Arduino Codes For 6 DOF

Hi All,

I'm currently stuck on finding codes to help control my stewart platform. Is there any links to 6DOF Arduino codes that i may mind here? I would prefer one that has comments to help me understand the reason for that specific line of code.

I'm very new to this type of stuff.

Thanks in advance.

Contacte Wanegain il a peut-être une solution.

http://pcshm-simulateurs-homemade.clicforum.com/t565-fabrication-6dof-moteur-smolka.htm

Contact Wanegain he may be a solution.

I am currently working on the arduino code for my 6DOF hydraulic platform. It still needs work, but i will let you know once I have sorted (as I am also new to this)
It has lots of bugs and I am trying to sort them out.

Thanks Marc Wannenmacher, just a question, how do you know where should i place the servo at? Is there any formula/guide that i can follow to know where should i place my 6 servos?

Hi! The main reason you are stuck locating 6dof arduino code here is because it is not necessary with simtools (unless you are planning on doing 6dof maths on your arduino too). Simtools has 6 interfaces so you can connect up to 6 arduinos at the same time. Therefore, you can use three arduinos running 2dof code, two arduinos running 3dof code, or 6 arduinos using running only one dof each without the need for one arduino doing all 6 dof.

Since, for the most part, any good motion code will implement PID type motor control (where the faster is executes the better), it is generally better to use multiple arduinos anyway and split the work required for a 6dof between them.

With that said, I suggest you take a look at RufusDufus SMC3 sketch, which is extensively commented.

Hi SuperDon, sorry for the late reply. I had to focus on my final exams for uni, I am not too sure on the servo placement as i have a hydraulic stewart platform and it is huge. lol. It will lift 3.5 ton. and I'm hoping to one day put a half cut of a car on it. I can take some pics if you like and get the measurements if you like

Hi @SuperDon

Have a look at Platform Geometry Settings, might help with you actuator lenght, platform size, seat position.

regards Terry

you can have a look in the FAQ
http://www.xsimulator.net/community/faq/6dof.22/category

you'll find many projects (finished or in progress)
and a dedicated beta-app for simtools

but indeed no arduino code available

@Marc Wannenmacher @SuperDon : please post some pictures of your stewart plateform to share with us and inspire us

It's all getting clearer now

So let's say that One Arduino controls 1Dof - let's say the roll. That Arduino will be connected to at least 4 actuators/servos to make roll on a classic Steward platform...... or is it all 6 ????

Then let's take the heave, on one Arduino as well , that must surely control all 6 motors, right ??

Does simtools do all the math for me at that point? I mean one Arduino tells servo No 1 to move 40% for the roll, and another Arduino tells the same servo to move 40% (more) for the heave ?

Am I even close to getting it ?

Thanks

No, it’s the other way around. You mix the dof’s together for each actuator. Then you use one arduino on each motor or you can put two, three or more motors (actuators) on one arduino if the sketch used on the arduino allows for them.

Simtools mixes the dof’s and outputs the motion data for each motor/actuator to the arduino which does the math to control the motors.

Hope that’s helpful!

Thank you sir, that is very useful !

Hey guys I have added some pics of my simulator as it is starting to move along very nicely. I will get some pics of the cockpit attached to the motion frame shortly.

Thanks @noorbeast i was just doing as @RacingMat asked to post some pics to inspire others.