Spin-Doctor v2

Attempt at a translational drift platform using only telemetry from the brushless ESCs for speed/location data

Receiver, and ESC code components all tested and functioning, melty algorithms may not be fully functional yet.

Thanks to @swallenhardware for providing his code and build log which helped make this possible

External libraries used:

CPPM-RX

Hardware used:

Teensy 3.2 microcontroller

6 channel CPPM receiver (and transmitter)

DShot600 compatible ESC with telemetry pad

750kv brushless motors

5V power converter

Usage:

The gear and flap switches are used to determine the operating mode, with a safe mode for signal loss or startup in active modes

Gear: N/A Flaps: N/A Mode: safe mode Lights: Fast green flashing Notes: Signal loss or started in mode other than idle, motor off

Gear: off Flaps: off Mode: drive mode Lights: Solid green Notes: Connected, drive mode. Controlled by elevator and aileron channels

Gear: off Flaps: on Mode: drive/melty mode Lights: Green heading Notes: Green and red lights indicate reference and movement directions respectively. Throttle for speed, rudder to adjust heading, and elevator/aileron for direction of movement

Gear: on Flaps: off Mode: calibration mode Lights: Red heading Notes: Red lights indicate reference heading, rudder used to adjust timing to stabilize heading. Throttle for speed, rudder to adjust to stabilize heading

Gear: on Flaps: on Mode: max spin mode Lights: Flash green and red Notes: Throttle to max, sacrificing control for power. Only available while spinning in melty mode, same controls

Safe mode:

Only entered before connecting and setting switches for idle mode and during signal loss.

Motors set off. Safe mode after powerup.

Drive mode:

Motors used for tank drive.

Drive/Melty mode:

Throttle high on entering melty mode initiates juke maneufer first.

Rudder high on entering melty mode flips orientation for inverted driving

Throttle down for drive mode, throttle up to begin MeltyBrain drive.

Green light blinks for persistance of vision while spinning to indicate the heading of the robot. The green lights are meant to be pointed away from the user as a point of reference, so the bot can then translate based on the receiver inputs.

Red light is used to indicate the direction given by the receiver inputs.

Rudder is used to rotate the reference light to point away from user.

Throttle controls throttle.

Aileron makes bot strafe left and right.

Elevator makes bot drive forward and backward.

Max spin mode:

Melty mode with the speed set to maximum instead of a lower speed for better translation.

Intended to be activated in the middle of an arena to give maximum energy storage at the expense of mobility.