Mecanum Mixer Users Guide

Mecanum Mixer Users Guide
Mecanum Mixer
Users Guide
Introduction
The RobotLogic Mecanum mixer allows for simple RC-control of a mecanum
drive robot. The Mecanum mixer is plugged into a standard RC receiver using
three input channels. Four motor speed controllers are then plugged into the
mecanum mixer. The driver can then use any combination of fwd-reverse, leftright, and sideways translation commands to control the robot.
Features
3 Channel Mecanum Mixing
The Mecanum mixer uses three RC channels: one for rotating left and right, one
for translating forward and backward, and one for translating left and right.
These inputs can be connected to any output on your RC receiver.
Failsafe
The Mecanum mixer acts as a failsafe. It will shut off all outputs whenever no
signal or an invalid RC signal is detected. The incoming signal is constantly
monitored and operation is resumed as soon as a valid RC signal is re-detected.
Signal Boosting
When used with the popular IFI speed controllers, there is no need for additional
in-line signal boosters. The Mecanum mixer can drive a Victor 833 speed
controller on each of its outputs.
LED Status Indicator
The LED on your IMX-1 Mixer can be used to verify proper operation. Its
behavior can indicate one of the following 4 states:
LED Behavior
Mixer Status
Off
On – Solid
On – Slow Blinking
No power
Valid signal
Invalid signal or no signal detected
Installation Instructions
Please follow these instructions carefully in order to get proper mixing. These
steps are designed to ensure your robot is using the same conventions as the
mixing algorithm in the RobotLogic mecanum mixer.
Connect the Mixer to your RC receiver.
There are three inputs to the RobotLogic mecanum mixer. The first input is the
one closest to the left side of the mixer.
Mixer Inputs (left to right):
1. Left-Right translation - Usually connected to input 1 on your RC receiver.
2. Fwd-Reverse translation – Usually connected to input 2 on your receiver.
3. Left-Right turning – Usually connected to input 4 on your reciever.
Signal Test
Connect your receiver battery and turn on your transmitter. The LED on the
mixer will turn on solid when it detects a valid signal. If the LED does not turn on
or it blinks slowly, check that the servo leads are plugged into the receiver
completely in the proper orientation, check that your receiver is receiving power,
and check that your transmitter is on.
Connect Speed Controllers to the Mixer
There are 4 separate motor outputs on the mecanum mixer on the columns listed
below:
5.
6.
7.
8.
Motor Outputs
Front-Left motor controller
Front-Right motor controller
Back-Left motor controller
Back-Right motor controller
Make sure your motors are connected to the speed controllers for the next steps.
Refer to the wiring diagram below:
Test the mixer in debug mode:
The RobotLogic Mecanum mixer contains a debug mode which is enabled if a
jumper is present across the debug pins at startup. To use debug mode, just
install the jumper before powering up the mixer.
* The debug jumper should be installed on column 4 and connects the bottom pin
with the top pin.
Debug mode executes a simple sequence of commands that will help you get all
of your motor polarities correctly set to the conventions used by the mixer. Each
motor is run one at a time in the forward direction in the following sequence:
•
•
•
•
•
Front-Left
Front-Right
Back-Left
Back-Right
Pause
Watch the robot for a couple of times through the sequence and use the pause to
identify the front-left motor. If the sequence is incorrect, then you have your
speed controllers plugged into the wrong outputs on the mixer.
Once the sequence is correct, verify that each motor spins its wheel in the
“forward” direction. If any of the wheels spin in the reverse direction, simply
switch the polarity of the wires connecting that motor to its speed controller.
Test the mixer using your RC Transmitter:
Ensure that the robot is still on blocks and its wheels are not touching the ground.
Turn off the robot and RC reciever, remove the debug jumper (or move it to a
position that does not connect the top and bottom pins of column 4), and then
turn everything back on again. The goal of this test is to see if any of the
channels on your transmitter need to be inverted.
First, push forward on the drive control, this will usually be the right stick if you're
using a dual-stick transmitter and you used the default channel connections
described above. If the motors drive in reverse rather than forward, then you will
need to invert this channel in your RC transmitter. This is rare but if you need to
do it, you will need to consult the manual for your transmitter.
Next, try turning left or right. In this case, the motors should all react in the same
way as a standard 'skid-steering' robot. If you're trying to turn right, then the left
motors should run forward and the right motors should run backward. If this is
backwards, then you will need to invert the steering channel on your RC
transmitter.
Once you have the fwd-reverse and the steering inputs working correctly, you
can proceed to driving your robot on the ground. If you find that sideways
translation is inverted you just need to invert that channel on your transmitter.
Calibration:
To ensure best performance from your robot, you should now calibrate your
speed controllers. We recommend calibrating using only the forward-reverse RC
command so that your speed controllers end up calibrated to output peak motor
power with a full forward command. If you mix in the other channels while
calibrating, it is possible that you will cause your robot's top speed to be slightly
reduced.
Enjoy your RobotLogic Mecanum mixer! If you would like to share your creation
with us, please send an email to support@robotlogic.com!
LEGAL DISCLAIMER:
THIS PRODUCT IS PROVIDED "AS IS" WITHOUT ANY EXPRESS OR
IMPLIED WARRANTY OF ANY KIND INCLUDING WARRANTIES OF
MERCHANTABILITY, NONINFRINGEMENT OF INTELLECTUAL PROPERTY,
OR FITNESS FOR ANY PARTICULAR PURPOSE. IN NO EVENT SHALL
ROBOT LOGIC OR ITS SUPPLIERS OR DISTRIBUTORS BE LIABLE FOR ANY
DAMAGES WHATSOEVER (INCLUDING, WITHOUT LIMITATION, DAMAGES
FOR LOSS OF PROFITS OR BUSINESS INTERRUPTION) ARISING OUT OF
THE USE OF OR INABILITY TO USE THE MATERIALS, EVEN IF ROBOT
LOGIC HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
BECAUSE SOME JURISDICTIONS PROHIBIT THE EXCLUSION OR
LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL
DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY TO YOU.
Robot Logic and its suppliers further do not warrant the accuracy or
completeness of the information, text, graphics, links or other items contained
within product datasheets or this website. Robot Logic may make changes to
these materials, or to the products described therein, at any time without notice.
Robot Logic makes no commitment to update the Materials.
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising