-ckjyf/s320/P5050848.JPG" width="320" /></a></div>
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時計と組み合わせた写真です。左が普通の振り子時計(以下重力振り子時計と呼びます)、右は回転振り子時計です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_qEkDC7IAgDaMUqix8SC5SSjEO3StB4sOGKWBVkdGrQQ_URdVOLKazxz3afQIvY85JVbjVh1BsYP42Sy1cylKK8qgpG95xmjR_gvmd6cFsVl7NmcCUwGyvojkMb-w_dD0sIPZnSdhZ7V3/s1600/P5070853.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_qEkDC7IAgDaMUqix8SC5SSjEO3StB4sOGKWBVkdGrQQ_URdVOLKazxz3afQIvY85JVbjVh1BsYP42Sy1cylKK8qgpG95xmjR_gvmd6cFsVl7NmcCUwGyvojkMb-w_dD0sIPZnSdhZ7V3/s320/P5070853.JPG" width="320" /></a></div>
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動作原理を説明します。<br />
振り子に取り付けられた磁石の磁力線を磁気センサーが検出して振り子のタイミングを認識し、時計のギヤ比を使って時計が指している時刻を算出します。一方正確な時刻は、WiFiを通してNTPサーバーから取得します。これらを比較して、時計が遅れている場合は振り子の周期が短くなるように、進んでいる場合は振り子の周期が長くなるように、調整します。<br />
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重力振り子の場合は、振り子に取り付けた磁石に対して、電磁コイルで上下方向の力を加えます。これは重力加速度が変化したのと同等の効果があるので、振り子の周期が変化します。下の写真の黒い楕円がコイル、振り子の下端についている円柱状のものが磁石、その直下にホールセンサーが黄色いワイヤーでコイルに固定されています。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg9O36cRmSR1l40U1TZ_CNeBjm8Ekrx_RsISGktKEMZj_rgoIDL01kLyoPsDdC2b_RmAtLTxkFUfYSolfhFFH3tVwo4RRVDtQYgLM7R5IHsytx7o_uLT6qwHjsd2DLXQ_NVf6_yZdg5ptLl/s1600/P5060850.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg9O36cRmSR1l40U1TZ_CNeBjm8Ekrx_RsISGktKEMZj_rgoIDL01kLyoPsDdC2b_RmAtLTxkFUfYSolfhFFH3tVwo4RRVDtQYgLM7R5IHsytx7o_uLT6qwHjsd2DLXQ_NVf6_yZdg5ptLl/s320/P5060850.JPG" width="320" /></a></div>
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回転振り子の場合は、振り子に取り付けた磁石に対して、電磁コイルで水平方向の力を加えます。これは振り子を吊っているワイヤの捻じりばね係数が変化したのと同等の効果があるので、回転振り子の周期が変化します。下の写真は回転振り子に取り付けた正方形の磁石。<br />
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下の写真は、ベースプレートの裏に取り付けた、コイルとデジタルコンパスです。</div>
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ディスプレイには、現在時刻、誤差、コイル電流に加え、誤差とコイル電流のグラフも表示されます。下は回転振り子時計の例です。2行目の-0000.04が0.04秒の遅れを示しており、113はコイル電流です(範囲は-1023から1023で、最大電流は100mA程度)。<br />
グラフのX軸の範囲は約5時間、Y軸の誤差は+/-0.5秒の範囲を表示しています。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhP6OVYRUPKrWc7ueNGoypNmPzyPsHrT1PbY0kFxSPJUl1schShjgtfsTRW-Qw15lpM1RkrT2yH-vEuzI7LRPLcov_rMp-WzMYZ45-HCSE8HerUfSgnE79Z06_g5GOjhaFSY7YSvw0y9en9/s1600/P4180828.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhP6OVYRUPKrWc7ueNGoypNmPzyPsHrT1PbY0kFxSPJUl1schShjgtfsTRW-Qw15lpM1RkrT2yH-vEuzI7LRPLcov_rMp-WzMYZ45-HCSE8HerUfSgnE79Z06_g5GOjhaFSY7YSvw0y9en9/s320/P4180828.JPG" width="320" /></a></div>
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Webサーバーの機能も備えているので、WiFi経由でブラウザからアクセスできます。下の例はパラメータの設定画面です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiKg4NwjcyETnSm3LCmN3k7_Yfc8Le__lV5lQ1vE9TY3xiHKtUtJ52u5PrAQ-MH_5-rxDLCBeXFmYgmZp5NzGYStpXsnr_GMOj6UkZ2PGa9SPMY7KBenALHqjCv7s3DWo51wJZA1ns6kFcK/s1600/ct173Aconf.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="838" data-original-width="783" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiKg4NwjcyETnSm3LCmN3k7_Yfc8Le__lV5lQ1vE9TY3xiHKtUtJ52u5PrAQ-MH_5-rxDLCBeXFmYgmZp5NzGYStpXsnr_GMOj6UkZ2PGa9SPMY7KBenALHqjCv7s3DWo51wJZA1ns6kFcK/s320/ct173Aconf.png" width="298" /></a></div>
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重力振り子時計の実験結果です。青が誤差で縦軸は左側、赤がコイル電流で縦軸は右側です。約1週間の測定でほぼ+/-0.1秒以内に収まっています。左の大きな変動は、時計を動かしたためのもの、右側の変動は周囲に置いたものによる影響と思われます。<br />
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重力振り子時計用の回路図です。<br />
磁気センサーはデジタル出力のホール素子です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjono2-Xh3AlutGDJkhqx6HAW4sxMWI4zEL1tMVt7f0w-UHPNOR3io5YPVzvciMyWuj5g90YX2lYDIpNp3bu2e0Y2EAd7gLTbe4rYmmU92fAfOMozXKyfQCQRuTwWgkwhdRYhq_EVsV_J2Z/s1600/ct-pend.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="410" data-original-width="833" height="196" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjono2-Xh3AlutGDJkhqx6HAW4sxMWI4zEL1tMVt7f0w-UHPNOR3io5YPVzvciMyWuj5g90YX2lYDIpNp3bu2e0Y2EAd7gLTbe4rYmmU92fAfOMozXKyfQCQRuTwWgkwhdRYhq_EVsV_J2Z/s400/ct-pend.png" width="400" /></a></div>
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回転振り子時計用の回路図です。<br />
磁気センサーはi2c接続のデジタルコンパスです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxdE_DoRVBKAmAAB8ZxUGQp3Ok0jEfdDpypsxsi1jG5658W9y6GcuV2OxplPEoq_v0QvCn2EsThRL-_9KAe3KrtGVcHhdF57-T4J_F7QLxaaMqWXQJx7wCwdhWZVcjRrv8jbR3goWSzROy/s1600/cTuner-Anniv-01.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="495" data-original-width="853" height="231" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhxdE_DoRVBKAmAAB8ZxUGQp3Ok0jEfdDpypsxsi1jG5658W9y6GcuV2OxplPEoq_v0QvCn2EsThRL-_9KAe3KrtGVcHhdF57-T4J_F7QLxaaMqWXQJx7wCwdhWZVcjRrv8jbR3goWSzROy/s400/cTuner-Anniv-01.png" width="400" /></a></div>
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以下2020年5月17日追記<br />
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<a href="https://kirakulabo2.blogspot.com/2020/05/esp32.html" target="_blank">ソースコードはこちらです</a>。<br />
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ハードウェアをブログにアップしてから1年近くが経ってしまい、その間にソフトはだいぶ変更されたので、Web画面の構成など写真とは一部異なります。かなり強引なコーディングなので、より良い書き方がありましたら、教えていただけるとありがたいです。<br />
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<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-14681508346836644882019-04-18T17:05:00.001+09:002019-06-15T22:27:45.959+09:00Auto tuner for anniversary clockAn anniversary clock is a mechanical clock which has a time keeping mechanism called torsion pendulum, where a horizontally rotating pendulum is suspended by a thin wire called torsion spring. Anniversary clocks run much longer (up to one year before winding is required) than ordinary pendulum clocks because the rotating speed is very slow. The name "anniversary" came from the fact that winding is required once every year. Anniversary clocks are less accurate than ordinary pendulum clocks.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0CPWcgLJ1m1z4fBV_fl_aRJDvt1CVwTlkkLTpNiHid1zH0zDgy42R4Eq-WyjdTHefXyUlexef3oOdi7FNWycgHljmWzMSJ3TCo1YMYFOLwUuCw4d-DbUE76cBPjAli_Imqg-lF8ZnYfHY/s1600/P4180826.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1200" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0CPWcgLJ1m1z4fBV_fl_aRJDvt1CVwTlkkLTpNiHid1zH0zDgy42R4Eq-WyjdTHefXyUlexef3oOdi7FNWycgHljmWzMSJ3TCo1YMYFOLwUuCw4d-DbUE76cBPjAli_Imqg-lF8ZnYfHY/s320/P4180826.JPG" width="240" /></a></div>
