mirror of
https://github.com/deadcxap/balancing-cube.git
synced 2026-01-08 19:41:53 +03:00
Publish files
This commit is contained in:
Willem Pennings
BIN
bom/bom.xlsx
Normal file
BIN
bom/bom.xlsx
Normal file
Binary file not shown.
8496
configuration/ESCON configuration file (M1, M2).edc
Normal file
8496
configuration/ESCON configuration file (M1, M2).edc
Normal file
File diff suppressed because one or more lines are too long
8496
configuration/ESCON configuration file (M3).edc
Normal file
8496
configuration/ESCON configuration file (M3).edc
Normal file
File diff suppressed because one or more lines are too long
3
configuration/note.txt
Normal file
3
configuration/note.txt
Normal file
@@ -0,0 +1,3 @@
|
||||
The ESCON configuration files are identical except that the hall sensor analog output port is swapped for M3.
|
||||
This was done because ADC2 cannot be used reliably when WiFi is also active on the ESP32, supposedly.
|
||||
A future revision of the motherboard will connect analog out 1 of each motor controller to ADC1 to resolve this.
|
||||
11854
electronics/cube-batteryboard/3d models/L201011MS02Q.stp
Normal file
11854
electronics/cube-batteryboard/3d models/L201011MS02Q.stp
Normal file
File diff suppressed because it is too large
Load Diff
6774
electronics/cube-batteryboard/cube-batteryboard.kicad_pcb
Normal file
6774
electronics/cube-batteryboard/cube-batteryboard.kicad_pcb
Normal file
File diff suppressed because it is too large
Load Diff
77
electronics/cube-batteryboard/cube-batteryboard.kicad_prl
Normal file
77
electronics/cube-batteryboard/cube-batteryboard.kicad_prl
Normal file
@@ -0,0 +1,77 @@
|
||||
{
|
||||
"board": {
|
||||
"active_layer": 31,
|
||||
"active_layer_preset": "All Layers",
|
||||
"auto_track_width": true,
|
||||
"hidden_netclasses": [],
|
||||
"hidden_nets": [],
|
||||
"high_contrast_mode": 0,
|
||||
"net_color_mode": 1,
|
||||
"opacity": {
|
||||
"images": 0.6,
|
||||
"pads": 1.0,
|
||||
"tracks": 1.0,
|
||||
"vias": 1.0,
|
||||
"zones": 0.6
|
||||
},
|
||||
"selection_filter": {
|
||||
"dimensions": true,
|
||||
"footprints": true,
|
||||
"graphics": true,
|
||||
"keepouts": true,
|
||||
"lockedItems": false,
|
||||
"otherItems": true,
|
||||
"pads": true,
|
||||
"text": true,
|
||||
"tracks": true,
|
||||
"vias": true,
|
||||
"zones": true
|
||||
},
|
||||
"visible_items": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
8,
|
||||
9,
|
||||
10,
|
||||
11,
|
||||
12,
|
||||
13,
|
||||
15,
|
||||
16,
|
||||
17,
|
||||
18,
|
||||
19,
|
||||
20,
|
||||
21,
|
||||
22,
|
||||
23,
|
||||
24,
|
||||
25,
|
||||
26,
|
||||
27,
|
||||
28,
|
||||
29,
|
||||
30,
|
||||
32,
|
||||
33,
|
||||
34,
|
||||
35,
|
||||
36,
|
||||
39,
|
||||
40
|
||||
],
|
||||
"visible_layers": "fffffff_ffffffff",
|
||||
"zone_display_mode": 0
|
||||
},
|
||||
"meta": {
|
||||
"filename": "cube-batteryboard.kicad_prl",
|
||||
"version": 3
|
||||
},
|
||||
"project": {
|
||||
"files": []
|
||||
}
|
||||
}
|
||||
477
electronics/cube-batteryboard/cube-batteryboard.kicad_pro
Normal file
477
electronics/cube-batteryboard/cube-batteryboard.kicad_pro
Normal file
@@ -0,0 +1,477 @@
|
||||
{
|
||||
"board": {
|
||||
"3dviewports": [],
|
||||
"design_settings": {
|
||||
"defaults": {
|
||||
"board_outline_line_width": 0.09999999999999999,
|
||||
"copper_line_width": 0.19999999999999998,
|
||||
"copper_text_italic": false,
|
||||
"copper_text_size_h": 1.5,
|
||||
"copper_text_size_v": 1.5,
|
||||
"copper_text_thickness": 0.3,
|
||||
"copper_text_upright": false,
|
||||
"courtyard_line_width": 0.049999999999999996,
|
||||
"dimension_precision": 4,
|
||||
"dimension_units": 3,
|
||||
"dimensions": {
|
||||
"arrow_length": 1270000,
|
||||
"extension_offset": 500000,
|
||||
"keep_text_aligned": true,
|
||||
"suppress_zeroes": false,
|
||||
"text_position": 0,
|
||||
"units_format": 1
|
||||
},
|
||||
"fab_line_width": 0.09999999999999999,
|
||||
"fab_text_italic": false,
|
||||
"fab_text_size_h": 1.0,
|
||||
"fab_text_size_v": 1.0,
|
||||
"fab_text_thickness": 0.15,
|
||||
"fab_text_upright": false,
|
||||
"other_line_width": 0.15,
|
||||
"other_text_italic": false,
|
||||
"other_text_size_h": 1.0,
|
||||
"other_text_size_v": 1.0,
|
||||
"other_text_thickness": 0.15,
|
||||
"other_text_upright": false,
|
||||
"pads": {
|
||||
"drill": 4.5,
|
||||
"height": 6.0,
|
||||
"width": 6.0
|
||||
},
|
||||
"silk_line_width": 0.15,
|
||||
"silk_text_italic": false,
|
||||
"silk_text_size_h": 1.0,
|
||||
"silk_text_size_v": 1.0,
|
||||
"silk_text_thickness": 0.15,
|
||||
"silk_text_upright": false,
|
||||
"zones": {
|
||||
"min_clearance": 0.5
|
||||
}
|
||||
},
|
||||
"diff_pair_dimensions": [],
|
||||
"drc_exclusions": [],
|
||||
"meta": {
|
||||
"version": 2
|
||||
},
|
||||
"rule_severities": {
|
||||
"annular_width": "error",
|
||||
"clearance": "error",
|
||||
"connection_width": "warning",
|
||||
"copper_edge_clearance": "error",
|
||||
"copper_sliver": "warning",
|
||||
"courtyards_overlap": "error",
|
||||
"diff_pair_gap_out_of_range": "error",
|
||||
"diff_pair_uncoupled_length_too_long": "error",
|
||||
"drill_out_of_range": "error",
|
||||
"duplicate_footprints": "warning",
|
||||
"extra_footprint": "warning",
|
||||
"footprint": "error",
|
||||
"footprint_type_mismatch": "ignore",
|
||||
"hole_clearance": "error",
|
||||
"hole_near_hole": "error",
|
||||
"invalid_outline": "error",
|
||||
"isolated_copper": "warning",
|
||||
"item_on_disabled_layer": "error",
|
||||
"items_not_allowed": "error",
|
||||
"length_out_of_range": "error",
|
||||
"lib_footprint_issues": "ignore",
|
||||
"lib_footprint_mismatch": "warning",
|
||||
"malformed_courtyard": "error",
|
||||
"microvia_drill_out_of_range": "error",
|
||||
"missing_courtyard": "ignore",
|
||||
"missing_footprint": "warning",
|
||||
"net_conflict": "warning",
|
||||
"npth_inside_courtyard": "ignore",
|
||||
"padstack": "warning",
|
||||
"pth_inside_courtyard": "ignore",
|
||||
"shorting_items": "error",
|
||||
"silk_edge_clearance": "ignore",
|
||||
"silk_over_copper": "ignore",
|
||||
"silk_overlap": "ignore",
|
||||
"skew_out_of_range": "error",
|
||||
"solder_mask_bridge": "error",
|
||||
"starved_thermal": "error",
|
||||
"text_height": "warning",
|
||||
"text_thickness": "warning",
|
||||
"through_hole_pad_without_hole": "error",
|
||||
"too_many_vias": "error",
|
||||
"track_dangling": "warning",
|
||||
"track_width": "error",
|
||||
"tracks_crossing": "error",
|
||||
"unconnected_items": "error",
|
||||
"unresolved_variable": "error",
|
||||
"via_dangling": "warning",
|
||||
"zones_intersect": "error"
|
||||
},
|
||||
"rules": {
|
||||
"max_error": 0.005,
|
||||
"min_clearance": 0.0,
|
||||
"min_connection": 0.0,
|
||||
"min_copper_edge_clearance": 0.5,
|
||||
"min_hole_clearance": 0.25,
|
||||
"min_hole_to_hole": 0.25,
|
||||
"min_microvia_diameter": 0.19999999999999998,
|
||||
"min_microvia_drill": 0.09999999999999999,
|
||||
"min_resolved_spokes": 2,
|
||||
"min_silk_clearance": 0.0,
|
||||
"min_text_height": 0.7999999999999999,
|
||||
"min_text_thickness": 0.08,
|
||||
"min_through_hole_diameter": 0.3,
|
||||
"min_track_width": 0.0,
|
||||
"min_via_annular_width": 0.09999999999999999,
|
||||
"min_via_diameter": 0.5,
|
||||
"solder_mask_clearance": 0.0,
|
||||
"solder_mask_min_width": 0.0,
|
||||
"solder_mask_to_copper_clearance": 0.0,
|
||||
"use_height_for_length_calcs": true
|
||||
},
|
||||
"teardrop_options": [
|
||||
{
|
||||
"td_allow_use_two_tracks": true,
|
||||
"td_curve_segcount": 5,
|
||||
"td_on_pad_in_zone": false,
|
||||
"td_onpadsmd": true,
|
||||
"td_onroundshapesonly": false,
|
||||
"td_ontrackend": false,
|
||||
"td_onviapad": true
|
||||
}
|
||||
],
|
||||
"teardrop_parameters": [
|
||||
{
|
||||
"td_curve_segcount": 0,
|
||||
"td_height_ratio": 1.0,
|
||||
"td_length_ratio": 0.5,
|
||||
"td_maxheight": 2.0,
|
||||
"td_maxlen": 1.0,
|
||||
"td_target_name": "td_round_shape",
|
||||
"td_width_to_size_filter_ratio": 0.9
|
||||
},
|
||||
{
|
||||
"td_curve_segcount": 0,
|
||||
"td_height_ratio": 1.0,
|
||||
"td_length_ratio": 0.5,
|
||||
"td_maxheight": 2.0,
|
||||
"td_maxlen": 1.0,
|
||||
"td_target_name": "td_rect_shape",
|
||||
"td_width_to_size_filter_ratio": 0.9
|
||||
},
|
||||
{
|
||||
"td_curve_segcount": 0,
|
||||
"td_height_ratio": 1.0,
|
||||
"td_length_ratio": 0.5,
|
||||
"td_maxheight": 2.0,
|
||||
"td_maxlen": 1.0,
|
||||
"td_target_name": "td_track_end",
|
||||
"td_width_to_size_filter_ratio": 0.9
|
||||
}
|
||||
],
|
||||
"track_widths": [],
|
||||
"via_dimensions": [],
|
||||
"zones_allow_external_fillets": false
|
||||
},
|
||||
"layer_presets": [],
|
||||
"viewports": []
|
||||
},
|
||||
"boards": [],
|
||||
"cvpcb": {
|
||||
"equivalence_files": []
|
||||
},
|
||||
"erc": {
|
||||
"erc_exclusions": [],
|
||||
"meta": {
|
||||
"version": 0
|
||||
},
|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
2,
|
||||
2,
|
||||
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|
||||
]
|
||||
],
|
||||
"rule_severities": {
|
||||
"bus_definition_conflict": "error",
|
||||
"bus_entry_needed": "error",
|
||||
"bus_to_bus_conflict": "error",
|
||||
"bus_to_net_conflict": "error",
|
||||
"conflicting_netclasses": "error",
|
||||
"different_unit_footprint": "error",
|
||||
"different_unit_net": "error",
|
||||
"duplicate_reference": "error",
|
||||
"duplicate_sheet_names": "error",
|
||||
"endpoint_off_grid": "warning",
|
||||
"extra_units": "error",
|
||||
"global_label_dangling": "warning",
|
||||
"hier_label_mismatch": "error",
|
||||
"label_dangling": "error",
|
||||
"lib_symbol_issues": "warning",
|
||||
"missing_bidi_pin": "warning",
|
||||
"missing_input_pin": "warning",
|
||||
"missing_power_pin": "error",
|
||||
"missing_unit": "warning",
|
||||
"multiple_net_names": "warning",
|
||||
"net_not_bus_member": "warning",
|
||||
"no_connect_connected": "warning",
|
||||
"no_connect_dangling": "warning",
|
||||
"pin_not_connected": "error",
|
||||
"pin_not_driven": "error",
|
||||
"pin_to_pin": "warning",
|
||||
"power_pin_not_driven": "error",
|
||||
"similar_labels": "warning",
|
||||
"simulation_model_issue": "ignore",
|
||||
"unannotated": "error",
|
||||
"unit_value_mismatch": "error",
|
||||
"unresolved_variable": "error",
|
||||
"wire_dangling": "error"
|
||||
}
|
||||
},
|
||||
"libraries": {
|
||||
"pinned_footprint_libs": [],
|
||||
"pinned_symbol_libs": []
|
||||
},
|
||||
"meta": {
|
||||
"filename": "cube-batteryboard.kicad_pro",
|
||||
"version": 1
|
||||
},
|
||||
"net_settings": {
|
||||
"classes": [
|
||||
{
|
||||
"bus_width": 12,
|
||||
"clearance": 0.2,
|
||||
"diff_pair_gap": 0.25,
|
||||
"diff_pair_via_gap": 0.25,
|
||||
"diff_pair_width": 0.2,
|
||||
"line_style": 0,
|
||||
"microvia_diameter": 0.3,
|
||||
"microvia_drill": 0.1,
|
||||
"name": "Default",
|
||||
"pcb_color": "rgba(0, 0, 0, 0.000)",
|
||||
"schematic_color": "rgba(0, 0, 0, 0.000)",
|
||||
"track_width": 0.25,
|
||||
"via_diameter": 0.8,
|
||||
"via_drill": 0.4,
|
||||
"wire_width": 6
|
||||
}
|
||||
],
|
||||
"meta": {
|
||||
"version": 3
|
||||
},
|
||||
"net_colors": null,
|
||||
"netclass_assignments": null,
|
||||
"netclass_patterns": []
|
||||
},
|
||||
"pcbnew": {
|
||||
"last_paths": {
|
||||
"gencad": "",
|
||||
"idf": "",
|
||||
"netlist": "",
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
|
||||
(sheet_instances
|
||||
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|
||||
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|
||||
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|
||||
@@ -0,0 +1,27 @@
|
||||
(footprint "L201011MS02Q" (version 20221018) (generator pcbnew)
|
||||
(layer "F.Cu")
|
||||
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|
||||
(fp_text reference "REF**" (at 0 0 unlocked) (layer "F.SilkS")
|
||||
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|
||||
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||||
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|
||||
(fp_text value "L201011MS02Q" (at 0 8.2 unlocked) (layer "F.Fab")
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||||
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||||
(tstamp 742239ca-fcda-4233-b471-4191bdcaf381)
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||||
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|
||||
(fp_text user "${REFERENCE}" (at 0 6.7 unlocked) (layer "F.Fab")
|
||||
(effects (font (size 1 1) (thickness 0.15)))
|
||||
(tstamp fadbd9a7-6976-466c-8d0d-9d1487c59d93)
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||||
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|
||||
(fp_rect (start -9.6 5.4) (end 9.5 -5.4)
|
||||
(stroke (width 0.1) (type default)) (fill none) (layer "F.SilkS") (tstamp a55de2a3-7d3b-4c10-8fab-26b6e7a9b933))
|
||||
(pad "1" thru_hole circle (at -4.6 -2.85) (size 3 3) (drill 1.65) (layers "*.Cu" "*.Mask") (tstamp ca18352b-82f5-4efd-b9f3-5c7dce1b224e))
|
||||
(pad "2" thru_hole circle (at 0 -2.85) (size 3 3) (drill 1.65) (layers "*.Cu" "*.Mask") (tstamp b0cf7ec5-046b-4276-be43-8a62d24768aa))
|
||||
(pad "3" thru_hole circle (at -4.6 2.85) (size 3 3) (drill 1.65) (layers "*.Cu" "*.Mask") (tstamp 67d36222-f4b8-4eac-b1e3-3b014158df43))
|
||||
(pad "4" thru_hole circle (at 0 2.85) (size 3 3) (drill 1.65) (layers "*.Cu" "*.Mask") (tstamp fca3cba9-4408-4520-a0d5-aeee7f11dc16))
|
||||
(model "${KIPRJMOD}/L201011MS02Q.stp"
|
||||
(offset (xyz 0 0 1.7))
|
||||
(scale (xyz 1 1 1))
|
||||
(rotate (xyz -90 0 0))
|
||||
)
|
||||
)
|
||||
67676
electronics/cube-batteryboard/cube-batteryboard.step
Normal file
67676
electronics/cube-batteryboard/cube-batteryboard.step
Normal file
File diff suppressed because it is too large
Load Diff
92541
