Group 15: Pyry Weckman
still working on this documentation, sorry for being late
The goal is to build a self balancing cube that can stand on its corner using three reaction wheels controlled by a gyroscope and a PID control loop. Planned size is 210x210x210mm with 180mm reaction wheels. The wheels are driven by Nidec 24H BLDC motors with built in encoders, powered by a 14.4V Li-Ion battery pack (4S1P 18650 cells) or an external 12-32V DC voltage source.
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Code can be found on my Github, at PyryW/Gyrocube
3D files (Autodesk Inventor) are here:
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| name | 210mm face top.ipt |
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| height | 250 |
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| name | 210mm face.ipt |
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| height | 250 |
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| name | Assembly1.iam |
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| height | 250 |
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| name | Corner brace.ipt |
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| height | 250 |
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| name | Face-Motor arm.ipt |
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| height | 250 |
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| name | Midframe.ipt |
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| height | 250 |
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| name | Motor Bracket.ipt |
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| height | 250 |
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| name | Nidec 25H.ipt |
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| height | 250 |
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| name | Test Assy.iam |
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| height | 250 |
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| name | Wheel assy.iam |
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| height | 250 |
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| View file |
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| name | 170mm reaction wheel.ipt |
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| height | 250 |
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