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The method of tuning torsion pendulum vibrating frequency is similar to the method for tuning ordinary pendulum (see <a href="http://kirakulabo.blogspot.com/2018/03/improving-accuracy-of-pendulum-clock.html" target="_blank">this page</a>). Instead of applying vertical force to the pendulum, the tuning device applies horizontal force to imitate changing the elasticity of the torsion spring. When the magnetic force pushes back the pendulum, that is equivalent to strengthening the torsion spring which shortens the pendulum period. Below is the overall photo.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEix7kN7hA_J6GT0pP7T_5STrRKM4LTja8Eqx4-Paguo-bB6LLrYLgg_ytnkD7NEPIylW6PzDMO9g9JsZI1SIT93BmGMLKkbj8XQnKkwl6g38q9Om0y50-0PaWmcTHT988IIo21XO93UQCvN/s1600/P4180835.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEix7kN7hA_J6GT0pP7T_5STrRKM4LTja8Eqx4-Paguo-bB6LLrYLgg_ytnkD7NEPIylW6PzDMO9g9JsZI1SIT93BmGMLKkbj8XQnKkwl6g38q9Om0y50-0PaWmcTHT988IIo21XO93UQCvN/s320/P4180835.JPG" width="320" /></a></div>
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Here is the back of the base plate where you can see a coil to generate magnetic flux and a magnetic sensor (digital compass, HMC5883) to detect pendulum position.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhJ6o2uvuPwlZeSlW5aHWU4NGpx1EADhVGt5hL0LogSk8wBtdRb-M5oWGAkrR7D93HnAfiyG_kcs7f-O11rskh0Zuc2__ZUXlrhk4JgsHx-xJ7XTStPDEE3o11x0O34CmlxMM-2BKRBMGH_/s1600/P4090808.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhJ6o2uvuPwlZeSlW5aHWU4NGpx1EADhVGt5hL0LogSk8wBtdRb-M5oWGAkrR7D93HnAfiyG_kcs7f-O11rskh0Zuc2__ZUXlrhk4JgsHx-xJ7XTStPDEE3o11x0O34CmlxMM-2BKRBMGH_/s320/P4090808.JPG" width="320" /></a></div>
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Here is the magnet attached to the pendulum (flat silver square below white ball).<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiBHizadvKsmS6ZVq12eVzVKn4hdbxMsN3bXFOJfKwt3UQsuMDN7j2LAAGRnDXX0hyphenhyphenAAYUDsRRNL7xU11pEI9oZEZMPwqfPGrTmQoDcajtKX_B4zWsXPPL3rYGQcJhGzG9uXCb57k3Vg7zn/s1600/P4180834.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiBHizadvKsmS6ZVq12eVzVKn4hdbxMsN3bXFOJfKwt3UQsuMDN7j2LAAGRnDXX0hyphenhyphenAAYUDsRRNL7xU11pEI9oZEZMPwqfPGrTmQoDcajtKX_B4zWsXPPL3rYGQcJhGzG9uXCb57k3Vg7zn/s320/P4180834.JPG" width="320" /></a></div>
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The external tuning device comprises ESP32 with OLED display (WEMOS LOLIN32 OLED), H bridge driver (L9110).<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhzxSWlSg3eAj3yZEcrtvyksGvSBHANuWB_SjBGJFuHDi6u9NsnNdon67p6AtT5QlT9mWsMsIOQ7MRfKeBTmwsBn3by4k8tTVVP35dz1HH9teAmQkL0dgPTLe-IfYYdDCHFN4WtdIbu7P_x/s1600/P4180827.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhzxSWlSg3eAj3yZEcrtvyksGvSBHANuWB_SjBGJFuHDi6u9NsnNdon67p6AtT5QlT9mWsMsIOQ7MRfKeBTmwsBn3by4k8tTVVP35dz1HH9teAmQkL0dgPTLe-IfYYdDCHFN4WtdIbu7P_x/s320/P4180827.JPG" width="320" /></a></div>
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The display shows the time from internet and the clock accuracy, along with graphs of accuracy and coil current alternating every 5 seconds. In contrast with the tuning device last year whose resolution was 1 second, this device calculates the accuracy to the resolution of 0.01 seconds. The photo below shows accuracy of -0.04 seconds and relative current of 113. The graph is showing the last 5 hours of accuracy trend.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTny16GWFb_xveStGl63QWWWfaWsvqu4QuYLDg_FTCfxX0egmfChRIluHZrtoooD2bMTEwbU9NvzdFWcFbftsjQc9na_XSK-oqO94RT6rlv-Fah1qgmCzF2qFwo_S1IW5aZ_UjM5duZWTm/s1600/P4180828.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgTny16GWFb_xveStGl63QWWWfaWsvqu4QuYLDg_FTCfxX0egmfChRIluHZrtoooD2bMTEwbU9NvzdFWcFbftsjQc9na_XSK-oqO94RT6rlv-Fah1qgmCzF2qFwo_S1IW5aZ_UjM5duZWTm/s320/P4180828.JPG" width="320" /></a></div>
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Here is the accuracy (blue, left scale in second) and coil current (red, right scale in relative quantity -1023 to 1023) for 24 hours. You can see the accuracy is within one second.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiOxSLYQi1tcpxVjS4DCBtZEP4011EICq2tjArKjPtWauoMnO99o3_A0vbQhhxLZn48k8qFNRAVkmWkURoXQN4SYlpHWsXusR-0WkI9xueqS1qJTAEfu7wJpEcAX9O72WLuDhb8OTXMy8qa/s1600/P4180825.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiOxSLYQi1tcpxVjS4DCBtZEP4011EICq2tjArKjPtWauoMnO99o3_A0vbQhhxLZn48k8qFNRAVkmWkURoXQN4SYlpHWsXusR-0WkI9xueqS1qJTAEfu7wJpEcAX9O72WLuDhb8OTXMy8qa/s320/P4180825.JPG" width="320" /></a></div>
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Here is the same graph with about one month of data. During this period, clock location was changed, sensor position was changed, main spring was winded up, etc. Because of these activities, you see the big jump in accuracy and output, but the accuracy came back to within 1 second.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimXkAiF_ne-afWr80mrCAGNYRLMDS_49xgIHhChzDj5aulPCYGS9DgkHC-n8yHjSSrDoK2U3nsUMl_RcmTTK8zSP9JuV0iVLTRkvkOKB8E9jvZO2XoZSJkcHYsghjhz_tV6gBRXvYw0caq/s1600/P3181389.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimXkAiF_ne-afWr80mrCAGNYRLMDS_49xgIHhChzDj5aulPCYGS9DgkHC-n8yHjSSrDoK2U3nsUMl_RcmTTK8zSP9JuV0iVLTRkvkOKB8E9jvZO2XoZSJkcHYsghjhz_tV6gBRXvYw0caq/s320/P3181389.JPG" width="320" /></a></div>
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Here is the schematic diagram.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgfsdKtyhNio3c4R7kT9oQXrFQlXFHZgqv-NRV-ypUHycDIzzwwjnfrU20ZvY77gP9tisoPFtHWBCozu7QpBDCcuAOkkfrMhbqsx_e1LNcxgfJN-rRhOGFU23Z3gsOKTDYQ4twqWI0WhE0D/s1600/cTuner-Anniv-01.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="495" data-original-width="853" height="231" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgfsdKtyhNio3c4R7kT9oQXrFQlXFHZgqv-NRV-ypUHycDIzzwwjnfrU20ZvY77gP9tisoPFtHWBCozu7QpBDCcuAOkkfrMhbqsx_e1LNcxgfJN-rRhOGFU23Z3gsOKTDYQ4twqWI0WhE0D/s400/cTuner-Anniv-01.png" width="400" /></a></div>
