docs

docs/final_project/final_project.md

@@ -441,10 +441,46 @@ And when doing heated inserts make sure to do a couple of extra wall layers. So
 ## TODO
 * [ ] Matrix panel subsystem
 * [x] Rewrite PWM esc control system in driver
-* [ ] Does it fly?
+* [ ] Does it fly? (No it didn't)
 * [x] Power distribution system (for matrixes and mcu's)
 * [x] Test physical controller
 
+## Testing the drone(V1)
+
+The first test of the drone went horribly wrong.
+<video controls src="../PXL_20250604_121528011(1).mp4" title="Title"></video>
+
+### What went wrong
+* The drone was not balanced
+* The drone was a bit too heavy
+* The drone didn't have good footing to the ground
+* Motors recalibrating themselves at some startups (Last startup that didn't happen)
+* The drone arm was too weak to resist the impact of the motors
+* The batteries weren't fastened inside the drone
+
+### Improvements for next design
+* Proper legs so the drone doesn't fall over during takeoff
+* Lighter design while being as strong as possible with the least amount of material
+* A power switch because everything instantly starts once it gets power and that could be dangerous with extremely fast spinning propellors.
+* Fastened batteries
+
+![alt text](imaged.jpg)
+
+### The damage
+![alt text](imaged-1.jpg)
+One matrix board got a few ripped of leds and capacitors but I think I am able to repair that.
+
+![alt text](imaged-2.jpg)
+2 ESC's and motors got completely tangled wires. I expect them to still work since they where still spinning after the impact.
+3/4 arms got ripped off due to the crash.
+
+![alt text](imaged-3.jpg)
+![alt text](imaged-4.jpg)
+Luckily we placed cardboard under the drone incase something would happen. The propellors completely mauled the cardboard away where it hit.
+
+Now that the drone is ripped into several pieces I will be abandoning this design and start from scratch on a second design.
+
+
 ## BOM (bill of materials)
 
 ### Drone

src/Fab Matrixes/src/main.cpp

@@ -68,8 +68,11 @@ int x    = matrix.width();
 int pass = 0;
 
 void loop() {
-  scrollingText("Hello World!", 50, matrix.Color(255, 0, 255));
-  // matrixSerialLoop();
+  matrix.fillScreen(0);
+  matrix.setCursor(0, 0);
+  matrix.setTextColor(matrix.Color(255, 0, 255));
+  matrix.print("Outch");
+  matrix.show();  
 }
 
 void scrollingText(String text, int speed, int color) {

src/controller/drone controller/src/main.cpp

@@ -8,8 +8,8 @@ U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/U8X8_PIN_NONE);
 
 const int MAXPWMVALUE = 2000;
 const int MINPWMVALUE = 1000;
-const uint8_t broadcastAddress[] = {0x8C, 0xBF, 0xEA, 0xCC, 0x8B, 0x18};
-// 8c:bf:ea:cc:8b:18
+const uint8_t broadcastAddress[] = {0xE4, 0xB3, 0x23, 0xB5, 0x8D, 0xD0};
+// e4:b3:23:b5:8d:d0
 //=====================================================================================//
 //  Struct declarations
 typedef struct filteredJoystickData

src/drone/src/main.cpp

@@ -28,7 +28,6 @@ http://www.bolderflight.com
 Thank you to:
 RcGroups 'jihlein' - IMU implementation overhaul + SBUS implementation.
 Everyone that sends me pictures and videos of your flying creations! -Nick
-
 */
 
 //========================================================================================================================//
@@ -237,10 +236,10 @@ const int ch5Pin = 17; // gear (throttle cut)
 const int ch6Pin = 17; // aux1 (free aux channel)
 const int PPM_Pin = 17;
 // OneShot125 ESC pin outputs:
-const int m1Pin = D10;
-const int m2Pin = D9;
-const int m3Pin = D3;
-const int m4Pin = D2;
+const int m1Pin = D9;   // Front Right CW (top right motor)
+const int m2Pin = D10;  // Front Left CCW (top left motor)  
+const int m3Pin = D3;   // Back Right CCW (bottom right motor)
+const int m4Pin = D2;   // Back Left CW (bottom left motor)
 const int m5Pin = D7; //for some readon D9 doesnt work
 const int m6Pin = D8;
 
@@ -360,6 +359,8 @@ int pulseWidthToDutyCycle(int pulseWidth);
 void setupMatrixSerial();
 void printPitchInfo();
 void printAttitudeDebug();
+void testIndividualMotors();
+void armMotors();
 //========================================================================================================================//
 //                                                      VOID SETUP                                                        //
 //========================================================================================================================//
@@ -411,7 +412,7 @@ void setup()
 
   delay(5);
 
-  // calibrateESCs(); //PROPS OFF. Uncomment this to calibrate your ESCs by setting throttle stick to max, powering on, and lowering throttle to zero after the beeps
+  calibrateESCs(); //PROPS OFF. Uncomment this to calibrate your ESCs by setting throttle stick to max, powering on, and lowering throttle to zero after the beeps
   // Code will not proceed past here if this function is uncommented!
 
