Software & links

 

Finally the program below is an arduino port of the WOF105.bas software (somewhat modified) which has been published on Gerold – Elektronik site.
This includes a comprehensive test program which can be compiled separately to fully test the Seguino.
It still uses the original sensor board and not yet the Wii.
I will be working on this in the future to make improvements. If anyone feels they can contribute please let me know.
I can be contacted at b.kasteel at planet dot nl.
I would appreciate feedback on this design especially anyone who discovers any improvements or mistakes. ūüôā

Unfortunately i could not get the whole software to be visible with the spoiler function. You can download it though.
Here you can only see the header part.

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//---------------------------------------------------------------------------
//                                        _               _ _      
//    __________ _  __ _  __ _  __      _| |__   ___  ___| (_) ___ 
//   |_  /_  / _` |/ _` |/ _` |   / / / '_  / _ / _  | |/ _ 
//    / / / / (_| | (_| | (_| |   V  V /| | | |  __/  __/ | |  __/
//   /___/_____,_|__,_|__, |   _/_/ |_| |_|___|___|_|_|___|
//                       |___/                                     
//                         _             
//    ___  ___  __ _ _   _(_)_ __   ___  
//   / __|/ _ / _` | | | | | '_  / _  
//   __   __/ (_| | |_| | | | | | (_) |
//   |___/___|__, |__,_|_|_| |_|___/ 
//             |___/                      
// (c)2010 Krulkip
//---------------------------------------------------------------------------
// Project             : SEGUINO
// Version             : WOF105
// Date                : 24.10.2011
// Comments            : Arduino Segway clone
// Chip type           : ATMega644P
// Clock frequency     : 16 MHz
// Port of the WOF105 software for the Elektor Wheelie
// by Guenter Gerold
// Based on the AT3329 project by Reinhold Pieper
// improved on by Chris Krohne as part of his Elektor firmware FW 2.6
// My hardware is based on his Zzaag design with a few modifications.
// Improvements as per http://www.gerold-online.de/cms/wheelie/faq.html
// These were soldered directly to the PCB's. The 1000uF capacitors were mounted on other side of
// the PCB than normal to create the room to do this. 
// To the PCB print added reset circuit and made RS232 connector suitable for FDTI connector
// SCL and SDA also brought out to this connector to talk to separate gearsensor board.
// These connections coupled to a separate Atmega168 board with ACS755 and gearsensor circuit based on ATS667
// using a single 10 pole bandcable from RS232 connection on ZZaag CPU board.
// These connections are needed to enable the Arduino IDE.
// Some mods were made to the GPIO connector to allow a 6 LED array for battery display etc to be connected.
// I have some pictures and can scan handdrawn circuit diagram if anyone is interested.
// I used the modified core files from http://www.avr-developers.com/ to make the arduino IDE
// suitable for the Atmega644P processor which i used on the Zzaag CPU board
// maybe one day i can put it online. :-)
// To Do:
// Build in filter types eg Kalman DCM etc
// Utilise Arduino PID library
// Easy way to switch on/off 6km/hr limit during standby MMode
// eg by dipswitch on secondary PCB and setting bits in 9th byte & make into MMode
// add watchdog timer
// add X_enable stuff
// add Z correction
// error trapping in parser routine
//---------------------------------------------------------------------------
// includes

 

Here you can download the software Zzaag_082.ino

 

Links:

www.allegromicro.com/en/products/part_numbers/0755/
www.allegromicro.com/en/products/part_numbers/0758/
www.epsontoyocom.co.jp/english/product/Sensor/set01/xv3500cb/index.html
http://invensense.com/mems/catalog.html
http://www.allegromicro.com/en/Products/Part_Numbers/0667/index.asp
http://www.allegromicro.com/en/Products/Part_Numbers/0665/index.asp
http://www.allegromicro.com/en/Products/Part_Numbers/0657/index.asp
http://wiibrew.org/wiki/Wiimote/Extension_Controllers
Gerold – Elektronik
www.zzaag.org
Ready made PCB with motor driver and microprocessor a la elektor
YCIT excellent GUI for avrdude used to program the secondary Atmega
simplybearing which i used for stearing mechanism
https://www.elektor.nl/projecten/elektorwheelie.985979.lynkx
very good 1000uF Elkos from farnell
smcj33a diode from farnell
Bernard sanders metal bearings etc
Company that can bend aluminium pipe to shape your stearing handlebar as you wish
This company has some pipe parts which can be used to fashion a steering handlebar
12Volt 12AH battery
This is the axial coupling which connects the potentiometer axle to the handlebars
This vibration damper connects the handlebar pipe end stop to the axial coupling

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