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Source code is <a href="https://kirakulabo2.blogspot.com/2019/06/automatic-clock-tuner-v212.html" target="_blank">here</a>.<br />
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<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-18525859022381293412018-07-28T11:47:00.001+09:002019-05-07T07:45:59.145+09:00棒テンプ時計の精度アップ Ver3メーカーフェア東京2018に出展しました。ご来場の皆様ありがとうございました。
<img src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh8ZW9BG1IQizVCRfDudrT9TQLd_FNfALpmEvL_YG45BzBfyBrtHkBFIALos0i3c18ZZnviqGxrotsCQAahmC8mS6_3brpov5sWrlr_sGGU0XinOOMJLpI4eVyFQgDq7-DXs7pA_JFOK8_D/s320/Tokyo-MF_logo.gif" />
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Ver2(<a href="http://kirakulabo.blogspot.com/2018/04/" target="_blank">リンクはこちら</a>)では糸の長さ調整をリニアサーボで行っていましたが、動作音が大きいのと、故障しやすいことから、ステップモーターに変更しました。<br />
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写真です。ステップモーターのねじのストロークは約17mmです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi3-ja9ZSnvnZbkV2piaC5-bUjih6uPcoNOrBYtXgzm0jGVXMW7XS7N4j4OrdvkYQAdtJ7VqD7E10gm61bEIlaPZtQsaqczv78kifmNviJtnEusZcxbguWI8Ak_0Nwv8pkwggHLTu6EV6Zl/s1600/DSCN9318.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi3-ja9ZSnvnZbkV2piaC5-bUjih6uPcoNOrBYtXgzm0jGVXMW7XS7N4j4OrdvkYQAdtJ7VqD7E10gm61bEIlaPZtQsaqczv78kifmNviJtnEusZcxbguWI8Ak_0Nwv8pkwggHLTu6EV6Zl/s400/DSCN9318.JPG" width="400" /></a></div>
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ステップモーターのドライバーとしては、TIのDRV8834を載せたPololuのボードを使用しました。電流制限があまり小電流にならないので、ENABLE端子をSTEP端子と接続して、パルスの無いときは電流を流さないようにしています。<br />
回路図です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgrNQ2rGmEbirU-os7dmrudeFXWrQO9YmbfulIIBPDVfK5tUfKXF3K1VU5_xL1a47Y-q0QltrndEuJBnMDbvPecnqvT34lhyphenhyphen4uONWPcDGenlR1OLBSO7w0ZkgjgspATtWRhkTlMTwQ4aeeh/s1600/Schematic3.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="573" data-original-width="1024" height="356" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgrNQ2rGmEbirU-os7dmrudeFXWrQO9YmbfulIIBPDVfK5tUfKXF3K1VU5_xL1a47Y-q0QltrndEuJBnMDbvPecnqvT34lhyphenhyphen4uONWPcDGenlR1OLBSO7w0ZkgjgspATtWRhkTlMTwQ4aeeh/s640/Schematic3.png" width="640" /></a></div>
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3日ほど連続で動かして、誤差は+/-10秒に入っています。下の写真が直近8時間のデータで、青い線が誤差(左目盛り、単位秒)、赤い線が制御出力の相対値のグラフです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhm-IOaggl-7g1j3lYDmAlwEWSlEOB5hONP2BHDupfEY6KxscULvVEGqE5vGS7njFWAgggGeLN0HexRwJ2t5o1_VBs84FHFZOsOiAqVrRbomdaltsCXuygyIccqp_z9PYyqfyMXCn1rFNsd/s1600/DSCN9324.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhm-IOaggl-7g1j3lYDmAlwEWSlEOB5hONP2BHDupfEY6KxscULvVEGqE5vGS7njFWAgggGeLN0HexRwJ2t5o1_VBs84FHFZOsOiAqVrRbomdaltsCXuygyIccqp_z9PYyqfyMXCn1rFNsd/s400/DSCN9324.JPG" width="400" /></a></div>
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<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-62790490471194079292018-07-14T16:40:00.003+09:002022-03-30T14:50:07.644+09:00サーボを使った超簡単倒立振子連続回転型サーボを使って簡単に作れる倒立振子の実験をしてみました。赤外線リモコンで操縦できます。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7M3EqtfY7SnK7Cplljb2tG0gVSTjKEju-YJWMZ3B727A2bm_xnMwhRRC0DKgIG9lL3CHCDcjyJ8ux8ZyDqKIz4KwhSkjsSE39hkTqQbz6vg2UgbNhbHdCBxNrBqwStKfi2pCw_2d9OBRE/s1600/DSCN9311.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7M3EqtfY7SnK7Cplljb2tG0gVSTjKEju-YJWMZ3B727A2bm_xnMwhRRC0DKgIG9lL3CHCDcjyJ8ux8ZyDqKIz4KwhSkjsSE39hkTqQbz6vg2UgbNhbHdCBxNrBqwStKfi2pCw_2d9OBRE/s320/DSCN9311.JPG" width="320" /></a></div>
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全体像です。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjS575b1qSe_MATMzFaXxU7gpryEB9D_jFjI6XmvMCeQWAhQrqBdOJiEIBuNv-ncmo2WN3whyphenhyphen5UJOqgMq4hsZOxMSA-zL-PMzW5LBa9bcAYqO3KGYLRDWO0xdmJ7CkBwpp5RxAdWsCZtL64/s1600/OverAll.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="527" data-original-width="918" height="183" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjS575b1qSe_MATMzFaXxU7gpryEB9D_jFjI6XmvMCeQWAhQrqBdOJiEIBuNv-ncmo2WN3whyphenhyphen5UJOqgMq4hsZOxMSA-zL-PMzW5LBa9bcAYqO3KGYLRDWO0xdmJ7CkBwpp5RxAdWsCZtL64/s320/OverAll.png" width="320" /></a></div>
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基本は3つのモジュール。これらを両面提テープで貼り付けてあります。</div>
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ブレッドボードです。ジャイロセンサーは、GR-KURUMIの使っていないピンの部分に装着しています。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2jmy_rP423FNE0_-T5MW603gu09QhSnqhdP-X3xM-p1Npxk4FK8ydMmNnOa9UeiSZRpZblVSsYKCPtrswHVe9IbNHrgJA_p8uQFBG7G0N_FKpvu3w7mHGp5luvPE_YtAzxyVdrC2dt-Gu/s1600/DSCN9307.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2jmy_rP423FNE0_-T5MW603gu09QhSnqhdP-X3xM-p1Npxk4FK8ydMmNnOa9UeiSZRpZblVSsYKCPtrswHVe9IbNHrgJA_p8uQFBG7G0N_FKpvu3w7mHGp5luvPE_YtAzxyVdrC2dt-Gu/s320/DSCN9307.JPG" width="320" /></a></div>
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車輪は、サーボホーンに自己融着テープを巻き付けています。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVWVLh7SZk7ZFjb75Ea6n8Gn2AFY-zMevTn31N4sY-yCv1GlgLXu4LpNi7-wTvMymLCuOSSnrE5L-2Euj_eaI3bMc-IzkHZqYFN8G3xBb48XmK7Sm0WaErxqwQTN0HR-ZfOku-9OPy2GNj/s1600/DSCN9309.JPG" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhVWVLh7SZk7ZFjb75Ea6n8Gn2AFY-zMevTn31N4sY-yCv1GlgLXu4LpNi7-wTvMymLCuOSSnrE5L-2Euj_eaI3bMc-IzkHZqYFN8G3xBb48XmK7Sm0WaErxqwQTN0HR-ZfOku-9OPy2GNj/s320/DSCN9309.JPG" width="320" /></a></div>
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回路図です。赤外線センサーと圧電スピーカーは無くても倒立はします。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj_Ji8Pu3FjoCFCJ5g-veeDaI13Z6ZyY2MhtQ77NIRgz-Jl0qc93ZcP8BNhZZ1QcYe0rK0OTesFey5A7Qh7Mlx8uD4ZD4LrK86lj9exXww7PnU9FX3pKiH1HYYAOf1Qayr6mN0auL71aw8G/s1600/schematic.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="539" data-original-width="779" height="276" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj_Ji8Pu3FjoCFCJ5g-veeDaI13Z6ZyY2MhtQ77NIRgz-Jl0qc93ZcP8BNhZZ1QcYe0rK0OTesFey5A7Qh7Mlx8uD4ZD4LrK86lj9exXww7PnU9FX3pKiH1HYYAOf1Qayr6mN0auL71aw8G/s400/schematic.png" width="400" /></a></div>
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ビデオです。(2022/3/30追加)</div><div class="separator" style="clear: both; text-align: left;"><iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.blogger.com/video.g?token=AD6v5dxzLW-tT81NirtnkA-UnpIg13GYwBbXvOARl9539UgQW1jyGsL7ky6HRC0dOFvfGwlwM9IJVtzaHtFikC8bJw' class='b-hbp-video b-uploaded' frameborder='0'></iframe></div><br /><div><div class="separator" style="clear: both; text-align: left;"><br /></div>