electronics/cube-batteryboard/fp-info-cache
Normal file
92541
electronics/cube-batteryboard/fp-info-cache
Normal file
File diff suppressed because it is too large
Load Diff
4
electronics/cube-batteryboard/fp-lib-table
Normal file
4
electronics/cube-batteryboard/fp-lib-table
Normal file
@@ -0,0 +1,4 @@
|
||||
(fp_lib_table
|
||||
(version 7)
|
||||
(lib (name "cube-batteryboard")(type "KiCad")(uri "${KIPRJMOD}/cube-batteryboard.pretty")(options "")(descr ""))
|
||||
)
|
||||
1879
electronics/cube-batteryboard/gerber/cube-batteryboard-B_Cu.gbl
Normal file
1879
electronics/cube-batteryboard/gerber/cube-batteryboard-B_Cu.gbl
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,76 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:48:56+01:00*%
|
||||
%TF.ProjectId,cube-batteryboard,63756265-2d62-4617-9474-657279626f61,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Soldermask,Bot*%
|
||||
%TF.FilePolarity,Negative*%
|
||||
%FSLAX46Y46*%
|
||||
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:48:56*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
G04 Aperture macros list*
|
||||
%AMRoundRect*
|
||||
0 Rectangle with rounded corners*
|
||||
0 $1 Rounding radius*
|
||||
0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
|
||||
0 Add a 4 corners polygon primitive as box body*
|
||||
4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
|
||||
0 Add four circle primitives for the rounded corners*
|
||||
1,1,$1+$1,$2,$3*
|
||||
1,1,$1+$1,$4,$5*
|
||||
1,1,$1+$1,$6,$7*
|
||||
1,1,$1+$1,$8,$9*
|
||||
0 Add four rect primitives between the rounded corners*
|
||||
20,1,$1+$1,$2,$3,$4,$5,0*
|
||||
20,1,$1+$1,$4,$5,$6,$7,0*
|
||||
20,1,$1+$1,$6,$7,$8,$9,0*
|
||||
20,1,$1+$1,$8,$9,$2,$3,0*%
|
||||
G04 Aperture macros list end*
|
||||
%ADD10C,5.600000*%
|
||||
%ADD11RoundRect,1.500000X1.500000X-1.500000X1.500000X1.500000X-1.500000X1.500000X-1.500000X-1.500000X0*%
|
||||
%ADD12C,6.000000*%
|
||||
%ADD13C,3.000000*%
|
||||
G04 APERTURE END LIST*
|
||||
D10*
|
||||
%TO.C,H2*%
|
||||
X110000000Y-25000000D03*
|
||||
%TD*%
|
||||
%TO.C,H1*%
|
||||
X25000000Y-25000000D03*
|
||||
%TD*%
|
||||
%TO.C,H3*%
|
||||
X25000000Y-110000000D03*
|
||||
%TD*%
|
||||
%TO.C,H4*%
|
||||
X110000000Y-110000000D03*
|
||||
%TD*%
|
||||
D11*
|
||||
%TO.C,J2*%
|
||||
X47500000Y-35600000D03*
|
||||
D12*
|
||||
X47500000Y-28400000D03*
|
||||
%TD*%
|
||||
D13*
|
||||
%TO.C,SW1*%
|
||||
X62900000Y-28850000D03*
|
||||
X67500000Y-28850000D03*
|
||||
X62900000Y-23150000D03*
|
||||
X67500000Y-23150000D03*
|
||||
%TD*%
|
||||
D11*
|
||||
%TO.C,J1*%
|
||||
X87500000Y-35600000D03*
|
||||
D12*
|
||||
X87500000Y-28400000D03*
|
||||
%TD*%
|
||||
D13*
|
||||
%TO.C,SW2*%
|
||||
X62900000Y-40850000D03*
|
||||
X67500000Y-40850000D03*
|
||||
X62900000Y-35150000D03*
|
||||
X67500000Y-35150000D03*
|
||||
%TD*%
|
||||
M02*
|
||||
@@ -0,0 +1,15 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:48:56+01:00*%
|
||||
%TF.ProjectId,cube-batteryboard,63756265-2d62-4617-9474-657279626f61,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Paste,Bot*%
|
||||
%TF.FilePolarity,Positive*%
|
||||
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|
||||
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:48:56*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
G04 APERTURE END LIST*
|
||||
M02*
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,79 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:48:56+01:00*%
|
||||
%TF.ProjectId,cube-batteryboard,63756265-2d62-4617-9474-657279626f61,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Profile,NP*%
|
||||
%FSLAX46Y46*%
|
||||
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:48:56*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
%TA.AperFunction,Profile*%
|
||||
%ADD10C,0.100000*%
|
||||
%TD*%
|
||||
G04 APERTURE END LIST*
|
||||
D10*
|
||||
X54000000Y-45500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X54000000Y-42500000I0J1500000D01*
|
||||
G01*
|
||||
X54000000Y-42500000D02*
|
||||
X31500000Y-42500000D01*
|
||||
X103500000Y-45500000D02*
|
||||
X81000000Y-45500000D01*
|
||||
X81000000Y-89500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X81000000Y-92500000I0J-1500000D01*
|
||||
G01*
|
||||
X20000000Y-20000000D02*
|
||||
X115000000Y-20000000D01*
|
||||
X115000000Y-115000000D01*
|
||||
X20000000Y-115000000D01*
|
||||
X20000000Y-20000000D01*
|
||||
X81000000Y-42500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X81000000Y-45500000I0J-1500000D01*
|
||||
G01*
|
||||
X103500000Y-42500000D02*
|
||||
X81000000Y-42500000D01*
|
||||
X54000000Y-89500000D02*
|
||||
X31500000Y-89500000D01*
|
||||
X31500000Y-42500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X31500000Y-45500000I0J-1500000D01*
|
||||
G01*
|
||||
X103500000Y-92500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X103500000Y-89500000I0J1500000D01*
|
||||
G01*
|
||||
X103500000Y-92500000D02*
|
||||
X81000000Y-92500000D01*
|
||||
X54000000Y-92500000D02*
|
||||
X31500000Y-92500000D01*
|
||||
X31500000Y-89500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X31500000Y-92500000I0J-1500000D01*
|
||||
G01*
|
||||
X103500000Y-45500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X103500000Y-42500000I0J1500000D01*
|
||||
G01*
|
||||
X103500000Y-89500000D02*
|
||||
X81000000Y-89500000D01*
|
||||
X54000000Y-92500000D02*
|
||||
G75*
|
||||
G03*
|
||||
X54000000Y-89500000I0J1500000D01*
|
||||
G01*
|
||||
X54000000Y-45500000D02*
|
||||
X31500000Y-45500000D01*
|
||||
M02*
|
||||
1975
electronics/cube-batteryboard/gerber/cube-batteryboard-F_Cu.gtl
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1975
electronics/cube-batteryboard/gerber/cube-batteryboard-F_Cu.gtl
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,76 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
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||||
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||||
%TF.ProjectId,cube-batteryboard,63756265-2d62-4617-9474-657279626f61,rev?*%
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||||
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||||
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||||
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||||
%FSLAX46Y46*%
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G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:48:56*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
G04 Aperture macros list*
|
||||
%AMRoundRect*
|
||||
0 Rectangle with rounded corners*
|
||||
0 $1 Rounding radius*
|
||||
0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
|
||||
0 Add a 4 corners polygon primitive as box body*
|
||||
4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
|
||||
0 Add four circle primitives for the rounded corners*
|
||||
1,1,$1+$1,$2,$3*
|
||||
1,1,$1+$1,$4,$5*
|
||||
1,1,$1+$1,$6,$7*
|
||||
1,1,$1+$1,$8,$9*
|
||||
0 Add four rect primitives between the rounded corners*
|
||||
20,1,$1+$1,$2,$3,$4,$5,0*
|
||||
20,1,$1+$1,$4,$5,$6,$7,0*
|
||||
20,1,$1+$1,$6,$7,$8,$9,0*
|
||||
20,1,$1+$1,$8,$9,$2,$3,0*%
|
||||
G04 Aperture macros list end*
|
||||
%ADD10C,5.600000*%
|
||||
%ADD11RoundRect,1.500000X1.500000X-1.500000X1.500000X1.500000X-1.500000X1.500000X-1.500000X-1.500000X0*%
|
||||
%ADD12C,6.000000*%
|
||||
%ADD13C,3.000000*%
|
||||
G04 APERTURE END LIST*
|
||||
D10*
|
||||
%TO.C,H2*%
|
||||
X110000000Y-25000000D03*
|
||||
%TD*%
|
||||
%TO.C,H1*%
|
||||
X25000000Y-25000000D03*
|
||||
%TD*%
|
||||
%TO.C,H3*%
|
||||
X25000000Y-110000000D03*
|
||||
%TD*%
|
||||
%TO.C,H4*%
|
||||
X110000000Y-110000000D03*
|
||||
%TD*%
|
||||
D11*
|
||||
%TO.C,J2*%
|
||||
X47500000Y-35600000D03*
|
||||
D12*
|
||||
X47500000Y-28400000D03*
|
||||
%TD*%
|
||||
D13*
|
||||
%TO.C,SW1*%
|
||||
X62900000Y-28850000D03*
|
||||
X67500000Y-28850000D03*
|
||||
X62900000Y-23150000D03*
|
||||
X67500000Y-23150000D03*
|
||||
%TD*%
|
||||
D11*
|
||||
%TO.C,J1*%
|
||||
X87500000Y-35600000D03*
|
||||
D12*
|
||||
X87500000Y-28400000D03*
|
||||
%TD*%
|
||||
D13*
|
||||
%TO.C,SW2*%
|
||||
X62900000Y-40850000D03*
|
||||
X67500000Y-40850000D03*
|
||||
X62900000Y-35150000D03*
|
||||
X67500000Y-35150000D03*
|
||||
%TD*%
|
||||
M02*
|
||||
@@ -0,0 +1,15 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:48:56+01:00*%
|
||||
%TF.ProjectId,cube-batteryboard,63756265-2d62-4617-9474-657279626f61,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Paste,Top*%
|
||||
%TF.FilePolarity,Positive*%
|
||||
%FSLAX46Y46*%
|
||||
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:48:56*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
G04 APERTURE END LIST*
|
||||
M02*
|
||||
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Load Diff
@@ -0,0 +1,218 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:48:59+01:00*%
|
||||
%TF.ProjectId,cube-batteryboard,63756265-2d62-4617-9474-657279626f61,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Drillmap*%
|
||||
%TF.FilePolarity,Positive*%
|
||||
%FSLAX45Y45*%
|
||||
G04 Gerber Fmt 4.5, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:48:59*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
%ADD10C,0.100000*%
|
||||
%ADD11C,0.200000*%
|
||||
G04 APERTURE END LIST*
|
||||
D10*
|
||||
X5400000Y-4550000D02*
|
||||
G75*
|
||||
G03*
|
||||
X5400000Y-4250000I0J150000D01*
|
||||
G01*
|
||||
X5400000Y-4250000D02*
|
||||
X3150000Y-4250000D01*
|
||||
X10350000Y-4550000D02*
|
||||
X8100000Y-4550000D01*
|
||||
X8100000Y-8950000D02*
|
||||
G75*
|
||||
G03*
|
||||
X8100000Y-9250000I0J-150000D01*
|
||||
G01*
|
||||
X2000000Y-2000000D02*
|
||||
X11500000Y-2000000D01*
|
||||
X11500000Y-11500000D01*
|
||||
X2000000Y-11500000D01*
|
||||
X2000000Y-2000000D01*
|
||||
X8100000Y-4250000D02*
|
||||
G75*
|
||||
G03*
|
||||
X8100000Y-4550000I0J-150000D01*
|
||||
G01*
|
||||
X10350000Y-4250000D02*
|
||||
X8100000Y-4250000D01*
|
||||
X5400000Y-8950000D02*
|
||||
X3150000Y-8950000D01*
|
||||
X3150000Y-4250000D02*
|
||||
G75*
|
||||
G03*
|
||||
X3150000Y-4550000I0J-150000D01*
|
||||
G01*
|
||||
X10350000Y-9250000D02*
|
||||
G75*
|
||||
G03*
|
||||
X10350000Y-8950000I0J150000D01*
|
||||
G01*
|
||||
X10350000Y-9250000D02*
|
||||
X8100000Y-9250000D01*
|
||||
X5400000Y-9250000D02*
|
||||
X3150000Y-9250000D01*
|
||||
X3150000Y-8950000D02*
|
||||
G75*
|
||||
G03*
|
||||
X3150000Y-9250000I0J-150000D01*
|
||||
G01*
|
||||
X10350000Y-4550000D02*
|
||||
G75*
|
||||
G03*
|
||||
X10350000Y-4250000I0J150000D01*
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G01*
|
||||
X10350000Y-8950000D02*
|
||||
X8100000Y-8950000D01*
|
||||
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|
||||
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||||
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||||
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|
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||||
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||||
X2360539Y-11664103D02*
|
||||
X2370063Y-11702198D01*
|
||||
X2370063Y-11702198D02*
|
||||
X2370063Y-11730769D01*
|
||||
X2370063Y-11730769D02*
|
||||
X2360539Y-11768865D01*
|
||||
X2360539Y-11768865D02*
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||||
X2351015Y-11787912D01*
|
||||
X2351015Y-11787912D02*
|
||||
X2331967Y-11806960D01*
|
||||
X2331967Y-11806960D02*
|
||||
X2303396Y-11816484D01*
|
||||
X2303396Y-11816484D02*
|
||||
X2255777Y-11816484D01*
|
||||
X2455777Y-11816484D02*
|
||||
X2455777Y-11683150D01*
|
||||
X2455777Y-11721246D02*
|
||||
X2465301Y-11702198D01*
|
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X2465301Y-11702198D02*
|
||||
X2474824Y-11692674D01*
|
||||
X2474824Y-11692674D02*
|
||||
X2493872Y-11683150D01*
|
||||
X2493872Y-11683150D02*
|
||||
X2512920Y-11683150D01*
|
||||
X2579586Y-11816484D02*
|
||||
X2579586Y-11683150D01*
|
||||
X2579586Y-11616484D02*
|
||||
X2570063Y-11626008D01*
|
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X2570063Y-11626008D02*
|
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X2579586Y-11635531D01*
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X2579586Y-11635531D02*
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X2589110Y-11626008D01*
|
||||
X2589110Y-11626008D02*
|
||||
X2579586Y-11616484D01*
|
||||
X2579586Y-11616484D02*
|
||||
X2579586Y-11635531D01*
|
||||
X2703396Y-11816484D02*
|
||||
X2684348Y-11806960D01*
|
||||
X2684348Y-11806960D02*
|
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|
||||
X2674824Y-11787912D02*
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X2674824Y-11616484D01*
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X2808158Y-11816484D02*
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||||
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||||
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|
||||
X2779586Y-11787912D02*
|
||||
X2779586Y-11616484D01*
|
||||
X3036729Y-11816484D02*
|
||||
X3036729Y-11616484D01*
|
||||
X3036729Y-11616484D02*
|
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X3103396Y-11759341D01*
|
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X3170062Y-11816484D01*
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||||
X3351015Y-11711722D01*
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|
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X3265301Y-11749817D01*
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X3265301Y-11749817D02*
|
||||
X3284348Y-11740293D01*
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X3284348Y-11740293D02*
|
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X3331967Y-11740293D01*
|
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X3331967Y-11740293D02*
|
||||
X3351015Y-11730769D01*
|
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|
||||
X3446253Y-11883150D01*
|