   // Arm OneShot125 motors
@@ -430,6 +431,8 @@ void setup()
 
   // If using MPU9250 IMU, uncomment for one-time magnetometer calibration (may need to repeat for new locations)
   // calibrateMagnetometer(); //Generates magentometer error and scale factors to be pasted in user-specified variables section
+  // armMotors();
+  // testIndividualMotors(); // Test individual motors by commanding them to 1200us pulse length for 1 second each
 }
 
 //========================================================================================================================//
@@ -512,10 +515,10 @@ void controlMixer()
    */
   
   // Quad mixer with pitch bias because the sensor isnt flat on the board
-  m1_command_scaled = thro_des - pitch_PID + roll_PID - yaw_PID; // Front Left CCW
-  m2_command_scaled = thro_des - pitch_PID - roll_PID + yaw_PID; // Front Right CW
-  m3_command_scaled = thro_des + pitch_PID - roll_PID - yaw_PID; // Back Right CCW
-  m4_command_scaled = thro_des + pitch_PID + roll_PID + yaw_PID; // Back Left CW
+  m1_command_scaled = thro_des + roll_PID - pitch_PID + yaw_PID;  // Front Right CW
+  m2_command_scaled = thro_des - roll_PID - pitch_PID - yaw_PID;  // Back Left CW  
+  m3_command_scaled = thro_des + roll_PID + pitch_PID - yaw_PID;  // Back Right CCW
+  m4_command_scaled = thro_des - roll_PID + pitch_PID + yaw_PID;  // Front Left CCW
   
   m5_command_scaled = 0;
   m6_command_scaled = 0;
@@ -1460,21 +1463,6 @@ void commandMotors() {
   ledcWrite(m6Pin, pulseWidthToDutyCycle(m6_duty));
 }
 
-void armMotors()
-{
-  // DESCRIPTION: Sends many command pulses to the motors, to be used to arm motors in the void setup()
-  /*
-   *  Loops over the commandMotors() function 50 times with a delay in between, simulating how the commandMotors()
-   *  function is used in the main loop. Ensures motors arm within the void setup() where there are some delays
-   *  for other processes that sometimes prevent motors from arming.
-   */
-  for (int i = 0; i <= 50; i++)
-  {
-    commandMotors();
-    delay(2);
-  }
-}
-
 void calibrateESCs()
 {
   // DESCRIPTION: Used in void setup() to allow standard ESC calibration procedure with the radio to take place.
@@ -1929,6 +1917,56 @@ void printAttitudeDebug() {
   }
 }
 
+void testIndividualMotors() {
+  Serial.println("=== MOTOR PIN TEST - PROPS OFF! ===");
+  
+  // Test each pin individually for 3 seconds
+  Serial.println("Testing D3 (m1Pin) for 3 seconds...");
+  ledcWrite(D3, pulseWidthToDutyCycle(1300));
+  delay(3000);
+  ledcWrite(D3, pulseWidthToDutyCycle(1000));
+  delay(2000);
+  
+  Serial.println("Testing D2 (m2Pin) for 3 seconds...");
+  ledcWrite(D2, pulseWidthToDutyCycle(1300));
+  delay(3000);
+  ledcWrite(D2, pulseWidthToDutyCycle(1000));
+  delay(2000);
+  
+  Serial.println("Testing D10 (m3Pin) for 3 seconds...");
+  ledcWrite(D10, pulseWidthToDutyCycle(1300));
+  delay(3000);
+  ledcWrite(D10, pulseWidthToDutyCycle(1000));
+  delay(2000);
+  
+  Serial.println("Testing D9 (m4Pin) for 3 seconds...");
+  ledcWrite(D9, pulseWidthToDutyCycle(1300));
+  delay(3000);
+  ledcWrite(D9, pulseWidthToDutyCycle(1000));
+  delay(2000);
+  
+  Serial.println("Test complete! Note which physical motor each pin controls.");
+
+  while(true) {
+    ;
+  }
+}
+
+void armMotors(){
+
+
+  ledcWrite(m1Pin, pulseWidthToDutyCycle(2000)); // maximum pulse width (2000μs)
+  ledcWrite(m2Pin, pulseWidthToDutyCycle(2000));
+  ledcWrite(m3Pin, pulseWidthToDutyCycle(2000));
+  ledcWrite(m4Pin, pulseWidthToDutyCycle(2000));
+
+  delay(9000);
+  ledcWrite(m1Pin, pulseWidthToDutyCycle(1000)); // Minimum pulse width (1000μs)
+  ledcWrite(m2Pin, pulseWidthToDutyCycle(1000));
+  ledcWrite(m3Pin, pulseWidthToDutyCycle(1000));
+  ledcWrite(m4Pin, pulseWidthToDutyCycle(1000));
+}
+
 //=========================================================================================//
 
 // HELPER FUNCTIONS