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ソースコードは<a href="https://kirakulabo2.blogspot.com/2018/07/blog-post.html" target="_blank">こちら</a>。</div>
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</div>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-29702537722894875542018-06-13T11:02:00.000+09:002018-09-03T07:32:32.817+09:00振り子時計の精度改善 - その2<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7yczfjbgDbrm9WvumTvmmHDX2LDq6zRXfVwZK6pivenIGvZLHpEl_LHtYi9SoaoFTq4UudrPXsaa2o_fED8NRuY_5AKFTIP_dx2I-SW1thsfy0Oxp0_lDfiZYLCHhyphenhyphenJvOWwkUuU2K5U6r/s1600/PastedGraphic-2.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" data-original-height="57" data-original-width="345" height="52" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg7yczfjbgDbrm9WvumTvmmHDX2LDq6zRXfVwZK6pivenIGvZLHpEl_LHtYi9SoaoFTq4UudrPXsaa2o_fED8NRuY_5AKFTIP_dx2I-SW1thsfy0Oxp0_lDfiZYLCHhyphenhyphenJvOWwkUuU2K5U6r/s320/PastedGraphic-2.png" width="320" /></a></div>
メーカフェアプラハでMAKER of MERIT賞をいただきました。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5XMDPz7heUf6YsROiWKQuQw7DBoHJA8LKCLbJsWhN8_W2hWGYhP5lUJ8q4PnpBKecg_z0otY4rjOJ2fMcUpbf9ylhKxv16OBdmA5TUlg0ZwCR33bisBDBxpatk1OrkQThyqcOubgP8lSG/s1600/Tokyo-MF_logo.gif" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" data-original-height="278" data-original-width="1600" height="55" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5XMDPz7heUf6YsROiWKQuQw7DBoHJA8LKCLbJsWhN8_W2hWGYhP5lUJ8q4PnpBKecg_z0otY4rjOJ2fMcUpbf9ylhKxv16OBdmA5TUlg0ZwCR33bisBDBxpatk1OrkQThyqcOubgP8lSG/s320/Tokyo-MF_logo.gif" width="320" /></a></div>
メーカーフェア東京2018にご来場の皆様、ありがとうございました。<br />
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以前実験に使った振り子時計(<a href="https://kirakulabo.blogspot.com/2018/03/improving-accuracy-of-pendulum-clock.html" target="_blank">リンク</a>)は、大きすぎてメーカーフェアに持って行けないので、小型の振り子時計を入手しました。高さ50cm程度のものです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzDfi1I9hGdxkpi78f8KQ27K32VAcy-XfOubiax7eT1pdnJ_b9QMkDTxNRmSyKZYW4e6CRsa-hwQnbDyC7Qc3CqKhi-e_fnXQ8u3_gRplKOaYZP0KuhSRHVx1t-0EKNOFCnLyN3RNTuOOe/s1600/DSCN9266.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1200" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjzDfi1I9hGdxkpi78f8KQ27K32VAcy-XfOubiax7eT1pdnJ_b9QMkDTxNRmSyKZYW4e6CRsa-hwQnbDyC7Qc3CqKhi-e_fnXQ8u3_gRplKOaYZP0KuhSRHVx1t-0EKNOFCnLyN3RNTuOOe/s400/DSCN9266.JPG" width="300" /></a></div>
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ドアを開けたところ。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjpYYklheH8N4sb1AelQdsm-APkXJmonuv3f4r7MPZjqytP4G9HDqIKIGnF-asQckiDQtZUlX5bqNm_WGUTfXbH4Jhg8MFx3j6GOFqeop2UpsEDBv1c4zcGT5Fp3nJuhmaenCmMoQFQixTg/s1600/DSCN9271.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjpYYklheH8N4sb1AelQdsm-APkXJmonuv3f4r7MPZjqytP4G9HDqIKIGnF-asQckiDQtZUlX5bqNm_WGUTfXbH4Jhg8MFx3j6GOFqeop2UpsEDBv1c4zcGT5Fp3nJuhmaenCmMoQFQixTg/s400/DSCN9271.JPG" width="400" /></a></div>
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調整デバイスはWROOM-02-DEVを使って作り直しました。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjad8KYWF-CJJW4NqElPugwfVl4UqXq0-qRfwzc3khxQcF9PBBkLAUAqfLDLKsEi5QVWEmo9e_raB0TOKalm2uDPX63HtYpVdXzd6p_y5X7CXOMOcNN_E0tj9ku8qwpalJiuqScsLu_-0bl/s1600/DSCN9282.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjad8KYWF-CJJW4NqElPugwfVl4UqXq0-qRfwzc3khxQcF9PBBkLAUAqfLDLKsEi5QVWEmo9e_raB0TOKalm2uDPX63HtYpVdXzd6p_y5X7CXOMOcNN_E0tj9ku8qwpalJiuqScsLu_-0bl/s400/DSCN9282.JPG" width="400" /></a></div>
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遅れ進みのデータをブラウザでグラフ表示(青線)できるようにしました。正が進み、負が遅れです。+2/-1秒以内に収まっています。赤線は正が振り子を上方向に押し上げる方向、負が振り子を下に引っ張る方向の磁力線の強さを表します。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiX900P0-xVMXoSP_sNogo7Ly2mVfAR29zHhl4nuYtWhS2a9Nx-zawuFLBP2FNCZgW3Uxpo1PZt4uMhYXoAuKih-TUa50al3QtPFQDUp7zP7VjGa3PafECt1WmnmHogMt6diPEBw40uZTy3/s1600/DSCN9274.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1200" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiX900P0-xVMXoSP_sNogo7Ly2mVfAR29zHhl4nuYtWhS2a9Nx-zawuFLBP2FNCZgW3Uxpo1PZt4uMhYXoAuKih-TUa50al3QtPFQDUp7zP7VjGa3PafECt1WmnmHogMt6diPEBw40uZTy3/s400/DSCN9274.JPG" width="300" /></a></div>
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振り子を350秒ほど止めた後の復帰の状況です。約4時間で誤差がなくなっています。(上はスマホの画面ですが、こちらはタブレット)。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhu_c9Kg6RQfjXr7ZMi6Gy9f4bxkdIgOC7-95Bh-MzTl0W6nTqdCuYUYw595Yl1Fk04dN0tD_fe0XMQ2skmegtA-QKbUtGXHPz-129d8uOdOTu0kijTUqQOhtkypd-E033uAJsYqU-FXrZI/s1600/DSCN9283a.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1200" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhu_c9Kg6RQfjXr7ZMi6Gy9f4bxkdIgOC7-95Bh-MzTl0W6nTqdCuYUYw595Yl1Fk04dN0tD_fe0XMQ2skmegtA-QKbUtGXHPz-129d8uOdOTu0kijTUqQOhtkypd-E033uAJsYqU-FXrZI/s400/DSCN9283a.jpg" width="300" /></a></div>
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回路図です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiczKXu_SRn-LgcnZMychBcwhrcERjQpdvdxdC5k7Kh6IkBp8GEI5mbPmRkcCP6ULRnTQjyOSjXiVIIeuVXdO-tsP4Ao2tpoboFqWSnaxw7uelCTCINToL20osQ2w_TMuzaCVCuXRKhVTy/s1600/schematic3.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="627" data-original-width="959" height="261" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiczKXu_SRn-LgcnZMychBcwhrcERjQpdvdxdC5k7Kh6IkBp8GEI5mbPmRkcCP6ULRnTQjyOSjXiVIIeuVXdO-tsP4Ao2tpoboFqWSnaxw7uelCTCINToL20osQ2w_TMuzaCVCuXRKhVTy/s400/schematic3.png" width="400" /></a></div>
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<a href="https://kirakulabo2.blogspot.com/2018/06/blog-post.html" target="_blank">ソースコードはこちら(Source Code)</a><br />