||||
X3446253Y-11692674D02*
|
||||
X3465301Y-11683150D01*
|
||||
X3465301Y-11683150D02*
|
||||
X3503396Y-11683150D01*
|
||||
X3503396Y-11683150D02*
|
||||
X3522443Y-11692674D01*
|
||||
X3522443Y-11692674D02*
|
||||
X3531967Y-11702198D01*
|
||||
X3531967Y-11702198D02*
|
||||
X3541491Y-11721246D01*
|
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X3541491Y-11721246D02*
|
||||
X3541491Y-11778388D01*
|
||||
X3541491Y-11778388D02*
|
||||
X3531967Y-11797436D01*
|
||||
X3531967Y-11797436D02*
|
||||
X3522443Y-11806960D01*
|
||||
X3522443Y-11806960D02*
|
||||
X3503396Y-11816484D01*
|
||||
X3503396Y-11816484D02*
|
||||
X3465301Y-11816484D01*
|
||||
X3465301Y-11816484D02*
|
||||
X3446253Y-11806960D01*
|
||||
X3627205Y-11797436D02*
|
||||
X3636729Y-11806960D01*
|
||||
X3636729Y-11806960D02*
|
||||
X3627205Y-11816484D01*
|
||||
X3627205Y-11816484D02*
|
||||
X3617682Y-11806960D01*
|
||||
X3617682Y-11806960D02*
|
||||
X3627205Y-11797436D01*
|
||||
X3627205Y-11797436D02*
|
||||
X3627205Y-11816484D01*
|
||||
X3627205Y-11692674D02*
|
||||
X3636729Y-11702198D01*
|
||||
X3636729Y-11702198D02*
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7108
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18918
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18918
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Normal file
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59450
electronics/cube-motherboard/cube-motherboard.kicad_pcb
Normal file
59450
electronics/cube-motherboard/cube-motherboard.kicad_pcb
Normal file
File diff suppressed because it is too large
Load Diff
77
electronics/cube-motherboard/cube-motherboard.kicad_prl
Normal file
77
electronics/cube-motherboard/cube-motherboard.kicad_prl
Normal file
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|
||||
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"footprints": true,
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||||
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|
||||
509
electronics/cube-motherboard/cube-motherboard.kicad_pro
Normal file
509
electronics/cube-motherboard/cube-motherboard.kicad_pro
Normal file
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|
||||
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||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
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|
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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6268
electronics/cube-motherboard/cube-motherboard.kicad_sch
Normal file
6268
electronics/cube-motherboard/cube-motherboard.kicad_sch
Normal file
File diff suppressed because it is too large
Load Diff
300
electronics/cube-motherboard/cube-motherboard.kicad_sym
Normal file
300
electronics/cube-motherboard/cube-motherboard.kicad_sym
Normal file
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
(model "${KIPRJMOD}/3d models/zl262-10s_p2-54_l25-9_w2-5_h8-5.stp"
|
||||
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|
||||
(scale (xyz 1 1 1))
|
||||
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|
||||
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|
||||
(model "${KIPRJMOD}/3d models/zl262-10s_p2-54_l25-9_w2-5_h8-5.stp"
|
||||
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|
||||
(scale (xyz 1 1 1))
|
||||
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|
||||
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|
||||
(model "${KIPRJMOD}/3d models/zl262-10s_p2-54_l25-9_w2-5_h8-5.stp"
|
||||
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|
||||
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||||
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|
||||
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||||
(model "${KIPRJMOD}/3d models/zl262-10s_p2-54_l25-9_w2-5_h8-5.stp"
|
||||
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|
||||
(scale (xyz 1 1 1))
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
(tstamp b07b3668-3bdd-4cce-a1d9-91cfad350c72)
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||||
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||||
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||||
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||||
(tstamp aa8a6308-241c-4e34-825a-ffa15bc7b8b0)
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
(stroke (width 0.1) (type default)) (layer "F.SilkS") (tstamp 0cfa684e-55df-4752-86c2-a19883fc42e3))
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||||
(fp_line (start -3.25 1.85) (end 3.25 1.85)
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||||
(stroke (width 0.1) (type default)) (layer "F.SilkS") (tstamp 9f2ebdd7-092c-44bc-8b90-c1ea8a23c910))
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||||
(fp_line (start 3.25 -1.85) (end 3.25 -1.6)
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||||
(stroke (width 0.1) (type default)) (layer "F.SilkS") (tstamp 86e33b7e-e43a-46bd-a6e8-b0c5093a92db))
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||||
(fp_line (start 3.25 1.85) (end 3.25 1.6)
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||||
(stroke (width 0.1) (type default)) (layer "F.SilkS") (tstamp 873609c8-99eb-4dcb-bf9f-4f472fae2d64))
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||||
(pad "1" smd rect (at -2.43 0) (size 2.4 3) (layers "F.Cu" "F.Paste" "F.Mask")
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||||
(thermal_bridge_angle 45) (tstamp 72c80abb-302e-4b23-a1b6-1234d61efc1d))
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||||
(pad "2" smd rect (at 2.43 0) (size 2.4 3) (layers "F.Cu" "F.Paste" "F.Mask")
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(thermal_bridge_angle 45) (tstamp bb582639-61cb-4e25-9980-4823321cc4f9))
|
||||
)
|
||||
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|
||||
(footprint "PinHeader_03x06" (version 20221018) (generator pcbnew)
|
||||
(layer "F.Cu")
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||||
(attr through_hole)
|
||||
(fp_text reference "REF**" (at 0 5.08 unlocked) (layer "F.SilkS")
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||||
(effects (font (size 1 1) (thickness 0.1)))
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||||
(tstamp 542e686f-62b7-447f-90b2-2868d0a5c3d5)
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||||
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||||
(fp_text value "PinHeader_03x06" (at 0 7.62 unlocked) (layer "F.Fab")
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||||
(effects (font (size 1 1) (thickness 0.15)))
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||||
(tstamp 9ddf3073-5101-4396-b09d-f8d0cc9b8771)
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||||
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||||
(fp_text user "${REFERENCE}" (at 0 10 unlocked) (layer "F.Fab")
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||||
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||||
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||||
(fp_rect (start -7.62 -3.81) (end 7.62 3.81)
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||||
(pad "1" thru_hole circle (at -6.35 -2.54) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 3e7eb1f1-8ec6-426d-8047-cbf2e98722f3))
|
||||
(pad "2" thru_hole circle (at -3.81 -2.54) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 4393bedc-7544-435e-8cf1-e66aa9d73356))
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||||
(pad "3" thru_hole circle (at -1.27 -2.54) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp ec0559e5-c2c4-47f5-a508-1c7b003d9b38))
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||||
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|
||||
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|
||||
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|
||||
(pad "7" thru_hole circle (at -6.35 0) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 67aca476-1cec-4f5b-9e31-17958173d9e2))
|
||||
(pad "8" thru_hole circle (at -3.81 0) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 08d3a714-e7e4-4369-83a3-d974fdb9d359))
|
||||
(pad "9" thru_hole circle (at -1.27 0) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 07b6f0ca-9b2a-484e-920d-59211fa2f25c))
|
||||
(pad "10" thru_hole circle (at 1.27 0) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 9fe003c7-ecd8-4070-96a3-5e9df27eca8e))
|
||||
(pad "11" thru_hole circle (at 3.81 0) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp 2c1220ec-39b7-40ab-88a6-343e38a861cc))
|
||||
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||||
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|
||||
(pad "14" thru_hole circle (at -3.81 2.54) (size 1.6 1.6) (drill 1) (layers "*.Cu" "*.Mask") (tstamp b50097e7-cfd1-40aa-8ac2-3d047d58c598))
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
791020
electronics/cube-motherboard/cube-motherboard.step
Normal file
791020
electronics/cube-motherboard/cube-motherboard.step
Normal file
File diff suppressed because it is too large
Load Diff
92555
electronics/cube-motherboard/fp-info-cache
Normal file
92555
electronics/cube-motherboard/fp-info-cache
Normal file
File diff suppressed because it is too large
Load Diff
4
electronics/cube-motherboard/fp-lib-table
Normal file
4
electronics/cube-motherboard/fp-lib-table
Normal file
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||||
(fp_lib_table
|
||||
(version 7)
|
||||
(lib (name "cube-motherboard")(type "KiCad")(uri "${KIPRJMOD}/cube-motherboard.pretty")(options "")(descr ""))
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||||
)
|
||||
12392
electronics/cube-motherboard/gerbers/cube-motherboard-B_Cu.gbl
Normal file
12392
electronics/cube-motherboard/gerbers/cube-motherboard-B_Cu.gbl
Normal file
File diff suppressed because it is too large
Load Diff
817
electronics/cube-motherboard/gerbers/cube-motherboard-B_Mask.gbs
Normal file
817
electronics/cube-motherboard/gerbers/cube-motherboard-B_Mask.gbs
Normal file
@@ -0,0 +1,817 @@
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
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||||
%MOMM*%
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||||
%LPD*%
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||||
G01*
|
||||
G04 APERTURE LIST*
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||||
G04 Aperture macros list*
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0 Rectangle with rounded corners*
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||||
4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
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||||
0 Add four circle primitives for the rounded corners*
|
||||
1,1,$1+$1,$2,$3*
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||||
1,1,$1+$1,$4,$5*
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||||
1,1,$1+$1,$6,$7*
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||||
1,1,$1+$1,$8,$9*
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0 Add four rect primitives between the rounded corners*
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20,1,$1+$1,$2,$3,$4,$5,0*
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||||
20,1,$1+$1,$4,$5,$6,$7,0*
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||||
20,1,$1+$1,$6,$7,$8,$9,0*
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20,1,$1+$1,$8,$9,$2,$3,0*%
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G04 Aperture macros list end*
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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X60219750Y-103036178D01*
|
||||
X60391994Y-102966725D01*
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||||
X60594797Y-102900050D01*
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||||
X60900391Y-102797259D01*
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||||
X61183759Y-102650019D01*
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||||
X61394897Y-102424991D01*
|
||||
X61478241Y-102083281D01*
|
||||
X61414344Y-101769353D01*
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||||
X61214319Y-101508209D01*
|
||||
X60867053Y-101330409D01*
|
||||
X60635080Y-101282487D01*
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||||
X60361434Y-101266513D01*
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||||
X60114876Y-101276236D01*
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||||
X59886375Y-101305406D01*
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||||
X59505772Y-101416531D01*
|
||||
X59611341Y-101994381D01*
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||||
X59905822Y-101902703D01*
|
||||
X60355878Y-101838806D01*
|
||||
X60708700Y-101902703D01*
|
||||
X60800378Y-102038831D01*
|
||||
X60758706Y-102147178D01*
|
||||
X60647581Y-102233300D01*
|
||||
X60486450Y-102308309D01*
|
||||
X60289203Y-102377763D01*
|
||||
X59978053Y-102488888D01*
|
||||
X59686350Y-102641684D01*
|
||||
X59472434Y-102875047D01*
|
||||
X59389091Y-103222313D01*
|
||||
X56954157Y-103222313D01*
|
||||
X57745923Y-100583094D01*
|
||||
X68601353Y-100583094D01*
|
||||
X68729147Y-100899800D01*
|
||||
X69034741Y-101016481D01*
|
||||
X69337556Y-100899800D01*
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||||
X69462572Y-100583094D01*
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||||
X69337556Y-100260831D01*
|
||||
X69034741Y-100144150D01*
|
||||
X68729147Y-100260831D01*
|
||||
X68601353Y-100583094D01*
|
||||
X57745923Y-100583094D01*
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||||
X58231539Y-98964373D01*
|
||||
X59389091Y-98964373D01*
|
||||
X100610909Y-98964373D01*
|
||||
X101768461Y-98964373D01*
|
||||
X103889838Y-98964373D01*
|
||||
X101768461Y-106035627D01*
|
||||
G37*
|
||||
%TD*%