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<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-4435390831844800332018-05-19T16:45:00.000+09:002018-06-17T02:07:49.525+09:00錘式時計の自動巻き上げ機構写真の棒テンプ時計は、1日に2回ほど錘を巻き上げる必要があり、結構面倒なので、これを自動化する機構を考えました。錘の紐をループにして、ゆっくり回るモーターで引っ張ります。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdgjqQq4wUWQv5Tx78nThgGweIBb6AYFebuRa2oxCuDADKsJVU0cBcyk0XOBFQ9jJP0Ah6fxykah3nz-ch668DtpZS7ABvnuDwYmoEbzrBavSuh_OB7OuF7-Ml9F-zV4nmADwz9maGMww_/s1600/P5121068.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1200" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgdgjqQq4wUWQv5Tx78nThgGweIBb6AYFebuRa2oxCuDADKsJVU0cBcyk0XOBFQ9jJP0Ah6fxykah3nz-ch668DtpZS7ABvnuDwYmoEbzrBavSuh_OB7OuF7-Ml9F-zV4nmADwz9maGMww_/s400/P5121068.JPG" width="300" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdvTGV9296RO4HPJgibC9CR_uJLKjWcUrWV7CGWclF2arPRsIwe5Q08iVNeo9IpIgktWo0pWWLTyRd8Qw3p-fVi7jwdFX5cWZAzqPh2uw0hoV5e3hiDlg5ZGzSJr3x_JJJZyvH8LSnQ96F/s1600/P5121071.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1200" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdvTGV9296RO4HPJgibC9CR_uJLKjWcUrWV7CGWclF2arPRsIwe5Q08iVNeo9IpIgktWo0pWWLTyRd8Qw3p-fVi7jwdFX5cWZAzqPh2uw0hoV5e3hiDlg5ZGzSJr3x_JJJZyvH8LSnQ96F/s400/P5121071.JPG" width="300" /></a></div>
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モータはAC100Vで1分間に1回転する仕様のものです。これに木製のプーリーを取り付け、紐をかけます。下にぶら下がっているボトルが錘の代用で、330㏄の水が入っています。この重さで紐とプーリーの摩擦を適度に調整します。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjO0fBJq_IvjE6umWn358HVRbNkXzx84c3M66-dzIRk0TgzLYUkMuzbEw3kZmozIJvzJmyaCi_2hh3cyWGV5kvQscq3Cy5k5v7PkPFoB75ChMU-P32e2l7mJkh5JL81CY6Mdg7UkIEM66DB/s1600/P5121074.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjO0fBJq_IvjE6umWn358HVRbNkXzx84c3M66-dzIRk0TgzLYUkMuzbEw3kZmozIJvzJmyaCi_2hh3cyWGV5kvQscq3Cy5k5v7PkPFoB75ChMU-P32e2l7mJkh5JL81CY6Mdg7UkIEM66DB/s400/P5121074.JPG" width="400" /></a></div>
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下の写真で木製プーリーは反時計方向に回転します。小さいアイドラは紐の引っ張り力を一定に保つ効果を持たせるために付けいています。なんらかの理由で引っ張り力が強くなると、モーターが時計回りに傾くので、モーターケースに固定されているアイドラが紐を右側押して、紐とプーリーの接触の長さが短くなり、引っ張り力が小さくなるという仕掛けです。アイドラの有り無しでの違いは検証してませんが、とにかく、1日2回の巻き上げをしなくて済むようになり、快適です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjF0x6bYHIT9Fu_f5ckocXBTpYglzdFoNr4UyggIMSXl0u1uqbq74nPlOCAnhZS0ux0h4C0rhEHdoNC_YWjPB28h6-y8W3c9KI9d-aeg0Hbw_ytCGLXc6R6TcsgwtAKiuKaCUz_upsODnSQ/s1600/P5121077.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjF0x6bYHIT9Fu_f5ckocXBTpYglzdFoNr4UyggIMSXl0u1uqbq74nPlOCAnhZS0ux0h4C0rhEHdoNC_YWjPB28h6-y8W3c9KI9d-aeg0Hbw_ytCGLXc6R6TcsgwtAKiuKaCUz_upsODnSQ/s400/P5121077.JPG" width="400" /></a></div>
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<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-2095844337010284792018-04-18T14:49:00.001+09:002018-06-17T02:09:46.904+09:00棒テンプ時計の精度アップ Ver 2<div>
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メーカーフェア東京2018に出展します。<br />
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昨年のメーカーフェアでは、棒テンプの慣性モーメントを変えて往復回転運動の周期を調整するデバイスを紹介しました(<a href="https://kirakulabo.blogspot.com/2017/04/blog-post.html" target="_blank">リンクはこちら</a>)。</div>
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今回は、棒テンプを吊っている糸の長さを変えることによって周期を調整する方式に変更しました。こうすることによって、デバイスは時計本体に固定されるので、ACアダプタから電源を供給できるようになりました。消費電流を気にしなくてよいので、WIFIでネットに接続してNTPから正確な時刻を取得します。またデバイスにWebサーバーを持たせ、タブレットなどのブラウザで履歴の確認やパラメータの変更ができるようにしました。</div>
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全体像です。本デバイスは時計本体の上部に固定され、赤外線センサーで棒テンプの回転を検出します。これより計算された時刻と、正しい時刻を比較し、誤差に応じて棒テンプを吊っている糸の長さを調整します。長さが長いときは棒テンプの周期も長くなり、短くなると周期も短くなります。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_6TqPhT1Ev2JMkD2kWnaBSfHywo1qtX9bg3cPsmmKu-3AWUMZ8iS5nUxcIL-W8pr1GOm5G9IB7cxv1VLGTTZvXXV_JJhNGilidgI7MJ-vlzy-fau-nRAPSv_-dBQzgzphbQ5U60bGw5l_/s1600/FCT00.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="585" data-original-width="879" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg_6TqPhT1Ev2JMkD2kWnaBSfHywo1qtX9bg3cPsmmKu-3AWUMZ8iS5nUxcIL-W8pr1GOm5G9IB7cxv1VLGTTZvXXV_JJhNGilidgI7MJ-vlzy-fau-nRAPSv_-dBQzgzphbQ5U60bGw5l_/s400/FCT00.jpg" width="400" /></a></div>
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デバイスを上から撮った写真です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5lh0-9JUFZSQVdQefELlqCQqgO1VDJ-hnpvfWc0oXcP2kX4x0K5sV3TCBd2L8XqjQ7RFfgoRatNzptcNrxWoDjkPvfJhogJtRGmmGDbDrE41Bol7sIM6dnT2K5nA6bLS0wVOvw7QJC4AD/s1600/FCT01.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="514" data-original-width="1014" height="201" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj5lh0-9JUFZSQVdQefELlqCQqgO1VDJ-hnpvfWc0oXcP2kX4x0K5sV3TCBd2L8XqjQ7RFfgoRatNzptcNrxWoDjkPvfJhogJtRGmmGDbDrE41Bol7sIM6dnT2K5nA6bLS0wVOvw7QJC4AD/s400/FCT01.jpg" width="400" /></a></div>
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デバイスを正面から撮った写真です。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOzyUYACqn8lVAkxvQa1a5aNcR45y3hsexcoTCQxDso2xgJkU4qdfeLk-RWZWYXio2uNLE3sVYl4RdPpJQdjKmU62HDmmc8CRGPpZF8Wh137R44bIWVP2DMmpglazHxK3QlagTUyjTRY5b/s1600/FCT02.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="581" data-original-width="998" height="231" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgOzyUYACqn8lVAkxvQa1a5aNcR45y3hsexcoTCQxDso2xgJkU4qdfeLk-RWZWYXio2uNLE3sVYl4RdPpJQdjKmU62HDmmc8CRGPpZF8Wh137R44bIWVP2DMmpglazHxK3QlagTUyjTRY5b/s400/FCT02.jpg" width="400" /></a></div>
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周期調節部分の拡大です。吊り糸押さえより下の部分のみが捻じれるようにしてあります。吊り糸押さえを上下することにより、吊り糸の実効長を変化させ、棒テンプの周期を変えています。<br />
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回路図です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh7sa5CZTJoguIpwhUf5ONUDqGHRIJ2yapki3oayZL02Jw10iptJs_H43ArVp87D6HR18dZBPkPqy5s2KoMSa46yWv41z97-SPt4hJFzJtf1llafUO-Vnt27SjGDOMHvjzhMRm8cLY8PseT/s1600/FolioClock2.BMP" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="567" data-original-width="992" height="227" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh7sa5CZTJoguIpwhUf5ONUDqGHRIJ2yapki3oayZL02Jw10iptJs_H43ArVp87D6HR18dZBPkPqy5s2KoMSa46yWv41z97-SPt4hJFzJtf1llafUO-Vnt27SjGDOMHvjzhMRm8cLY8PseT/s400/FolioClock2.BMP" width="400" /></a></div>
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タブレットで時刻誤差(秒)の履歴の一部を表示した写真です。109分前に8秒遅れ、60分前には11秒の進み、現在は4秒の遅れという履歴が読み取れます。棒テンプの周期が約4秒なので、現在のアルゴリズムではとびとびの秒数となります。最大15時間分の履歴が表示されます。</div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhRv94Ma8if35phyphenhyphenX87w71pZQjD9pZQhFphXsdw-cnAm9l601VtjKbeerTZ5_j63_ye6GXZOmCTOlGBtOKm8IQHt1cxTy-gnMcesN9YkWhfJtA_H2FBkC7NuxkWAgHsGjIX0lMKrnYYwmCr/s1600/P4180289.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1600" data-original-width="1200" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhRv94Ma8if35phyphenhyphenX87w71pZQjD9pZQhFphXsdw-cnAm9l601VtjKbeerTZ5_j63_ye6GXZOmCTOlGBtOKm8IQHt1cxTy-gnMcesN9YkWhfJtA_H2FBkC7NuxkWAgHsGjIX0lMKrnYYwmCr/s400/P4180289.JPG" width="300" /></a></div>
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実験に使った棒テンプ時計は、ギヤが木製で、きちんとメンテナンスをしていなので、一日数分の誤差が生じ、これが毎日累積していく状態でした。この時計に本デバイスを取り付けて、自動調整を行った結果、一日の誤差は1分以内となりました。また時計の特性が大きく変化しない限り、原理的に誤差の累積はありません。<br />
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24時間のデータです。青が時刻の誤差(秒)です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg0zBsSZ2y7Z5ZSuakKxsT2O2UIQs34ToOU9M_ucANzBwjYHI9z3yJqOS3vfRLJN43NDNNFXmFT7m1T7vKXj4wiu5y1AvAm12SBZuw1lXTkV0_nKAnj8J4OzT82-BmFkFQuGETqS32NWv2z/s1600/graph.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1000" data-original-width="1500" height="266" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg0zBsSZ2y7Z5ZSuakKxsT2O2UIQs34ToOU9M_ucANzBwjYHI9z3yJqOS3vfRLJN43NDNNFXmFT7m1T7vKXj4wiu5y1AvAm12SBZuw1lXTkV0_nKAnj8J4OzT82-BmFkFQuGETqS32NWv2z/s400/graph.png" width="400" /></a></div>
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Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-79267812384500222692018-03-20T17:31:00.001+09:002018-06-30T19:19:35.679+09:00Improving Accuracy of Pendulum Clock<div class="separator" style="clear: both; text-align: center;">
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjb5GDI5uF4EzxcrjN5DuiaJpfziXqTXG4yBsEZaD8DSKgo2jVgYAumfsKBNYC-AzCasySOYUi3cg3frByZ0nl5HPPXUmA7DVPgjJx0ROvevsKbtNuZr9s6jSpelTLEQt0dt1BrgFRPeaTI/s1600/PendClock01.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><br /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjb5GDI5uF4EzxcrjN5DuiaJpfziXqTXG4yBsEZaD8DSKgo2jVgYAumfsKBNYC-AzCasySOYUi3cg3frByZ0nl5HPPXUmA7DVPgjJx0ROvevsKbtNuZr9s6jSpelTLEQt0dt1BrgFRPeaTI/s1600/PendClock01.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><br /></a><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjb5GDI5uF4EzxcrjN5DuiaJpfziXqTXG4yBsEZaD8DSKgo2jVgYAumfsKBNYC-AzCasySOYUi3cg3frByZ0nl5HPPXUmA7DVPgjJx0ROvevsKbtNuZr9s6jSpelTLEQt0dt1BrgFRPeaTI/s1600/PendClock01.png" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><br /></a></div>
<a href="https://prague.makerfaire.com/makers-exhibits/" target="_blank"><br /></a>
<a href="https://prague.makerfaire.com/makers-exhibits/" target="_blank"><img alt="https://prague.makerfaire.com/makers-exhibits/" border="0" data-original-height="57" data-original-width="345" height="52" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiuHZS-Yksbu5f5OHLGk9wBaieuOkX4yKGjQN1HPeG64riT0ObsjiAJR7_O8ZFlTyLJ6qSnMtgDq-SaMOr5ITrA7V-XUXuREiuLjPBtFZgoqhM7Zmj9sAydc7KNKh4WHpKAhVbP-DQbwCCJ/s320/PastedGraphic-2.png" width="320" /></a><br />
Maker of Merit prize won at Maker Faire Prague 2018!<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjb5GDI5uF4EzxcrjN5DuiaJpfziXqTXG4yBsEZaD8DSKgo2jVgYAumfsKBNYC-AzCasySOYUi3cg3frByZ0nl5HPPXUmA7DVPgjJx0ROvevsKbtNuZr9s6jSpelTLEQt0dt1BrgFRPeaTI/s1600/PendClock01.png" imageanchor="1" style="clear: left; display: inline !important; margin-bottom: 1em; margin-right: 1em;"><img border="0" data-original-height="590" data-original-width="1011" height="230" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjb5GDI5uF4EzxcrjN5DuiaJpfziXqTXG4yBsEZaD8DSKgo2jVgYAumfsKBNYC-AzCasySOYUi3cg3frByZ0nl5HPPXUmA7DVPgjJx0ROvevsKbtNuZr9s6jSpelTLEQt0dt1BrgFRPeaTI/s400/PendClock01.png" width="400" /></a><br />
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Spring-powered pendulum clocks have accuracy of 10 seconds to a few minutes per day, and the inaccuracy accumulates every day. The clock in the picture for this project is probably 50-year old and I could not get the accuracy better than 30 seconds per day. We will see how it gets improved.<br />
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The period of pendulum swing cycle is<br />
T = 2 * pi * sqrt( L / g )<br />
where L is the length of the pendulum and g is the acceleration of gravity.<br />
The idea of pendulum tuning is to add/subtract magnetic force to/from the gravity force and change the T.<br />
T' = 2 * pi * sqrt( L / (g + A/M) )<br />
where A is the magnetic attraction force to the pendulum, and M is the mass of the pendulum.<br />
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Top view of the device.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZkpP-U2wURTCfEjEc6ZEupy_dTAMb-ZNjr0UJGK43W6DZpeuTBnh-x7DM1TO5spSkMHnQSHePpg0Zv6QY59IQvI7LVC8y5YKGOUC2gnnkLjYHvO_ROoGZXhR04Qb0JCsCnjQwfm7Og6Eb/s1600/PendClock02.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiZkpP-U2wURTCfEjEc6ZEupy_dTAMb-ZNjr0UJGK43W6DZpeuTBnh-x7DM1TO5spSkMHnQSHePpg0Zv6QY59IQvI7LVC8y5YKGOUC2gnnkLjYHvO_ROoGZXhR04Qb0JCsCnjQwfm7Og6Eb/s400/PendClock02.png" /></a></div>
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Below is the side view.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_loXGoCzvF9Q_aHncuv9A-BOEh5VP7RBh1lJ3F6yoQeyLSD5EZTfLRm6xnjhoFr3JBadrDyCExLbd7w9PCxaul-s1BXVOrSp1EuJOVPnuuuCljTrTjWy79VoVzy68BbDYF5mKGqfOTa2k/s1600/PendClock03.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="591" data-original-width="1011" height="233" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi_loXGoCzvF9Q_aHncuv9A-BOEh5VP7RBh1lJ3F6yoQeyLSD5EZTfLRm6xnjhoFr3JBadrDyCExLbd7w9PCxaul-s1BXVOrSp1EuJOVPnuuuCljTrTjWy79VoVzy68BbDYF5mKGqfOTa2k/s400/PendClock03.png" width="400" /></a></div>
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Schematic diagram<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgBu8-qWpT2LTk-ZmaeaFxhc962DH0WpQZ1MpEQpkXq5gZAGBiFPIk1JowSZj9mmGnV7YmVF3GcL4fFXXnzxswYubsZjgOqVQ1Qh1klKjtDFsJ7KSVZ5EsCMq9xyXtgQ71mAnnMXhE3zn_E/s1600/Schematic2.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="517" data-original-width="996" height="207" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgBu8-qWpT2LTk-ZmaeaFxhc962DH0WpQZ1MpEQpkXq5gZAGBiFPIk1JowSZj9mmGnV7YmVF3GcL4fFXXnzxswYubsZjgOqVQ1Qh1klKjtDFsJ7KSVZ5EsCMq9xyXtgQ71mAnnMXhE3zn_E/s400/Schematic2.png" width="400" /></a></div>
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The clock above should make 130 pendulum cycles per 147 seconds according to the gear train reduction ratio. The time of the clock in seconds is<br />