|
||||
D10*
|
||||
%TO.C,U3*%
|
||||
X86070000Y-34760000D03*
|
||||
X86070000Y-37300000D03*
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||||
X86070000Y-39840000D03*
|
||||
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|
||||
X86070000Y-44920000D03*
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||||
X86070000Y-47460000D03*
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||||
X86070000Y-50000000D03*
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||||
X86070000Y-52540000D03*
|
||||
X86070000Y-55080000D03*
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||||
X86070000Y-57620000D03*
|
||||
X86070000Y-60160000D03*
|
||||
X86070000Y-62700000D03*
|
||||
X86070000Y-65240000D03*
|
||||
X108930000Y-60160000D03*
|
||||
X108930000Y-57620000D03*
|
||||
X108930000Y-55080000D03*
|
||||
X108930000Y-52540000D03*
|
||||
X108930000Y-50000000D03*
|
||||
X108930000Y-47460000D03*
|
||||
X108930000Y-44920000D03*
|
||||
X108930000Y-42380000D03*
|
||||
X108930000Y-39840000D03*
|
||||
X108930000Y-37300000D03*
|
||||
X108930000Y-34760000D03*
|
||||
%TD*%
|
||||
%TO.C,U2*%
|
||||
X56070000Y-34760000D03*
|
||||
X56070000Y-37300000D03*
|
||||
X56070000Y-39840000D03*
|
||||
X56070000Y-42380000D03*
|
||||
X56070000Y-44920000D03*
|
||||
X56070000Y-47460000D03*
|
||||
X56070000Y-50000000D03*
|
||||
X56070000Y-52540000D03*
|
||||
X56070000Y-55080000D03*
|
||||
X56070000Y-57620000D03*
|
||||
X56070000Y-60160000D03*
|
||||
X56070000Y-62700000D03*
|
||||
X56070000Y-65240000D03*
|
||||
X78930000Y-60160000D03*
|
||||
X78930000Y-57620000D03*
|
||||
X78930000Y-55080000D03*
|
||||
X78930000Y-52540000D03*
|
||||
X78930000Y-50000000D03*
|
||||
X78930000Y-47460000D03*
|
||||
X78930000Y-44920000D03*
|
||||
X78930000Y-42380000D03*
|
||||
X78930000Y-39840000D03*
|
||||
X78930000Y-37300000D03*
|
||||
X78930000Y-34760000D03*
|
||||
%TD*%
|
||||
%TO.C,U1*%
|
||||
X26070000Y-34760000D03*
|
||||
X26070000Y-37300000D03*
|
||||
X26070000Y-39840000D03*
|
||||
X26070000Y-42380000D03*
|
||||
X26070000Y-44920000D03*
|
||||
X26070000Y-47460000D03*
|
||||
X26070000Y-50000000D03*
|
||||
X26070000Y-52540000D03*
|
||||
X26070000Y-55080000D03*
|
||||
X26070000Y-57620000D03*
|
||||
X26070000Y-60160000D03*
|
||||
X26070000Y-62700000D03*
|
||||
X26070000Y-65240000D03*
|
||||
X48930000Y-60160000D03*
|
||||
X48930000Y-57620000D03*
|
||||
X48930000Y-55080000D03*
|
||||
X48930000Y-52540000D03*
|
||||
X48930000Y-50000000D03*
|
||||
X48930000Y-47460000D03*
|
||||
X48930000Y-44920000D03*
|
||||
X48930000Y-42380000D03*
|
||||
X48930000Y-39840000D03*
|
||||
X48930000Y-37300000D03*
|
||||
X48930000Y-34760000D03*
|
||||
%TD*%
|
||||
D11*
|
||||
%TO.C,J5*%
|
||||
X107460000Y-102850000D03*
|
||||
X107460000Y-100310000D03*
|
||||
X107460000Y-97770000D03*
|
||||
X107460000Y-95230000D03*
|
||||
X107460000Y-92690000D03*
|
||||
X107460000Y-90150000D03*
|
||||
X110000000Y-102850000D03*
|
||||
X110000000Y-100310000D03*
|
||||
X110000000Y-97770000D03*
|
||||
X110000000Y-95230000D03*
|
||||
X110000000Y-92690000D03*
|
||||
X110000000Y-90150000D03*
|
||||
X112540000Y-102850000D03*
|
||||
X112540000Y-100310000D03*
|
||||
X112540000Y-97770000D03*
|
||||
X112540000Y-95230000D03*
|
||||
X112540000Y-92690000D03*
|
||||
X112540000Y-90150000D03*
|
||||
%TD*%
|
||||
D12*
|
||||
%TO.C,U4*%
|
||||
X95392080Y-90070000D03*
|
||||
D13*
|
||||
X92852080Y-90070000D03*
|
||||
X90312080Y-90070000D03*
|
||||
X87772080Y-90070000D03*
|
||||
X85232080Y-90070000D03*
|
||||
X82692080Y-90070000D03*
|
||||
X80152080Y-90070000D03*
|
||||
X77612080Y-90070000D03*
|
||||
X75072080Y-90070000D03*
|
||||
X72532080Y-90070000D03*
|
||||
X69992080Y-90070000D03*
|
||||
X67452080Y-90070000D03*
|
||||
X64912080Y-90070000D03*
|
||||
X62372080Y-90070000D03*
|
||||
X59832080Y-90070000D03*
|
||||
X57292080Y-90070000D03*
|
||||
X54752080Y-90070000D03*
|
||||
X52212080Y-90070000D03*
|
||||
X49672080Y-90070000D03*
|
||||
X47134800Y-90066320D03*
|
||||
X44594800Y-90066320D03*
|
||||
X42054800Y-90066320D03*
|
||||
X42052080Y-112930000D03*
|
||||
X44592080Y-112930000D03*
|
||||
X47132080Y-112930000D03*
|
||||
X49672080Y-112930000D03*
|
||||
X52212080Y-112930000D03*
|
||||
X54752080Y-112930000D03*
|
||||
X57292080Y-112930000D03*
|
||||
X59832080Y-112930000D03*
|
||||
X62372080Y-112930000D03*
|
||||
X64912080Y-112930000D03*
|
||||
X67452080Y-112930000D03*
|
||||
X69992080Y-112930000D03*
|
||||
X72532080Y-112930000D03*
|
||||
X75072080Y-112930000D03*
|
||||
X77612080Y-112930000D03*
|
||||
X80152080Y-112930000D03*
|
||||
X82692080Y-112930000D03*
|
||||
X85232080Y-112930000D03*
|
||||
X87772080Y-112930000D03*
|
||||
X90312080Y-112930000D03*
|
||||
X92852080Y-112930000D03*
|
||||
X95392080Y-112930000D03*
|
||||
%TD*%
|
||||
D14*
|
||||
%TO.C,H4*%
|
||||
X110000000Y-110000000D03*
|
||||
%TD*%
|
||||
D15*
|
||||
%TO.C,J1*%
|
||||
X26000000Y-99900000D03*
|
||||
D16*
|
||||
X26000000Y-92700000D03*
|
||||
%TD*%
|
||||
D17*
|
||||
%TO.C,C5*%
|
||||
X69867677Y-76000000D03*
|
||||
D10*
|
||||
X64867677Y-76000000D03*
|
||||
%TD*%
|
||||
D14*
|
||||
%TO.C,H1*%
|
||||
X25000000Y-25000000D03*
|
||||
%TD*%
|
||||
D18*
|
||||
%TO.C,J2*%
|
||||
X47800000Y-29750000D03*
|
||||
D19*
|
||||
X43600000Y-29750000D03*
|
||||
X39400000Y-29750000D03*
|
||||
X35200000Y-29750000D03*
|
||||
X47800000Y-24250000D03*
|
||||
X43600000Y-24250000D03*
|
||||
X39400000Y-24250000D03*
|
||||
X35200000Y-24250000D03*
|
||||
%TD*%
|
||||
D20*
|
||||
%TO.C,C2*%
|
||||
X43323959Y-76000000D03*
|
||||
D21*
|
||||
X38323959Y-76000000D03*
|
||||
%TD*%
|
||||
D18*
|
||||
%TO.C,J3*%
|
||||
X73800000Y-29750000D03*
|
||||
D19*
|
||||
X69600000Y-29750000D03*
|
||||
X65400000Y-29750000D03*
|
||||
X61200000Y-29750000D03*
|
||||
X73800000Y-24250000D03*
|
||||
X69600000Y-24250000D03*
|
||||
X65400000Y-24250000D03*
|
||||
X61200000Y-24250000D03*
|
||||
%TD*%
|
||||
D20*
|
||||
%TO.C,C1*%
|
||||
X29323959Y-76000000D03*
|
||||
D21*
|
||||
X24323959Y-76000000D03*
|
||||
%TD*%
|
||||
D20*
|
||||
%TO.C,C4*%
|
||||
X105000000Y-82702780D03*
|
||||
D21*
|
||||
X105000000Y-75202780D03*
|
||||
%TD*%
|
||||
D20*
|
||||
%TO.C,C3*%
|
||||
X57323959Y-76000000D03*
|
||||
D21*
|
||||
X52323959Y-76000000D03*
|
||||
%TD*%
|
||||
D14*
|
||||
%TO.C,H3*%
|
||||
X25000000Y-110000000D03*
|
||||
%TD*%
|
||||
D18*
|
||||
%TO.C,J4*%
|
||||
X99800000Y-29750000D03*
|
||||
D19*
|
||||
X95600000Y-29750000D03*
|
||||
X91400000Y-29750000D03*
|
||||
X87200000Y-29750000D03*
|
||||
X99800000Y-24250000D03*
|
||||
X95600000Y-24250000D03*
|
||||
X91400000Y-24250000D03*
|
||||
X87200000Y-24250000D03*
|
||||
%TD*%
|
||||
D14*
|
||||
%TO.C,H2*%
|
||||
X110000000Y-25000000D03*
|
||||
%TD*%
|
||||
M02*
|
||||
@@ -0,0 +1,15 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:33:25+01:00*%
|
||||
%TF.ProjectId,cube-motherboard,63756265-2d6d-46f7-9468-6572626f6172,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Paste,Bot*%
|
||||
%TF.FilePolarity,Positive*%
|
||||
%FSLAX46Y46*%
|
||||
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:33:25*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
G04 APERTURE END LIST*
|
||||
M02*
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,23 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:33:25+01:00*%
|
||||
%TF.ProjectId,cube-motherboard,63756265-2d6d-46f7-9468-6572626f6172,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Profile,NP*%
|
||||
%FSLAX46Y46*%
|
||||
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:33:25*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
%TA.AperFunction,Profile*%
|
||||
%ADD10C,0.100000*%
|
||||
%TD*%
|
||||
G04 APERTURE END LIST*
|
||||
D10*
|
||||
X20000000Y-20000000D02*
|
||||
X115000000Y-20000000D01*
|
||||
X115000000Y-115000000D01*
|
||||
X20000000Y-115000000D01*
|
||||
X20000000Y-20000000D01*
|
||||
M02*
|
||||
16508
electronics/cube-motherboard/gerbers/cube-motherboard-F_Cu.gtl
Normal file
16508
electronics/cube-motherboard/gerbers/cube-motherboard-F_Cu.gtl
Normal file
File diff suppressed because it is too large
Load Diff
500
electronics/cube-motherboard/gerbers/cube-motherboard-F_Mask.gts
Normal file
500
electronics/cube-motherboard/gerbers/cube-motherboard-F_Mask.gts
Normal file
@@ -0,0 +1,500 @@
|
||||
%TF.GenerationSoftware,KiCad,Pcbnew,7.0.8*%
|
||||
%TF.CreationDate,2024-01-29T21:33:25+01:00*%
|
||||
%TF.ProjectId,cube-motherboard,63756265-2d6d-46f7-9468-6572626f6172,rev?*%
|
||||
%TF.SameCoordinates,Original*%
|
||||
%TF.FileFunction,Soldermask,Top*%
|
||||
%TF.FilePolarity,Negative*%
|
||||
%FSLAX46Y46*%
|
||||
G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
|
||||
G04 Created by KiCad (PCBNEW 7.0.8) date 2024-01-29 21:33:25*
|
||||
%MOMM*%
|
||||
%LPD*%
|
||||
G01*
|
||||
G04 APERTURE LIST*
|
||||
G04 Aperture macros list*
|
||||
%AMRoundRect*
|
||||
0 Rectangle with rounded corners*
|
||||
0 $1 Rounding radius*
|
||||
0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners*
|
||||
0 Add a 4 corners polygon primitive as box body*
|
||||
4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0*
|
||||
0 Add four circle primitives for the rounded corners*
|
||||
1,1,$1+$1,$2,$3*
|
||||
1,1,$1+$1,$4,$5*
|
||||
1,1,$1+$1,$6,$7*
|
||||
1,1,$1+$1,$8,$9*
|
||||
0 Add four rect primitives between the rounded corners*
|
||||
20,1,$1+$1,$2,$3,$4,$5,0*
|
||||
20,1,$1+$1,$4,$5,$6,$7,0*
|
||||
20,1,$1+$1,$6,$7,$8,$9,0*
|
||||
20,1,$1+$1,$8,$9,$2,$3,0*%
|
||||
G04 Aperture macros list end*
|
||||
%ADD10C,2.000000*%
|
||||
%ADD11R,5.000000X3.400000*%
|
||||
%ADD12C,1.600000*%
|
||||
%ADD13R,3.000000X2.400000*%
|
||||
%ADD14RoundRect,0.147500X0.172500X-0.147500X0.172500X0.147500X-0.172500X0.147500X-0.172500X-0.147500X0*%
|
||||
%ADD15RoundRect,0.225000X0.250000X-0.225000X0.250000X0.225000X-0.250000X0.225000X-0.250000X-0.225000X0*%
|
||||
%ADD16RoundRect,0.150000X-0.150000X0.512500X-0.150000X-0.512500X0.150000X-0.512500X0.150000X0.512500X0*%
|
||||
%ADD17RoundRect,0.250000X-1.000000X-0.900000X1.000000X-0.900000X1.000000X0.900000X-1.000000X0.900000X0*%
|
||||
%ADD18R,1.500000X2.000000*%
|
||||
%ADD19O,1.500000X2.000000*%
|
||||
%ADD20RoundRect,0.225000X-0.225000X-0.250000X0.225000X-0.250000X0.225000X0.250000X-0.225000X0.250000X0*%
|
||||
%ADD21C,5.600000*%
|
||||
%ADD22RoundRect,0.150000X0.587500X0.150000X-0.587500X0.150000X-0.587500X-0.150000X0.587500X-0.150000X0*%
|
||||
%ADD23RoundRect,1.500000X1.500000X-1.500000X1.500000X1.500000X-1.500000X1.500000X-1.500000X-1.500000X0*%
|
||||
%ADD24C,6.000000*%
|
||||
%ADD25R,2.000000X2.000000*%
|
||||
%ADD26RoundRect,0.050000X0.225000X0.050000X-0.225000X0.050000X-0.225000X-0.050000X0.225000X-0.050000X0*%
|
||||
%ADD27RoundRect,0.050000X-0.050000X0.225000X-0.050000X-0.225000X0.050000X-0.225000X0.050000X0.225000X0*%
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11902
electronics/cube-motherboard/gerbers/cube-motherboard-In1_Cu.g2
Normal file
11902
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Normal file
File diff suppressed because it is too large
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11177
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Normal file
11177
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Normal file
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T5
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||||
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|
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T6
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||||
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||||
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||||
T0
|
||||
M30
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||||
170
electronics/cube-motherboard/gerbers/cube-motherboard-job.gbrjob
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170
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electronics/cube-motherboard/sym-lib-table
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4
electronics/cube-motherboard/sym-lib-table
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Normal file
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Normal file
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Normal file
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Normal file
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Normal file
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Normal file
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Normal file
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Normal file
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Normal file
BIN
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Normal file
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mechanical/models/bridge.step
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mechanical/models/cornerstone-b.step
Normal file
1266
mechanical/models/cornerstone-b.step
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mechanical/models/frame-motor.f3d
Normal file
BIN
mechanical/models/frame-motor.f3d
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mechanical/models/frame-motor.step
Normal file
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mechanical/models/frame-motor.step
Normal file
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mechanical/models/frame-regular.f3d
Normal file
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mechanical/models/frame-regular.f3d
Normal file
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mechanical/models/frame-regular.step
Normal file
2854
mechanical/models/frame-regular.step
Normal file
File diff suppressed because it is too large
Load Diff
BIN
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Normal file
BIN
mechanical/models/hub.f3d
Normal file
Binary file not shown.