tc = C * 147 / 130<br />
where C is the cycle count of the pendulum.<br />
Every 60 seconds, tc is compared to the CPU time, and depending on the difference between the two, appropriate power is applied to the coil.<br />
CPU time is calibrated every 5 minutes with NTP time server.<br />
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The device has web server function and any browser can access through WIFI connection. The device status as well as the accuracy and coil power history for the last 15 hours can be displayed. Below is a tablet screen showing a part of the accuracy history (in seconds). In addition, device parameters can be modified with web browser.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiLoPsG4U2nHhvkBtevxpcK94fFW0twAttn5mt2fTlhtiz_HRqbQjT_N2JFTMi4nnpqoSnqW1UXwxdpQEN2QRXfr1K1l6tx4-H1z2FW4tTZ3765bImBqK3cxdFOSB2K_R4gNU1ZnLq_FLyR/s1600/P3230286.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiLoPsG4U2nHhvkBtevxpcK94fFW0twAttn5mt2fTlhtiz_HRqbQjT_N2JFTMi4nnpqoSnqW1UXwxdpQEN2QRXfr1K1l6tx4-H1z2FW4tTZ3765bImBqK3cxdFOSB2K_R4gNU1ZnLq_FLyR/s400/P3230286.JPG" width="400" /></a></div>
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Below is a graph showing time error and relative current on the coil for 26 hours. A big delay on the left is because the pendulum was stopped for about 25 seconds during spring winding. Other than that, the accuracy was within 2 seconds.<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiStlfEAoUuwsOOmiEnTTwTRuFC6IAEER57Kfz3h2ER78WJNA4aLExlTs4z2yscVekmhmAwqvBEi7M9tGFv9WjM6m6xd5yQXJ7P2Lu1zZfXlarDYvVvrsvzFcrbo7JcUVw0iPBkdXQGQuAi/s1600/ErrorGraph.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="738" data-original-width="1600" height="183" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiStlfEAoUuwsOOmiEnTTwTRuFC6IAEER57Kfz3h2ER78WJNA4aLExlTs4z2yscVekmhmAwqvBEi7M9tGFv9WjM6m6xd5yQXJ7P2Lu1zZfXlarDYvVvrsvzFcrbo7JcUVw0iPBkdXQGQuAi/s400/ErrorGraph.png" width="400" /></a></div>
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<a href="https://kirakulabo.blogspot.com/2018/06/2.html" target="_blank">The latest hardware and software are here.</a><br />
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<a href="https://kirakulabo.blogspot.com/2017/04/blog-post.html" target="_blank"><br /></a><a href="https://kirakulabo.blogspot.com/2017/04/blog-post.html" target="_blank">Click here to see another project for a wood foliot clock</a>. (in Japanese)<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjDA_6vwYqj_qNBijA4JtuSLnVuG3_qgSXD_5kECrJ1sRJOHq3bJDPX7NGi6wty7iTqq8VhyZSlLvgVSEDSWIhEn14mbUDCnqeTeZqSoFxNrAPVJgzf0xhjemBQx3A6v0t5X9q_qPHLUsNR/s1600/PB062143.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="150" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjDA_6vwYqj_qNBijA4JtuSLnVuG3_qgSXD_5kECrJ1sRJOHq3bJDPX7NGi6wty7iTqq8VhyZSlLvgVSEDSWIhEn14mbUDCnqeTeZqSoFxNrAPVJgzf0xhjemBQx3A6v0t5X9q_qPHLUsNR/s200/PB062143.JPG" width="200" /></a></div>
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<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-81133192370206087882017-11-08T09:45:00.001+09:002022-03-21T07:09:04.602+09:00DRV8835を使った2輪倒立ロボの小改良昨年作ったDRV8835利用の2輪倒立ロボの、その後の改良です。<br />
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赤外線受信素子を搭載し、テレビのリモコンで操縦できるようにしました。手持ちの東芝RegzaとLAPIOという液晶TVのリモコンのコードをデコードするようにしてあります。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgNYHvthW-RH_nzZCzSW3P9avJko3j-6e6CakGZlceUhkOxCbsqN0b9HJORpB-JCJU6FgIB3vwxWrfqPhgJ-LOf8L4Qvlcc0_FRPVYmg6YuOwWerqk6eH7X9kaPfauYOFTMJ77JI4Zucqqd/s1600/PB080001.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="1200" data-original-width="1600" height="240" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgNYHvthW-RH_nzZCzSW3P9avJko3j-6e6CakGZlceUhkOxCbsqN0b9HJORpB-JCJU6FgIB3vwxWrfqPhgJ-LOf8L4Qvlcc0_FRPVYmg6YuOwWerqk6eH7X9kaPfauYOFTMJ77JI4Zucqqd/s320/PB080001.JPG" width="320" /></a></div>
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モーターのPWM音が低周波でうるさいので、周波数を上げました。<br />
このため、今まではモータードライバ用にProMiniの4,5,6,7番ピンを使っていましたが、8,9,10,11番ピンに変更し、<br />
TCCR1B = TCCR1B & B11111000 | B00000001;<br />
でPWM周波数を変更しています。<br />
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モーターからのノイズ対策を強化しました。それでもモーターに大電流がながれるとProMiniがリセットされてしまうことがあります。回路図です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-kufXDsfanS3tE0twaUiKRU8jnOf7hh2m-JIWqn7kJC55II8AlLew1m7tV43h7MIT7SZkR_xSfkiQh4_H6jGCqZYjTE-TXPnYq1pJWyeEPzuRpDyzZOGBKFuSkZX2LOL8VecZ-s8kZ1Ac/s1600/Schem.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="589" data-original-width="1069" height="176" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg-kufXDsfanS3tE0twaUiKRU8jnOf7hh2m-JIWqn7kJC55II8AlLew1m7tV43h7MIT7SZkR_xSfkiQh4_H6jGCqZYjTE-TXPnYq1pJWyeEPzuRpDyzZOGBKFuSkZX2LOL8VecZ-s8kZ1Ac/s320/Schem.png" width="320" /></a></div>
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<a href="https://kirakulabo2.blogspot.com/2017/11/drv88352drv8835ip6tkirsp2ino.html" target="_blank">ソースコードはこちらです</a></div>
<br />Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-33721625240298335472017-08-07T13:35:00.000+09:002018-06-17T02:17:29.971+09:00棒テンプ時計の精度アップ ー Gyro Sensor versionメーカーフェア2017で木楽らぼのブースに足を運んでくださった方々、ありがとうございました。また、改良のアイデアをくださった方がたにも感謝いたします。今後の開発に生かしたいと思います。同様の原理は振り子時計にも応用可能ですので、挑戦してみたいと思います。<br />
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テンプの回転検出のために磁気センサを使っていたのですが、ビッグサイトのメーカーフェア会場ではなぜか地磁気をうまく検出できず、急きょジャイロセンサに変更しました。<br />
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<img src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh2H4DaZTnMpEXVj0ifn8NY6o9q_cWh8Mq8rJ2UblraI0BSFXAU98Q91ZVrkjGZSRwdDvZifnm2GMqPjFZT34Tr8_EJoPirzUghtXxs3DFiXshUj4zACJoqWdyvkSEf2Q1wVK_MHLzACnhyphenhyphen/s320/%25E8%25A3%2585%25E7%25BD%25AE%25E5%2589%258D%25E9%259D%25A2gyro.JPG" /><br />
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回路図です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhfaIxPh9_O1fql1wFxHyS2O5yY4gv_SGwd6W3wd0I1FyNt6fA4eioiA4FiSGh4kzPEUZRFrMvQFE3sxF4ONl3C93clB-0xRIi6MF_nb8A19Yu5W0MF5c0DuZFicdM3lm1zycrWykrBJtPj/s1600/schematic.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="502" data-original-width="761" height="211" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhfaIxPh9_O1fql1wFxHyS2O5yY4gv_SGwd6W3wd0I1FyNt6fA4eioiA4FiSGh4kzPEUZRFrMvQFE3sxF4ONl3C93clB-0xRIi6MF_nb8A19Yu5W0MF5c0DuZFicdM3lm1zycrWykrBJtPj/s320/schematic.png" width="320" /></a></div>