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mechanical/models/hub.step
Normal file
944
mechanical/models/hub.step
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||||
#795=CARTESIAN_POINT('Ctrl Pts',(0.709681373990488,-1.86985356309284,2.5000000372529));
|
||||
#796=CARTESIAN_POINT('Origin',(-7.36121593216773,4.25,4.78075));
|
||||
#797=CARTESIAN_POINT('',(-6.73621593216773,5.33253175473055,5.));
|
||||
#798=CARTESIAN_POINT('Origin',(-7.36121593216773,4.25,5.));
|
||||
#799=CARTESIAN_POINT('',(-6.95546593216773,4.95277961517108,4.5615));
|
||||
#800=CARTESIAN_POINT('',(-6.84584093216773,5.14265568495081,4.78075));
|
||||
#801=CARTESIAN_POINT('Origin',(-7.36121593216773,4.25,4.5615));
|
||||
#802=CARTESIAN_POINT('Origin',(-7.36121593216773,4.25,2.5));
|
||||
#803=CARTESIAN_POINT('',(-6.95546593216773,4.95277961517108,2.5));
|
||||
#804=CARTESIAN_POINT('Origin',(7.36121593216773,4.25,4.78075));
|
||||
#805=CARTESIAN_POINT('',(7.98621593216773,3.16746824526945,5.));
|
||||
#806=CARTESIAN_POINT('Origin',(7.36121593216773,4.25,5.));
|
||||
#807=CARTESIAN_POINT('',(7.76696593216773,3.54722038482893,4.5615));
|
||||
#808=CARTESIAN_POINT('',(7.87659093216773,3.35734431504919,4.78075));
|
||||
#809=CARTESIAN_POINT('Origin',(7.36121593216773,4.25,4.5615));
|
||||
#810=CARTESIAN_POINT('Origin',(7.36121593216773,4.25,2.5));
|
||||
#811=CARTESIAN_POINT('',(7.76696593216773,3.54722038482893,2.5));
|
||||
#812=CARTESIAN_POINT('Origin',(0.,-8.5,4.78075));
|
||||
#813=CARTESIAN_POINT('',(-1.25,-8.5,5.));
|
||||
#814=CARTESIAN_POINT('Origin',(0.,-8.5,5.));
|
||||
#815=CARTESIAN_POINT('',(-0.8115,-8.5,4.5615));
|
||||
#816=CARTESIAN_POINT('',(-1.03075,-8.5,4.78075));
|
||||
#817=CARTESIAN_POINT('Origin',(0.,-8.5,4.5615));
|
||||
#818=CARTESIAN_POINT('Origin',(0.,-8.5,2.5));
|
||||
#819=CARTESIAN_POINT('',(-0.8115,-8.5,2.5));
|
||||
#820=CARTESIAN_POINT('Origin',(0.,0.,5.));
|
||||
#821=CARTESIAN_POINT('',(5.95,7.28664845492675E-16,8.));
|
||||
#822=CARTESIAN_POINT('Origin',(0.,0.,8.));
|
||||
#823=CARTESIAN_POINT('',(5.95,7.28664845492675E-16,5.));
|
||||
#824=CARTESIAN_POINT('',(5.95,7.28664845492675E-16,5.));
|
||||
#825=CARTESIAN_POINT('Origin',(0.,0.,5.));
|
||||
#826=CARTESIAN_POINT('Origin',(0.,0.,8.));
|
||||
#827=CARTESIAN_POINT('',(-2.,-2.44929359829471E-16,8.));
|
||||
#828=CARTESIAN_POINT('Origin',(0.,0.,8.));
|
||||
#829=CARTESIAN_POINT('Origin',(0.,0.,0.));
|
||||
#830=CARTESIAN_POINT('',(-2.,-2.44929359829471E-16,0.));
|
||||
#831=CARTESIAN_POINT('',(-2.,-2.44929359829471E-16,0.));
|
||||
#832=CARTESIAN_POINT('Origin',(0.,-14.0000002086163,0.));
|
||||
#833=CARTESIAN_POINT('',(0.,-14.0000002086163,5.));
|
||||
#834=CARTESIAN_POINT('Origin',(2.22044604925031E-15,-3.50000005215406,5.));
|
||||
#835=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#839,
|
||||
'DISTANCE_ACCURACY_VALUE',
|
||||
'Maximum model space distance between geometric entities at asserted c
|
||||
onnectivities');
|
||||
#836=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#839,
|
||||
'DISTANCE_ACCURACY_VALUE',
|
||||
'Maximum model space distance between geometric entities at asserted c
|
||||
onnectivities');
|
||||
#837=(
|
||||
GEOMETRIC_REPRESENTATION_CONTEXT(3)
|
||||
GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#835))
|
||||
GLOBAL_UNIT_ASSIGNED_CONTEXT((#839,#841,#842))
|
||||
REPRESENTATION_CONTEXT('','3D')
|
||||
);
|
||||
#838=(
|
||||
GEOMETRIC_REPRESENTATION_CONTEXT(3)
|
||||
GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#836))
|
||||
GLOBAL_UNIT_ASSIGNED_CONTEXT((#839,#841,#842))
|
||||
REPRESENTATION_CONTEXT('','3D')
|
||||
);
|
||||
#839=(
|
||||
LENGTH_UNIT()
|
||||
NAMED_UNIT(*)
|
||||
SI_UNIT(.MILLI.,.METRE.)
|
||||
);
|
||||
#840=(
|
||||
LENGTH_UNIT()
|
||||
NAMED_UNIT(*)
|
||||
SI_UNIT($,.METRE.)
|
||||
);
|
||||
#841=(
|
||||
NAMED_UNIT(*)
|
||||
PLANE_ANGLE_UNIT()
|
||||
SI_UNIT($,.RADIAN.)
|
||||
);
|
||||
#842=(
|
||||
NAMED_UNIT(*)
|
||||
SI_UNIT($,.STERADIAN.)
|
||||
SOLID_ANGLE_UNIT()
|
||||
);
|
||||
#843=SHAPE_DEFINITION_REPRESENTATION(#844,#845);
|
||||
#844=PRODUCT_DEFINITION_SHAPE('',$,#847);
|
||||
#845=SHAPE_REPRESENTATION('',(#439),#837);
|
||||
#846=PRODUCT_DEFINITION_CONTEXT('part definition',#851,'design');
|
||||
#847=PRODUCT_DEFINITION('Hub','Hub v9',#848,#846);
|
||||
#848=PRODUCT_DEFINITION_FORMATION('',$,#853);
|
||||
#849=PRODUCT_RELATED_PRODUCT_CATEGORY('Hub v9','Hub v9',(#853));
|
||||
#850=APPLICATION_PROTOCOL_DEFINITION('international standard',
|
||||
'automotive_design',2009,#851);
|
||||
#851=APPLICATION_CONTEXT(
|
||||
'Core Data for Automotive Mechanical Design Process');
|
||||
#852=PRODUCT_CONTEXT('part definition',#851,'mechanical');
|
||||
#853=PRODUCT('Hub','Hub v9',$,(#852));
|
||||
#854=PRESENTATION_STYLE_ASSIGNMENT((#855));
|
||||
#855=SURFACE_STYLE_USAGE(.BOTH.,#856);
|
||||
#856=SURFACE_SIDE_STYLE('',(#857));
|
||||
#857=SURFACE_STYLE_FILL_AREA(#858);
|
||||
#858=FILL_AREA_STYLE('Steel - Satin',(#859));
|
||||
#859=FILL_AREA_STYLE_COLOUR('Steel - Satin',#860);
|
||||
#860=COLOUR_RGB('Steel - Satin',0.627450980392157,0.627450980392157,0.627450980392157);
|
||||
ENDSEC;
|
||||
END-ISO-10303-21;
|
||||
BIN
mechanical/models/mount-brake.f3d
Normal file
BIN
mechanical/models/mount-brake.f3d
Normal file
Binary file not shown.
1848
mechanical/models/mount-brake.step
Normal file
1848
mechanical/models/mount-brake.step
Normal file
File diff suppressed because it is too large
Load Diff
BIN
mechanical/models/wheel.f3d
Normal file
BIN
mechanical/models/wheel.f3d
Normal file
Binary file not shown.
2321
mechanical/models/wheel.step
Normal file
2321
mechanical/models/wheel.step
Normal file
File diff suppressed because it is too large
Load Diff
118
software/accelerometer-calibration/accelerometer-calibration.ino
Normal file
118
software/accelerometer-calibration/accelerometer-calibration.ino
Normal file
@@ -0,0 +1,118 @@
|
||||
// This program can be used to get the offsets and scaling factors for the gyro and accelerometer. This cannot be done
|
||||
// automatically. The cube must be placed in six different orientations, corresponding to each axis facing up and down.
|
||||
// Calibration offsets should initially be set to zero. Use the methodology as described in Analog Devices AN-1057,
|
||||
// which may be found here: https://www.analog.com/en/app-notes/an-1057.html. In particular, equations 17 and 18.
|
||||
|
||||
#include <Wire.h>
|
||||
#include <ICM20948_WE.h>
|
||||
#define ICM20948_ADDR 0x68
|
||||
|
||||
TwoWire wirePort = TwoWire(0);
|
||||
ICM20948_WE myIMU = ICM20948_WE(&wirePort);
|
||||
|
||||
void setup() {
|
||||
// Set up serial
|
||||
Serial.begin(921600);
|
||||
|
||||
// Set up I2C on pins 47 (SDA) and 21 (SCL) at 400 kHz
|
||||
wirePort.begin(47, 21, 400000);
|
||||
|
||||
// Initialize IMU
|
||||
if(!myIMU.init()){
|
||||
Serial.println("ICM20948 does not respond");
|
||||
}
|
||||
else{
|
||||
Serial.println("ICM20948 is connected");
|
||||
}
|
||||
|
||||
// Set accelerometer and gyroscope ranges
|
||||
myIMU.setAccRange(ICM20948_ACC_RANGE_2G);
|
||||
myIMU.setGyrRange(ICM20948_GYRO_RANGE_2000);
|
||||
|
||||
// Set digital low pass filter setting such that noise is minimized (lowest cut-off frequency)
|
||||
myIMU.setAccDLPF(ICM20948_DLPF_6);
|
||||
myIMU.setGyrDLPF(ICM20948_DLPF_6);
|
||||
|
||||
// Disable sample rate divider
|
||||
myIMU.setAccSampleRateDivider(0);
|
||||
myIMU.setGyrSampleRateDivider(0);
|
||||
}
|
||||
|
||||
unsigned long timer;
|
||||
xyzFloat acc, gyr;
|
||||
float ax, ay, az, gx, gy, gz;
|
||||
|
||||
// Calibration offsets
|
||||
const float b_gyr_x = 0.74;
|
||||
const float b_gyr_y = 0.66;
|
||||
const float b_gyr_z = -0.45;
|
||||
|
||||
// IMU accelerator offsets and gain
|
||||
const float b_acc_x = -6;
|
||||
const float b_acc_y = -215;
|
||||
const float b_acc_z = 161;
|
||||
const float f_acc_x = 1672.7;
|
||||
const float f_acc_y = 1673.3;
|
||||
const float f_acc_z = 1691.5;
|
||||
|
||||
void loop() {
|
||||
// Start a timer
|
||||
timer = millis();
|
||||
|
||||
// Measure 1000 samples and average them
|
||||
for(int i = 0; i < 1000; i++) {
|
||||
myIMU.readSensor();
|
||||
acc = myIMU.getAccRawValues();
|
||||
gyr = myIMU.getGyrValues();
|
||||
|
||||
ax += acc.x / 1000;
|
||||
ay += acc.y / 1000;
|
||||
az += acc.z / 1000;
|
||||
gx += gyr.x / 1000;
|
||||
gy += gyr.y / 1000;
|
||||
gz += gyr.z / 1000;
|
||||
|
||||
// Print raw and calibrated values in last cycle
|
||||
if(i == 999) {
|
||||
Serial.print("Raw: Acc: ");
|
||||
Serial.print(ax);
|
||||
Serial.print(", ");
|
||||
Serial.print(ay);
|
||||
Serial.print(", ");
|
||||
Serial.print(az);
|
||||
Serial.print(", ");
|
||||
Serial.print("gyr: ");
|
||||
Serial.print(gx);
|
||||
Serial.print(", ");
|
||||
Serial.print(gy);
|
||||
Serial.print(", ");
|
||||
Serial.println(gz);
|
||||
|
||||
// Equation 19 in AD AN-1057 is used here
|
||||
Serial.print("Calibrated: Acc: ");
|
||||
Serial.print((ax - b_acc_x) / f_acc_x);
|
||||
Serial.print(", ");
|
||||
Serial.print((ay - b_acc_y) / f_acc_y);
|
||||
Serial.print(", ");
|
||||
Serial.print((az - b_acc_z) / f_acc_z);
|
||||
Serial.print(", ");
|
||||
Serial.print("gyr: ");
|
||||
Serial.print(gx - b_gyr_x);
|
||||
Serial.print(", ");
|
||||
Serial.print(gy - b_gyr_y);
|
||||
Serial.print(", ");
|
||||
Serial.println(gz - b_gyr_z);
|
||||
}
|
||||
}
|
||||
|
||||
// Print how long it took to get 1000 measurements
|
||||
Serial.print("Took "); Serial.print(millis() - timer); Serial.println(" ms.");
|
||||
|
||||
// Reset averages
|
||||
ax = 0;
|
||||
ay = 0;
|
||||
az = 0;
|
||||
gx = 0;
|
||||
gy = 0;
|
||||
gz = 0;
|
||||
}
|
||||
244
software/cube-controller/cube-controller.ino
Normal file
244
software/cube-controller/cube-controller.ino
Normal file
@@ -0,0 +1,244 @@
|
||||
// Toggle over-the-air (WiFi) programming functionality (0 = disabled, 1 = enabled)
|
||||
#define OTA 1
|
||||
|
||||
// Toggle between use of nonlinear or linear controller (0 = linear, 1 = nonlinear)
|
||||
#define USE_NONLINEAR_CONTROLLER 1
|
||||
|
||||
// TickTwo provides ESP32-compatible timers
|
||||
#include <TickTwo.h>
|
||||
|
||||
#if OTA
|
||||
// Libraries related to wireless functionality
|
||||
#include <WiFi.h>
|
||||
#include <ESPmDNS.h>
|
||||
#include <WiFiUdp.h>
|
||||
#include <ArduinoOTA.h>
|
||||
#endif
|
||||
|
||||
// Cube controller library
|
||||
#include "src/cube-controller.h"
|
||||
|
||||
#if OTA
|
||||
// WiFi settings
|
||||
const char* wifi_ssid = "YOUR_SSID";
|
||||
const char* wifi_password = "YOUR_PASSWORD";
|
||||
#endif
|
||||
|
||||
// Instantiation of objects
|
||||
Motor motor1(M1_ENABLE, M1_CURRENT), motor2(M2_ENABLE, M2_CURRENT), motor3(M3_ENABLE, M3_CURRENT);
|
||||
WheelEstimator whe_est_1(M1_SPEED), whe_est_2(M2_SPEED), whe_est_3(M3_SPEED);
|
||||
AttitudeEstimator att_est(IMU_SDA, IMU_SCL);
|
||||
AttitudeWheelController cont(USE_NONLINEAR_CONTROLLER);
|
||||
AttitudeTrajectory att_tra;
|
||||
|
||||
// Run cube controller at the frequency as specified in parameter file
|
||||
void controller();
|
||||
TickTwo timer(controller, dt_us, 0, MICROS_MICROS);
|
||||
|
||||
// Status LED control: LED is either solid or blinking at 2.5 Hz
|
||||
void control_led();
|
||||
TickTwo timer_led(control_led, 200, 0, MILLIS);
|
||||
|
||||
#if OTA
|
||||
// Handle OTA flashing requests every 5 seconds
|
||||
void handle_ota();
|
||||
TickTwo timer_ota(handle_ota, 5000, 0, MILLIS);
|
||||
#endif
|
||||
|
||||
// Quaternion and angle error
|
||||
float qe0, qe1, qe2, qe3;
|
||||
float phi;
|
||||
float phi_lim = phi_min;
|
||||
|
||||
// Trajectory initialization flag
|
||||
bool flag_tra = false;
|
||||
|
||||
// LED status when blinking
|
||||
bool led_status = false;
|
||||
|
||||
// Security flags
|
||||
bool flag_arm = false;
|
||||
bool flag_terminate = false;
|
||||
|
||||
// Torques
|
||||
float tau_1 = 0, tau_2 = 0, tau_3 = 0;
|
||||
|
||||
void setup() {
|
||||
// Open serial connection
|
||||
Serial.begin(921600);
|
||||
Serial.println("This is the ESP32 cube controller.");
|
||||
|
||||
#if OTA
|
||||
// Set up WiFi connection
|
||||
WiFi.mode(WIFI_STA);
|
||||
WiFi.begin(wifi_ssid, wifi_password);
|
||||
|
||||
unsigned int nAttempts = 0;
|
||||
while (WiFi.waitForConnectResult() != WL_CONNECTED && nAttempts < 3) {
|
||||
delay(1000);
|
||||
nAttempts++;
|
||||
}
|
||||
|
||||
// If WiFi connection failed, indicate this using six yellow flashes
|
||||
if(WiFi.waitForConnectResult() != WL_CONNECTED) {
|
||||
for(int i = 0; i < 5; i++) {
|
||||
neopixelWrite(RGB_BUILTIN, 255, 255, 0);
|
||||
delay(250);
|
||||
neopixelWrite(RGB_BUILTIN, 0, 0, 0);
|
||||
delay(250);
|
||||
}
|
||||
}
|
||||
|
||||
// Set hostname
|
||||
ArduinoOTA.setHostname("Cube ESP32");
|
||||
|
||||
// Print WiFi status
|
||||
Serial.print("Connected to WiFi (local IP is ");
|
||||
Serial.print(WiFi.localIP());
|
||||
Serial.println(").");
|
||||
|
||||
// Set up OTA flashing using ArduinoOTA
|
||||
ArduinoOTA.begin();
|
||||
#endif
|
||||
|
||||
// Delay for one second to allow Maxon ESCON drivers to fully initialize
|
||||
delay(1000);
|
||||
|
||||
// Motor setup (also spins each motor in positive direction very briefly)
|
||||
motor1.init();
|
||||
motor2.init();
|
||||
motor3.init();
|
||||
|
||||
// Wheel estimator initialization (also calibrates the hall sensor for each wheel)
|
||||
whe_est_1.init();
|
||||
whe_est_2.init();
|
||||
whe_est_3.init();
|
||||
|
||||
// Attitude estimator initialization (also calibrates the gyroscope)
|
||||
att_est.init();
|
||||
|
||||
// Start controller and LED timers
|
||||
timer.start();
|
||||
timer_led.start();
|
||||
|
||||
#if OTA
|
||||
// OTA handler timer
|
||||
timer_ota.start();
|
||||
#endif
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// Update controller timer
|
||||
timer.update();
|
||||
timer_led.update();
|
||||
|
||||
#if OTA
|
||||
// Handle OTA updates
|
||||
timer_ota.update();
|
||||
#endif
|
||||
}
|
||||
|
||||
#if OTA
|
||||
void handle_ota(){
|
||||
ArduinoOTA.handle();
|
||||
}
|
||||
#endif
|
||||
|
||||
void controller() {
|
||||
// Estimate wheel velocities
|
||||
whe_est_1.estimate(tau_1);
|
||||
whe_est_2.estimate(tau_2);
|
||||
whe_est_3.estimate(tau_3);
|
||||
|
||||
// Estimate cube attitude
|
||||
att_est.estimate();
|
||||
|
||||
// Calculate rotation quaternion error
|
||||
qe0 = att_est.q0 * att_tra.qr0 + att_est.q1 * att_tra.qr1 + att_est.q2 * att_tra.qr2 + att_est.q3 * att_tra.qr3;
|
||||
qe1 = att_est.q0 * att_tra.qr1 - att_est.q1 * att_tra.qr0 - att_est.q2 * att_tra.qr3 + att_est.q3 * att_tra.qr2;
|
||||
qe2 = att_est.q0 * att_tra.qr2 - att_est.q2 * att_tra.qr0 + att_est.q1 * att_tra.qr3 - att_est.q3 * att_tra.qr1;
|
||||
qe3 = att_est.q0 * att_tra.qr3 - att_est.q1 * att_tra.qr2 + att_est.q2 * att_tra.qr1 - att_est.q3 * att_tra.qr0;
|
||||
|
||||
// Normalize rotation quaternion error (real part only since we don't need the rest)
|
||||
qe0 /= sqrt(qe0 * qe0 + qe1 * qe1 + qe2 * qe2 + qe3 * qe3);
|
||||
|
||||
// Calculate error angle
|
||||
phi = 2.0 * acos(qe0);
|
||||
|
||||
// Controller enable and disable logic. The controller only activates once its orientation is such that the error with
|
||||
// respect to the desired orientation is smaller than phi_min. As soon as this is reached, the error tolerance phi_lim
|
||||
// is increased to phi_max. If this error is exceeded, the controller is disabled until the chip is reset.
|
||||
if(abs(phi) <= phi_lim && !flag_terminate) {
|
||||
// Controller is active
|
||||
flag_arm = true;
|
||||
|
||||
// Increase error range to the maximum limit
|
||||
phi_lim = phi_max;
|
||||
|
||||
// Generate trajectory
|
||||
// Comment out the generate() method if the cube is balancing on a side instead of a corner
|
||||
if(!flag_tra) {
|
||||
flag_tra = true;
|
||||
att_tra.init();
|
||||
}
|
||||
att_tra.generate();
|
||||
|
||||
// Controller calculates motor torques based on cube and wheel states
|
||||
cont.control(att_tra.qr0, att_tra.qr1, att_tra.qr2, att_tra.qr3, att_est.q0, att_est.q1, att_est.q2, att_est.q3,
|
||||
att_tra.omega_r_x, att_tra.omega_r_y, att_tra.omega_r_z, att_est.omega_x, att_est.omega_y, att_est.omega_z,
|
||||
att_tra.alpha_r_x, att_tra.alpha_r_y, att_tra.alpha_r_z, whe_est_1.theta_w, whe_est_2.theta_w,
|
||||
whe_est_3.theta_w, whe_est_1.omega_w, whe_est_2.omega_w, whe_est_3.omega_w);
|
||||
|
||||
// Get motor torques from controller
|
||||
tau_1 = cont.tau_1;
|
||||
tau_2 = cont.tau_2;
|
||||
tau_3 = cont.tau_3;
|
||||
} else {
|
||||
// Outside safe limits: reset motor torques to zero
|
||||
tau_1 = 0.0;
|
||||
tau_2 = 0.0;
|
||||
tau_3 = 0.0;
|
||||
|
||||
// Disarm mechanism
|
||||
if(flag_arm) {
|
||||
flag_arm = false;
|
||||
flag_terminate = true;
|
||||
}
|
||||
}
|
||||
|
||||
// Apply torques to motors
|
||||
// When balancing on the x side, comment out motor 2 and 3. When balancing on the y side, comment out 1 and 3.
|
||||
motor1.set_torque(tau_1);
|
||||
motor2.set_torque(tau_2);
|
||||
motor3.set_torque(tau_3);
|
||||
}
|
||||
|
||||
void control_led() {
|
||||
if(flag_arm) {
|
||||
if(abs(phi) <= phi_lim - 10 * pi / 180) {
|
||||
// Cube is not close to error limit: solid green LED
|
||||
neopixelWrite(RGB_BUILTIN, 0, 255, 0);
|
||||
} else {
|
||||
// Cube is close to error limit: alternate between red and green. Cube should be manually put to rest.
|
||||
if(led_status) {
|
||||
neopixelWrite(RGB_BUILTIN, 255, 0, 0);
|
||||
} else {
|
||||
neopixelWrite(RGB_BUILTIN, 0, 255, 0);
|
||||
}
|
||||
led_status = !led_status;
|
||||
}
|
||||
} else {
|
||||
if(flag_tra) {
|
||||
// A trajectory was already generated so the cube must now be halted due to a limit error
|
||||
if(led_status) {
|
||||
neopixelWrite(RGB_BUILTIN, 0, 0, 0);
|
||||
} else {
|
||||
neopixelWrite(RGB_BUILTIN, 255, 0, 0);
|
||||
}
|
||||
led_status = !led_status;
|
||||
} else {
|
||||
// Show a solid red LED to indicate readiness to start
|
||||
neopixelWrite(RGB_BUILTIN, 255, 0, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,169 @@
|
||||
#include "controller_attitude_wheel.h"
|
||||
|
||||
// Constructor
|
||||
AttitudeWheelController::AttitudeWheelController(bool useNonlinear) : useNonlinear(useNonlinear) {
|
||||
// Set initial quaternion error
|
||||
qe0 = 0.0;
|
||||
qe1 = 0.0;
|
||||
qe2 = 0.0;
|
||||
qe3 = 0.0;
|
||||
|
||||
// Set initial torque
|
||||
tau_1 = 0.0;
|
||||
tau_2 = 0.0;
|
||||
tau_3 = 0.0;
|
||||
|
||||
// Set initial linearized input
|
||||
u_1 = 0.0;
|
||||
u_2 = 0.0;
|
||||
u_3 = 0.0;
|
||||
}
|
||||
|
||||
// Control step
|
||||
void AttitudeWheelController::control(float qr0, float qr1, float qr2, float qr3, float q0, float q1, float q2,
|
||||
float q3, float omega_r_x, float omega_r_y, float omega_r_z, float omega_x, float omega_y, float omega_z,
|
||||
float alpha_r_x, float alpha_r_y, float alpha_r_z, float theta_1, float theta_2, float theta_3, float omega_1,
|
||||
float omega_2, float omega_3) {
|
||||
if(useNonlinear) {
|
||||
state_regulator(qr0, qr1, qr2, qr3, q0, q1, q2, q3, omega_r_x, omega_r_y, omega_r_z, omega_x, omega_y, omega_z,
|
||||
alpha_r_x, alpha_r_y, alpha_r_z, theta_1, theta_2, theta_3, omega_1, omega_2, omega_3);
|
||||
feedback_linearization(q0, q1, q2, q3, omega_x, omega_y, omega_z, omega_1, omega_2, omega_3);
|
||||
} else {
|
||||
linear_regulator(qr0, qr1, qr2, qr3, q0, q1, q2, q3, omega_r_x, omega_r_y, omega_r_z, omega_x, omega_y, omega_z,
|
||||
alpha_r_x, alpha_r_y, alpha_r_z, theta_1, theta_2, theta_3, omega_1, omega_2, omega_3);
|
||||
}
|
||||
}
|
||||
|
||||
// State regulator step
|
||||
void AttitudeWheelController::state_regulator(float qr0, float qr1, float qr2, float qr3, float q0, float q1, float q2,
|
||||
float q3, float omega_r_x, float omega_r_y, float omega_r_z, float omega_x, float omega_y, float omega_z,
|
||||
float alpha_r_x, float alpha_r_y, float alpha_r_z, float theta_1, float theta_2, float theta_3, float omega_1,
|
||||
float omega_2, float omega_3) {
|
||||
// Calculate rotation quaternion error
|
||||
qe0 = q0 * qr0 + q1 * qr1 + q2 * qr2 + q3 * qr3;
|
||||
qe1 = q0 * qr1 - q1 * qr0 - q2 * qr3 + q3 * qr2;
|
||||
qe2 = q0 * qr2 - q2 * qr0 + q1 * qr3 - q3 * qr1;
|
||||
qe3 = q0 * qr3 - q1 * qr2 + q2 * qr1 - q3 * qr0;
|
||||
|
||||
// Normalize rotation quaternion error
|
||||
float qe_norm = sqrt(qe0 * qe0 + qe1 * qe1 + qe2 * qe2 + qe3 * qe3);
|
||||
qe0 /= qe_norm;
|
||||
qe1 /= qe_norm;
|
||||
qe2 /= qe_norm;
|
||||
qe3 /= qe_norm;
|
||||
|
||||
// Auxiliary variables to avoid computing the same term multiple times
|
||||
float qe0qe1 = qe0 * qe1;
|
||||
float qe0qe2 = qe0 * qe2;
|
||||
float qe0qe3 = qe0 * qe3;
|
||||
float qe1qe1 = qe1 * qe1;
|
||||
float qe1qe2 = qe1 * qe2;
|
||||
float qe1qe3 = qe1 * qe3;
|
||||
float qe2qe2 = qe2 * qe2;
|
||||
float qe2qe3 = qe2 * qe3;
|
||||
float qe3qe3 = qe3 * qe3;
|
||||
|
||||
// Calculate angular velocity error
|
||||
float omega_e_x = omega_r_x + 2.0 * (omega_r_x * (-qe2qe2 - qe3qe3) + omega_r_y * (-qe0qe3 + qe1qe2) + omega_r_z *
|
||||
( qe0qe2 + qe1qe3)) - omega_x;
|
||||
float omega_e_y = omega_r_y + 2.0 * (omega_r_x * ( qe0qe3 + qe1qe2) + omega_r_y * (-qe1qe1 - qe3qe3) + omega_r_z *
|
||||
(-qe0qe1 + qe2qe3)) - omega_y;
|
||||
float omega_e_z = omega_r_z + 2.0 * (omega_r_x * (-qe0qe2 + qe1qe3) + omega_r_y * ( qe0qe1 + qe2qe3) + omega_r_z *
|
||||
(-qe1qe1 - qe2qe2)) - omega_z;
|
||||
|
||||
// Auxiliary variable to avoid computing the same term multiple times
|
||||