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<a href="https://kirakulabo2.blogspot.com/2017/08/folio-clock-v61.html" target="_blank"><br /></a>
<a href="https://kirakulabo2.blogspot.com/2017/08/folio-clock-v61.html" target="_blank">ソースコードです。</a>ジャイロと磁気センサを#defineで切り替えられるようにしました。<br />
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<a href="https://kirakulabo.blogspot.com/2017/04/blog-post.html" target="_blank">最初の投稿はこちら</a>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-77656385912601317432017-06-21T18:21:00.007+09:002022-11-01T22:55:41.743+09:00GR-ADZUKIで倒立振子ロボADZUMINMAENOH!さん作の倒立振子ロボに赤外線リモコンとサウンドを追加してパワーアップしました。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSueff7cOOwml4NO3M3PjEfEsXpv0qKev2EufBePork18n5uimKPdljtSPz8Qswh7_rMW6awgGCEOzA8twEC49d7R0Sp-P4VMKcmy_8cfGp3aDVHfG5_SjNrVGMZFfC-ylod0agbNd9DLE/s1600/adzumin.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="490" data-original-width="1029" height="190" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjSueff7cOOwml4NO3M3PjEfEsXpv0qKev2EufBePork18n5uimKPdljtSPz8Qswh7_rMW6awgGCEOzA8twEC49d7R0Sp-P4VMKcmy_8cfGp3aDVHfG5_SjNrVGMZFfC-ylod0agbNd9DLE/s400/adzumin.png" width="400" /></a></div>
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GR-ADZUKIに最小限の追加パーツで実現しています。<br />
倒立振子は、GR-ADZUKI+ジャイロ加速度センサ(PU6050)+ダブルギヤ+車輪+電池。<br />
赤外線モジュール追加で、リモコン操縦(NEC、家製協、SONYフォーマット)。<br />
FETとスピーカー追加で、おしゃべり。<br />
SDカード追加で、ランダムおしゃべりと音楽。<br />
サーボ追加で、首振り。<br />
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回路図です。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjK3DeisyTHRR8e641DFqab_4maVB7UlqelgIbIY8rl11Qz0q-XHsnErg1sp91sqNlRkJx9xwUSO3Jcry4VjURoIQ0qYxF5JENOxufC8E_ncvcIyJQKzF8F-A5qGlqd5dO1rQF7ilV3wb85/s1600/ADZUMIN-FD3.png" style="margin-left: 1em; margin-right: 1em;"><img border="0" data-original-height="586" data-original-width="688" height="340" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjK3DeisyTHRR8e641DFqab_4maVB7UlqelgIbIY8rl11Qz0q-XHsnErg1sp91sqNlRkJx9xwUSO3Jcry4VjURoIQ0qYxF5JENOxufC8E_ncvcIyJQKzF8F-A5qGlqd5dO1rQF7ilV3wb85/s400/ADZUMIN-FD3.png" width="400" /></a></div><p> <br />
<a href="https://kirakulabo2.blogspot.com/2017/07/gr-adzukiadzumin-v47.html" target="_blank">ソースコード(v47)はこちら</a><br />
<a href="https://kirakulabo2.blogspot.com/2017/07/gr-adzukiadzumin-v41.html" target="_blank">古いソースコード(v41)はこちら</a><br />
<a href="http://kirakulabo2.blogspot.com/2017/06/gr-adzukiadzumin.html" target="_blank">古いソースコード(v40)はこちら</a>
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<a href="https://drive.google.com/open?id=0Bwyz0wCUSbWSdjFlQ29MNnZNbEE" target="_blank"><br /></a>
<a href="https://drive.google.com/open?id=0Bwyz0wCUSbWSdjFlQ29MNnZNbEE&resourcekey=0-ATumfoJ4jGUfeNT2xfoNQw&authuser=matsuoka.mobile%40gmail.com&usp=drive_fs" target="_blank">「簡単な操作方法」(v47)はこちら</a>(pdfです)<br />
<a href="https://drive.google.com/open?id=0Bwyz0wCUSbWSQWlxbmZUSFVZMkU&resourcekey=0-298S9Wl1osZy9_mGtQxsGA&authuser=matsuoka.mobile%40gmail.com&usp=drive_fs" target="_blank">古い「簡単な操作方法」はこちら</a>(pdfです)<br />
<br />
<a href="https://drive.google.com/open?id=0Bwyz0wCUSbWSR29lanFFYWI3OUk&resourcekey=0-OiSlOpYXPUwJIAnFhVBz0g&authuser=matsuoka.mobile%40gmail.com&usp=drive_fs" target="_blank">倒立アルゴリズムの解説はこちら</a>(pdfです)<br />
<a href="http://maenoh.blog.fc2.com/blog-entry-23.html" target="_blank"><br /></a>
<a href="http://maenoh.blog.fc2.com/blog-entry-23.html" target="_blank">サウンド用SDカードの追加方法はこちら</a><br />
<a href="https://drive.google.com/open?id=0Bwyz0wCUSbWSUEE3bS0zOTZNekU&resourcekey=0-XmHwy5Vz3AIwD40OFfvSmQ&authuser=matsuoka.mobile%40gmail.com&usp=drive_fs" target="_blank">サウンドファイルの説明はこちら</a>(pdfです)<br />
<br />
(更新2017年8月6日、回路図にFETの型名を入れました)</p><p>(更新2022年11月1日、pdfへのリンク切れを修正しました)<br />
</p><p><br /></p>Unknownnoreply@blogger.com0tag:blogger.com,1999:blog-2809140365669341458.post-62437366302007954162017-05-18T10:43:00.001+09:002020-04-19T13:11:18.206+09:00Processingでm2xのデータをダウンロード****************************** <br />
2020/4/19追記<br />
2020年4月現在m2xは停止しています<br />
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最近流行りのIoTを試したみたいと思い、AT&Tのm2xを使ってみました。(無料で使えます)<br />
m2xへのアップロードの例はネット上でいろいろ見ることができるので、ここでは、Processingを使ったm2xからのダウンロードを紹介します。<br />
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Processingのスケッチは<a href="http://kirakulabo2.blogspot.com/2017/05/processingm2x.html" target="_blank">ここ</a>。<br />
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スケッチ内のfinalで宣言されている変数を適当に変えれば、動くはずです。<br />
dataFile: PC内にcsv形式で保存されるファイルの名前です。<br />
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apiKey: m2xに登録されているPRIMARY API KEYです。<br />
deviceId: m2xに登録されているDEVICE IDです。<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgff1AOvM1vNzIzBuMrZPkpFTEZdKUweSxWd7aEp39Ps5XT0ihEQEYfWBiFx_cpg4vcRukNXEfqNuFZwpzNhWCErTrynKAVvsjebQcadAkVo2683CE8umPUV50BoleWwAq-oTWZ1egEZ_qE/s1600/m2xDevice.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="261" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgff1AOvM1vNzIzBuMrZPkpFTEZdKUweSxWd7aEp39Ps5XT0ihEQEYfWBiFx_cpg4vcRukNXEfqNuFZwpzNhWCErTrynKAVvsjebQcadAkVo2683CE8umPUV50BoleWwAq-oTWZ1egEZ_qE/s400/m2xDevice.png" width="400" /></a></div>
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stream: m2xに保存されているデータの名前(STREAM ID)です。<br />
<img src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiSlGoZAR8_FdV-hLE3nVMOhAZt4kuwI3YElBpxpf6VVPwYU3Eka0aPG3Jjvz-X_WtYoDjBqApal1Svh2Sedog42zBC3ta-dFCsqNp80DvuMvKWZXxYQH_LmKg3cCIZNDCA7vPR65O_ri4b/s400/m2xStream.png" /><br />
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データファイルがない状態でスケッチを起動すると、dataFileで指定された名前のファイルがスケッチフォルダに作成され、m2xからストリームごとに一番新しいデータを1つずつダウンロードして、csv形式でファイルに保存して終了します。<br />
データファイルがある状態でスケッチを起動すると、データファイルを読み込み、ストリームごとに、データファイルの最後のデータ以降のデータをm2xからダウンロードし、ファイルに追加します。最後にcsv形式のファイルを保存して終了します。<br />
時刻はGMTです。<br />
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<br />Unknownnoreply@blogger.com0