float _2_kp_omega_e_omega_e_4 = 2.0 * (kp - (omega_e_x * omega_e_x + omega_e_y * omega_e_y + omega_e_z * omega_e_z)
|
||||
/ 4.0);
|
||||
|
||||
// Attitude feedback
|
||||
u_1 = _2_kp_omega_e_omega_e_4 * qe1 / qe0 + kd * omega_e_x;
|
||||
u_2 = _2_kp_omega_e_omega_e_4 * qe2 / qe0 + kd * omega_e_y;
|
||||
u_3 = _2_kp_omega_e_omega_e_4 * qe3 / qe0 + kd * omega_e_z;
|
||||
|
||||
// Attitude feedforward
|
||||
u_1 += omega_e_y * omega_z - omega_e_z * omega_y + alpha_r_x + 2.0 * (alpha_r_x *(-qe2qe2 - qe3qe3) + alpha_r_y *
|
||||
(-qe0qe3 + qe1qe2) + alpha_r_z * ( qe0qe2 + qe1qe3));
|
||||
u_2 += omega_e_z * omega_x - omega_e_x * omega_z + alpha_r_y + 2.0 * (alpha_r_x *( qe0qe3 + qe1qe2) + alpha_r_y *
|
||||
(-qe1qe1 - qe3qe3) + alpha_r_z * (-qe0qe1 + qe2qe3));
|
||||
u_3 += omega_e_x * omega_y - omega_e_y * omega_x + alpha_r_z + 2.0 * (alpha_r_x *(-qe0qe2 + qe1qe3) + alpha_r_y *
|
||||
( qe0qe1 + qe2qe3) + alpha_r_z * (-qe1qe1 - qe2qe2));
|
||||
|
||||
// Wheel feedback
|
||||
u_1 += -kpw * theta_1 - kdw * omega_1;
|
||||
u_2 += -kpw * theta_2 - kdw * omega_2;
|
||||
u_3 += -kpw * theta_3 - kdw * omega_3;
|
||||
}
|
||||
|
||||
// Feedback linearization step
|
||||
void AttitudeWheelController::feedback_linearization(float q0, float q1, float q2, float q3, float omega_x,
|
||||
float omega_y, float omega_z, float omega_1, float omega_2, float omega_3) {
|
||||
// Calculate friction torque
|
||||
float sign_1 = (0.0 < omega_1) - (omega_1 < 0.0);
|
||||
float sign_2 = (0.0 < omega_2) - (omega_2 < 0.0);
|
||||
float sign_3 = (0.0 < omega_3) - (omega_3 < 0.0);
|
||||
tau_f_1 = sign_1 * (tau_c + bw * abs(omega_1));
|
||||
tau_f_2 = sign_2 * (tau_c + bw * abs(omega_2));
|
||||
tau_f_3 = sign_3 * (tau_c + bw * abs(omega_3));
|
||||
|
||||
// Auxiliary variable to avoid computing the same term multiple times
|
||||
float omega_x_omega_y_omega_z = omega_x + omega_y + omega_z;
|
||||
|
||||
// Feedback linearization
|
||||
tau_1 = -I_c_xy_bar * (omega_y - omega_z) * omega_x_omega_y_omega_z - I_w_xx * (omega_3 * omega_y - omega_2 *
|
||||
omega_z) + m_c_bar_g_l * (0.5 - q0 * q0 + q0 * q1 - q3 * q3 + q2 * q3) + tau_f_1 - I_c_xx_bar * u_1 -
|
||||
I_c_xy_bar * (u_2 + u_3);
|
||||
tau_2 = -I_c_xy_bar * (omega_z - omega_x) * omega_x_omega_y_omega_z - I_w_xx * (omega_1 * omega_z - omega_3 *
|
||||
omega_x) + m_c_bar_g_l * (0.5 + q0 * q2 - q1 * q1 - q1 * q3 - q2 * q2) + tau_f_2 - I_c_xx_bar * u_2 -
|
||||
I_c_xy_bar * (u_1 + u_3);
|
||||
tau_3 = -I_c_xy_bar * (omega_x - omega_y) * omega_x_omega_y_omega_z - I_w_xx * (omega_2 * omega_x - omega_1 *
|
||||
omega_y) - m_c_bar_g_l * ( q0 * q1 + q0 * q2 - q1 * q3 + q2 * q3) + tau_f_3 - I_c_xx_bar * u_3 -
|
||||
I_c_xy_bar * (u_1 + u_2);
|
||||
}
|
||||
|
||||
void AttitudeWheelController::linear_regulator(float qr0, float qr1, float qr2, float qr3, float q0, float q1,
|
||||
float q2, float q3, float omega_r_x, float omega_r_y, float omega_r_z, float omega_x, float omega_y, float omega_z,
|
||||
float alpha_r_x, float alpha_r_y, float alpha_r_z, float theta_1, float theta_2, float theta_3, float omega_1,
|
||||
float omega_2, float omega_3) {
|
||||
// Calculate rotation quaternion error
|
||||
qe0 = q0 * qr0 + q1 * qr1 + q2 * qr2 + q3 * qr3;
|
||||
qe1 = q0 * qr1 - q1 * qr0 - q2 * qr3 + q3 * qr2;
|
||||
qe2 = q0 * qr2 - q2 * qr0 + q1 * qr3 - q3 * qr1;
|
||||
qe3 = q0 * qr3 - q1 * qr2 + q2 * qr1 - q3 * qr0;
|
||||
|
||||
// Normalize rotation quaternion error
|
||||
float qe_norm = sqrt(qe0 * qe0 + qe1 * qe1 + qe2 * qe2 + qe3 * qe3);
|
||||
qe0 /= qe_norm;
|
||||
qe1 /= qe_norm;
|
||||
qe2 /= qe_norm;
|
||||
qe3 /= qe_norm;
|
||||
|
||||
// Calculate angle error
|
||||
float theta_e_x = 2 * asin(qe1);
|
||||
float theta_e_y = 2 * asin(qe2);
|
||||
float theta_e_z = 2 * asin(qe3);
|
||||
|
||||
// Calculate angular velocity error
|
||||
float omega_e_x = omega_r_x - omega_x;
|
||||
float omega_e_y = omega_r_y - omega_y;
|
||||
float omega_e_z = omega_r_z - omega_z;
|
||||
|
||||
// Attitude feedback (basically a PD controller)
|
||||
u_1 = kp * theta_e_x + kd * omega_e_x;
|
||||
u_2 = kp * theta_e_y + kd * omega_e_y;
|
||||
u_3 = kp * theta_e_z + kd * omega_e_z;
|
||||
|
||||
// Attitude feedforward
|
||||
u_1 += alpha_r_x;
|
||||
u_2 += alpha_r_y;
|
||||
u_3 += alpha_r_z;
|
||||
|
||||
// Wheel feedback
|
||||
u_1 += -kpw * theta_1 - kdw * omega_1;
|
||||
u_2 += -kpw * theta_2 - kdw * omega_2;
|
||||
u_3 += -kpw * theta_3 - kdw * omega_3;
|
||||
|
||||
// Convert inputs into torques
|
||||
tau_1 = -I_c_xx_bar * u_1 - I_c_xy_bar * (u_2 + u_3);
|
||||
tau_2 = -I_c_xx_bar * u_2 - I_c_xy_bar * (u_1 + u_3);
|
||||
tau_3 = -I_c_xx_bar * u_3 - I_c_xy_bar * (u_1 + u_2);
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
#ifndef controller_attitude_wheel_h
|
||||
#define controller_attitude_wheel_h
|
||||
|
||||
#include "Arduino.h"
|
||||
|
||||
#include "../definitions/parameters.h"
|
||||
|
||||
// Attitude and wheel controller class
|
||||
class AttitudeWheelController {
|
||||
public:
|
||||
// Constructor
|
||||
AttitudeWheelController(bool useNonlinear);
|
||||
// Control step
|
||||
void control(float qr0, float qr1, float qr2, float qr3, float q0, float q1, float q2, float q3,
|
||||
float omega_r_x, float omega_r_y, float omega_r_z, float omega_x, float omega_y, float omega_z,
|
||||
float alpha_r_x, float alpha_r_y, float alpha_r_z, float theta_1, float theta_2, float theta_3,
|
||||
float omega_1, float omega_2, float omega_3);
|
||||
// Quaternion error
|
||||
float qe0, qe1, qe2, qe3;
|
||||
// Torque (Nm)
|
||||
float tau_1, tau_2, tau_3;
|
||||
// Friction torques
|
||||
float tau_f_1, tau_f_2, tau_f_3;
|
||||
|
||||
private:
|
||||
// State regulator step
|
||||
void state_regulator(float qr0, float qr1, float qr2, float qr3, float q0, float q1, float q2, float q3,
|
||||
float omega_r_x, float omega_r_y, float omega_r_z, float omega_x, float omega_y, float omega_z,
|
||||
float alpha_r_x, float alpha_r_y, float alpha_r_z, float theta_1, float theta_2, float theta_3,
|
||||
float omega_1, float omega_2, float omega_3);
|
||||
// Feedback linearization step
|
||||
void feedback_linearization(float q0, float q1, float q2, float q3, float omega_x, float omega_y,
|
||||
float omega_z, float omega_1, float omega_2, float omega_3);
|
||||
// Linear regulator
|
||||
void linear_regulator(float qr0, float qr1, float qr2, float qr3, float q0, float q1, float q2, float q3,
|
||||
float omega_r_x, float omega_r_y, float omega_r_z, float omega_x, float omega_y, float omega_z,
|
||||
float alpha_r_x, float alpha_r_y, float alpha_r_z, float theta_1, float theta_2, float theta_3,
|
||||
float omega_1, float omega_2, float omega_3);
|
||||
// Linearized input
|
||||
float u_1, u_2, u_3;
|
||||
// Controller type
|
||||
bool useNonlinear;
|
||||
};
|
||||
|
||||
#endif
|
||||
152
software/cube-controller/src/classes/estimator_attitude.cpp
Normal file
152
software/cube-controller/src/classes/estimator_attitude.cpp
Normal file
@@ -0,0 +1,152 @@
|
||||
#include "estimator_attitude.h"
|
||||
|
||||
// Constructor
|
||||
AttitudeEstimator::AttitudeEstimator(int pin_sda, int pin_scl) : imu(pin_sda, pin_scl) {
|
||||
// Set initial rotation quaternion
|
||||
q0 = 1.0;
|
||||
q1 = 0.0;
|
||||
q2 = 0.0;
|
||||
q3 = 0.0;
|
||||
|
||||
// Set initial angular velocity
|
||||
omega_x = 0.0;
|
||||
omega_y = 0.0;
|
||||
omega_z = 0.0;
|
||||
|
||||
// Set initial angular velocity bias
|
||||
b_omega_x = 0.0;
|
||||
b_omega_y = 0.0;
|
||||
b_omega_z = 0.0;
|
||||
}
|
||||
|
||||
// Initializer
|
||||
void AttitudeEstimator::init() {
|
||||
// Initialize IMU sensor object
|
||||
imu.init();
|
||||
|
||||
// Angular velocity bias calibration
|
||||
calibrate();
|
||||
}
|
||||
|
||||
// Angular velocity bias calibration
|
||||
void AttitudeEstimator::calibrate() {
|
||||
// Calculate angular velocity bias by averaging one thousand samples or 5 seconds worth of gyroscope data
|
||||
// This is done on top of the one-time calibration that was done manually in advance
|
||||
for(int i = 0; i < 1000; i++) {
|
||||
// Read sensor values
|
||||
imu.read();
|
||||
|
||||
// Add 1/f-th part of the current reading to the bias
|
||||
b_omega_x += imu.gx / 1000;
|
||||
b_omega_y += imu.gy / 1000;
|
||||
b_omega_z += imu.gz / 1000;
|
||||
|
||||
delay(5);
|
||||
}
|
||||
}
|
||||
|
||||
// Estimate step
|
||||
void AttitudeEstimator::estimate() {
|
||||
// Read values from IMU
|
||||
imu.read();
|
||||
|
||||
// Get angular velocity from IMU gyroscope data and apply second offset correction
|
||||
omega_x = imu.gx - b_omega_x;
|
||||
omega_y = imu.gy - b_omega_y;
|
||||
omega_z = imu.gz - b_omega_z;
|
||||
|
||||
// Predict step
|
||||
predict(omega_x, omega_y, omega_z);
|
||||
|
||||
// Get linear acceleration from IMU accelerometer data
|
||||
float ax = imu.ax;
|
||||
float ay = imu.ay;
|
||||
float az = imu.az;
|
||||
|
||||
// Normalize linear acceleration
|
||||
float a_norm = sqrt(ax * ax + ay * ay + az * az);
|
||||
ax /= a_norm;
|
||||
ay /= a_norm;
|
||||
az /= a_norm;
|
||||
|
||||
// Correct step
|
||||
correct(ax, ay, az);
|
||||
|
||||
// Normalize rotation quaternion
|
||||
float q_norm = sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
|
||||
q0 /= q_norm;
|
||||
q1 /= q_norm;
|
||||
q2 /= q_norm;
|
||||
q3 /= q_norm;
|
||||
}
|
||||
|
||||
// Estimate step
|
||||
void AttitudeEstimator::predict(float omega_x, float omega_y, float omega_z) {
|
||||
// Predict rotation quaternion time derivative
|
||||
float q0_dot = 0.5 * (-q1 * omega_x - q2 * omega_y - q3 * omega_z);
|
||||
float q1_dot = 0.5 * ( q0 * omega_x - q3 * omega_y + q2 * omega_z);
|
||||
float q2_dot = 0.5 * ( q3 * omega_x + q0 * omega_y - q1 * omega_z);
|
||||
float q3_dot = 0.5 * (-q2 * omega_x + q0 * omega_z + q1 * omega_y);
|
||||
|
||||
// Predict rotation quaternion
|
||||
q0 += q0_dot * dt;
|
||||
q1 += q1_dot * dt;
|
||||
q2 += q2_dot * dt;
|
||||
q3 += q3_dot * dt;
|
||||
}
|
||||
|
||||
// Correct step
|
||||
void AttitudeEstimator::correct(float ax, float ay, float az) {
|
||||
// Calculate rotation quaternion measurement
|
||||
float qm0 = ax * q2 - ay * q1 - az * q0;
|
||||
float qm1 = -ax * q3 - ay * q0 + az * q1;
|
||||
float qm2 = ax * q0 - ay * q3 + az * q2;
|
||||
float qm3 = -ax * q1 - ay * q2 - az * q3;
|
||||
|
||||
// Calculate rotation quaternion error
|
||||
float qe0 = q0 * qm0 + q1 * qm1 + q2 * qm2 + q3 * qm3;
|
||||
float qe1 = q0 * qm1 - q1 * qm0 - q2 * qm3 + q3 * qm2;
|
||||
float qe2 = q0 * qm2 + q1 * qm3 - q2 * qm0 - q3 * qm1;
|
||||
float qe3 = q0 * qm3 - q1 * qm2 + q2 * qm1 - q3 * qm0;
|
||||
|
||||
// Calculate rotation Gibbs-vector error
|
||||
float se1 = qe1 / qe0;
|
||||
float se2 = qe2 / qe0;
|
||||
float se3 = qe3 / qe0;
|
||||
|
||||
// Calculate rotation quaternion error time derivative
|
||||
float qe0_dot = -q1 * se1 - q2 * se2 - q3 * se3;
|
||||
float qe1_dot = q0 * se1 - q3 * se2 + q2 * se3;
|
||||
float qe2_dot = q3 * se1 + q0 * se2 - q1 * se3;
|
||||
float qe3_dot = -q2 * se1 + q1 * se2 + q0 * se3;
|
||||
|
||||
// Correct rotation quaternion
|
||||
q0 += lds * dt * qe0_dot;
|
||||
q1 += lds * dt * qe1_dot;
|
||||
q2 += lds * dt * qe2_dot;
|
||||
q3 += lds * dt * qe3_dot;
|
||||
}
|
||||
|
||||
float AttitudeEstimator::ax() {
|
||||
return imu.ax;
|
||||
}
|
||||
|
||||
float AttitudeEstimator::ay() {
|
||||
return imu.ay;
|
||||
}
|
||||
|
||||
float AttitudeEstimator::az() {
|
||||
return imu.az;
|
||||
}
|
||||
|
||||
float AttitudeEstimator::gx() {
|
||||
return imu.gx;
|
||||
}
|
||||
|
||||
float AttitudeEstimator::gy() {
|
||||
return imu.gy;
|
||||
}
|
||||
|
||||
float AttitudeEstimator::gz() {
|
||||
return imu.gz;
|
||||
}
|
||||
38
software/cube-controller/src/classes/estimator_attitude.h
Normal file
38
software/cube-controller/src/classes/estimator_attitude.h
Normal file
@@ -0,0 +1,38 @@
|
||||
#ifndef estimator_attitude_h
|
||||
#define estimator_attitude_h
|
||||
|
||||
#include "Arduino.h"
|
||||
|
||||
#include "../definitions/parameters.h"
|
||||
#include "../classes/icm20948.h"
|
||||
|
||||
// Attitude estimator class
|
||||
class AttitudeEstimator {
|
||||
public:
|
||||
// Constructor
|
||||
AttitudeEstimator(int pin_sda, int pin_scl);
|
||||
// Initializer
|
||||
void init();
|
||||
// Estimate step
|
||||
void estimate();
|
||||
// Rotation quaternion estimations
|
||||
float q0, q1, q2, q3;
|
||||
// Angular velocity (rad/s) estimations
|
||||
float omega_x, omega_y, omega_z;
|
||||
// Get acceleration and gyroscope values directly from IMU
|
||||
float ax(), ay(), az(), gx(), gy(), gz();
|
||||
|
||||
private:
|
||||
// IMU sensor object
|
||||
ICM20948 imu;
|
||||
// Angular velocity bias calibration
|
||||
void calibrate();
|
||||
// Predict step
|
||||
void predict(float omega_x, float omega_y, float omega_z);
|
||||
// Correct step
|
||||
void correct(float ax, float ay, float az);
|
||||
// Angular velocity (rad/s) bias
|
||||
float b_omega_x, b_omega_y, b_omega_z;
|
||||
};
|
||||
|
||||
#endif
|
||||
51
software/cube-controller/src/classes/estimator_wheel.cpp
Normal file
51
software/cube-controller/src/classes/estimator_wheel.cpp
Normal file
@@ -0,0 +1,51 @@
|
||||
#include "estimator_wheel.h"
|
||||
|
||||
// Constructor
|
||||
WheelEstimator::WheelEstimator(int pin_speed) : hall(pin_speed) {
|
||||
// Set initial angular displacement and angular velocity
|
||||
theta_w = 0.0;
|
||||
omega_w = 0.0;
|
||||
}
|
||||
|
||||
// Initializer
|
||||
void WheelEstimator::init() {
|
||||
// Initialize and calibrate hall sensor
|
||||
hall.init();
|
||||
}
|
||||
|
||||
// Estimate step
|
||||
void WheelEstimator::estimate(float tau) {
|
||||
// Predict step
|
||||
predict(tau);
|
||||
|
||||
// Get angular velocity measurement from hall sensor
|
||||
hall.read();
|
||||
|
||||
// Correct step
|
||||
correct(hall.omega);
|
||||
}
|
||||
|
||||
// Predict step
|
||||
void WheelEstimator::predict(float tau) {
|
||||
// Calculate friction torque
|
||||
float sign = (0.0 < omega_w) - (omega_w < 0.0);
|
||||
float tau_f = sign * (tau_c + bw * abs(omega_w));
|
||||
|
||||
// Calculate angular acceleration
|
||||
omega_w_dot = (1.0 / I_w_xx) * (-tau_f + tau);
|
||||
|
||||
// Predict angular displacement and angular velocity
|
||||
theta_w += omega_w * dt + omega_w_dot * dt * dt / 2.0;
|
||||
omega_w += omega_w_dot * dt;
|
||||
}
|
||||
|
||||
// Correct step
|
||||
void WheelEstimator::correct(float omega_w_m) {
|
||||
// Correct angular velocity with measurement
|
||||
omega_w += ldw * dt * (omega_w_m - omega_w);
|
||||
}
|
||||
|
||||
float WheelEstimator::omega() {
|
||||
// Get hall sensor reading
|
||||
return hall.omega;
|
||||
}
|
||||
32
software/cube-controller/src/classes/estimator_wheel.h
Normal file
32
software/cube-controller/src/classes/estimator_wheel.h
Normal file
@@ -0,0 +1,32 @@
|
||||
#ifndef estimator_wheel_h
|
||||
#define estimator_wheel_h
|
||||
|
||||
#include "Arduino.h"
|
||||
|
||||
#include "../definitions/parameters.h"
|
||||
#include "../classes/hall.h"
|
||||
|
||||
// Wheel estimator class
|
||||
class WheelEstimator {
|
||||
public:
|
||||
// Constructor
|
||||
WheelEstimator(int pin_speed);
|
||||
// Initializer
|
||||
void init();
|
||||
// Estimate step
|
||||
void estimate(float tau = 0.0);
|
||||
// Angular displacement (rad) and angular velocity (rad/s) estimations
|
||||
float theta_w, omega_w, omega_w_dot;
|
||||
// Get hall sensor reading directly from hall sensor
|
||||
float omega();
|
||||
|
||||
private:
|
||||
// Motor hall sensor object
|
||||
Hall hall;
|
||||
// Predict step
|
||||
void predict(float tau);
|
||||
// Correct step
|
||||
void correct(float omega_w_m);
|
||||
};
|
||||
|
||||
#endif
|
||||
50
software/cube-controller/src/classes/hall.cpp
Normal file
50
software/cube-controller/src/classes/hall.cpp
Normal file
@@ -0,0 +1,50 @@
|
||||
#include "hall.h"
|
||||
|
||||
// Class constructor
|
||||
Hall::Hall(int pin_speed) : pin_speed(pin_speed) {
|
||||
}
|
||||
|
||||
void Hall::init() {
|
||||
// Set analog read resolution
|
||||
analogReadResolution(12);
|
||||
|
||||
// Indicate wheel calibration in progress using blue LED
|
||||
neopixelWrite(RGB_BUILTIN, 0, 0, 255);
|
||||
|
||||
// Logging
|
||||
Serial.print("Starting hall sensor calibration (pin ");
|
||||
Serial.print(pin_speed);
|
||||
Serial.print(")... ");
|
||||
|
||||
// Calibrate reading by averaging 100 samples over one second
|
||||
for(int i = 0; i < 100; i++) {
|
||||
bias += ((float) analogReadMilliVolts(pin_speed) / 1000) / 100;
|
||||
delay(10);
|
||||
}
|
||||
|
||||
// Remove nominal voltage (wheel at rest) from bias calculation
|
||||
bias -= 1.65;
|
||||
|
||||
// Flash LED and then disable it
|
||||
digitalWrite(RGB_BUILTIN, LOW);
|
||||
delay(250);
|
||||
neopixelWrite(RGB_BUILTIN, 0, 0, 255);
|
||||
delay(250);
|
||||
digitalWrite(RGB_BUILTIN, LOW);
|
||||
|
||||
// Logging
|
||||
Serial.print("Done. Offset is ");
|
||||
Serial.print(bias);
|
||||
Serial.println(" V.");
|
||||
}
|
||||
|
||||
// Read angular velocity
|
||||
void Hall::read() {
|
||||
// Read voltage using ADC (with 12-bit resolution)
|
||||
float voltage = (float) analogReadMilliVolts(pin_speed) / 1000;
|
||||
|
||||
// Convert voltage reading to speed in rad/s. Speed is -6500 rpm at 0.3 V and 6500 rpm at 3.0 V. The range between
|
||||
// 0 and 0.3 V and 3.0 V and 3.3 V is not used due to slight nonlinearities in that domain. The sign of the output
|
||||
// is changed to align with the coordinate system and rotation direction definitions.
|
||||
omega = -1 * (-6500 + (voltage - bias - 0.3) * 13000 / 2.7) * pi / 30;
|
||||
}
|
||||
27
software/cube-controller/src/classes/hall.h
Normal file
27
software/cube-controller/src/classes/hall.h
Normal file
@@ -0,0 +1,27 @@
|
||||
#ifndef hall_h
|
||||
#define hall_h
|
||||
|
||||
#include "Arduino.h"
|
||||
|
||||
#include "../definitions/parameters.h"
|
||||
|
||||
// Hall class
|
||||
class Hall {
|
||||
public:
|
||||
// Class constructor
|
||||
Hall(int pin_speed);
|
||||
// Initialize and calibrate
|
||||
void init();
|
||||
// Read angular velocity
|
||||
void read();
|
||||
// Angular velocity (rad/s)
|
||||
float omega;
|
||||
|
||||
private:
|
||||
// Input pin
|
||||
int pin_speed;
|
||||
// Bias (calibration offset)
|
||||
float bias;
|
||||
};
|
||||
|
||||
#endif
|
||||
66
software/cube-controller/src/classes/icm20948.cpp
Normal file
66
software/cube-controller/src/classes/icm20948.cpp
Normal file
@@ -0,0 +1,66 @@
|
||||
#include "icm20948.h"
|
||||
|
||||
// Class constructor
|
||||
ICM20948::ICM20948(int pin_sda, int pin_scl) : pin_sda(pin_sda), pin_scl(pin_scl), wirePort(0) {
|
||||
}
|
||||
|
||||
// Initialize sensor
|
||||
void ICM20948::init() {
|
||||
// Set up i2c communication at 400 kHz
|
||||
wirePort.begin(pin_sda, pin_scl, 400000);
|
||||
|
||||
// Setup IMU
|
||||
imu = ICM20948_WE(&wirePort);
|
||||
|
||||
// Verify that sensor works correctly
|
||||
if(imu.init()) {
|
||||
// Sensor is responding correctly
|
||||
Serial.println("ICM20948 is responding.");
|
||||
|
||||
for(int i = 0; i < 3; i++) {
|
||||
digitalWrite(RGB_BUILTIN, HIGH);
|
||||
delay(250);
|
||||
digitalWrite(RGB_BUILTIN, LOW);
|
||||
delay(250);
|
||||
}
|
||||
} else {
|
||||
// Sensor is not responding
|
||||
Serial.println("ICM20948 is not responding.");
|
||||
|
||||
for(int i = 0; i < 10; i++) {
|
||||
neopixelWrite(RGB_BUILTIN, 255, 0, 0);
|
||||
delay(100);
|
||||
digitalWrite(RGB_BUILTIN, LOW);
|
||||
delay(100);
|
||||
}
|
||||
}
|
||||
|
||||
// Set measurement ranges for accelerometer (2 m/s/s) and gyroscope (2000 dps)
|
||||
imu.setAccRange(ICM20948_ACC_RANGE_2G);
|
||||
imu.setGyrRange(ICM20948_GYRO_RANGE_2000);
|
||||
|
||||
// Configure digital low-pass filter (DLPF)
|
||||
imu.setAccDLPF(ICM20948_DLPF_6);
|
||||
imu.setGyrDLPF(ICM20948_DLPF_6);
|
||||
|
||||
// Disable divider to get maximum possible output data rate (approximately 1.1 kHz)
|
||||
imu.setAccSampleRateDivider(0);
|
||||
imu.setGyrSampleRateDivider(0);
|
||||
}
|
||||
|
||||
// Read sensor data
|
||||
void ICM20948::read() {
|
||||
// Get values from sensor
|
||||
imu.readSensor();
|
||||
acc = imu.getAccRawValues();
|
||||
gyr = imu.getGyrValues();
|
||||
|
||||
// Apply calibration offsets and gains and swap axes
|
||||
ax = -(acc.x - b_acc_x) / f_acc_x;
|
||||
ay = -(acc.z - b_acc_z) / f_acc_z;
|
||||
az = -(acc.y - b_acc_y) / f_acc_y;
|
||||
|
||||
gx = -(gyr.x - b_gyr_x) * pi / 180;
|
||||
gy = -(gyr.z - b_gyr_z) * pi / 180;
|
||||
gz = -(gyr.y - b_gyr_y) * pi / 180;
|
||||
}
|
||||
35
software/cube-controller/src/classes/icm20948.h
Normal file
35
software/cube-controller/src/classes/icm20948.h
Normal file
@@ -0,0 +1,35 @@
|
||||
#ifndef icm20948_h
|
||||
#define icm20948_h
|
||||
|
||||
#include "Arduino.h"
|
||||
#include "Wire.h"
|
||||
#include "ICM20948_WE.h"
|
||||
|
||||
#include "../definitions/parameters.h"
|
||||
|
||||
// ICM20948 class
|
||||
class ICM20948 {
|
||||
public:
|
||||
// Class constructor
|
||||
ICM20948(int pin_sda, int pin_scl);
|
||||
// Initialize sensor
|
||||
void init();
|
||||
// Read sensor data
|
||||
void read();
|
||||
// Gyroscope data in x, y and z axis (rad/s)
|
||||
float gx, gy, gz;
|
||||
// Accelerometer data x, y and z axis (m/s^2)
|
||||
float ax, ay, az;
|
||||
|
||||
private:
|
||||
// i2c bus
|
||||
TwoWire wirePort;
|
||||
// i2c pins
|
||||
int pin_sda, pin_scl;
|
||||
// IMU object
|
||||
ICM20948_WE imu;
|
||||
// Measurement stores
|
||||
xyzFloat acc, gyr;
|
||||
};
|
||||
|
||||
#endif
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user