Lotte One (based on HK32 integrated control panel)

*1. Project source

    The original intention of the design of Lotte No. 1 is to make a comprehensive control board. Based on the control projects often developed by DIY enthusiasts, multi-functional interfaces are reserved to realize one main control to meet the development of various projects, such as: balance car (with Brush motor, brushless motor, stepper motor, TT motor, N20 reduction motor), as well as self-balancing bicycles, unilateral balancing blocks, single-point balancing blocks, self-balancing poles, unicycles, ball balancing robots, wind pendulums , propeller PID lifting system, inverted pendulum and other projects.

*2. Project attributes

      This project is completely original and is being made public for the first time. The code, self-made video tutorials, PCB and schematics are completely open source. Individuals are not allowed to resell or resell at their own risk. This project lasted for 4 months, costing more than 2,000 yuan in total, and more than 30 PCB prototypes. Please support open source and jointly maintain the domestic open source environment.

* 3. Open source agreement

GPL3.0 open source agreement

   Schematics, PCBs, and codes are completely open source, but individuals are not allowed to produce, sell, or resell materials.

  The production process and principle video will be released later on my Bilibili account. Lotte Technology uid: 434188817 address https://space.bilibili.com/434188817

  First of all, I would like to thank the user UID: 386711674 of the B station user "World Walk". The detailed tutorial materials led me to get started with the PID and balancing car projects. The code is referenced here. I hope everyone pays tribute to the open source spirit. Secondly, I would also like to thank the Balance Car Home (Dongguan Weihong Intelligent Technology) for its more detailed information and a certain theoretical basis. If you have a good financial foundation, you can give more support. I have always purchased competition supplies from this store before. , the information is detailed, and the after-sales service is relatively responsible. The only disadvantage is that the price is relatively expensive. Finally, I encountered many, many problems during the production process. I am grateful to the people who answered my questions and solved my doubts. Because of this, I have achieved the current results. At the same time, I would also like to thank Lichuang EDA for providing this rare and precious opportunity, and thank Lichuang EDA for all its efforts in open source construction. I believe that under the leadership of Lichuang, the domestic open source environment will get better and better. Let’s work hard together!

*4. Hardware part

   The circuit part of this design was all completed by Lichuang EDA. CAD and Solidworks were used for drawing, Keyshot was used for rendering, Windows version was used for video editing, FScature was used for screen recording software, and XMind was used for mind mapping.

1 Supported chips: HK32F103C8t6 (CBT6), STM32F103C8T6 (CBT6), STM32F401CCU6 (QFN package)

2 Pinout: TIM1(CH1 CH2), TIM2 TIM3(CH1 CH2) TIM4(CH1 CH2) PA4 PA5 two ADC leads out

3 The onboard ESP32-S2 serves as a wireless communication module and can be connected using low-power Bluetooth or WIFI. The ESP32 communicates with the main control serial port.

4 By default, TB6612 is used as the driver chip to notify the two encoder motors, and 74LV245 is used instead of the optocoupler isolation chip.

5 Onboard MPU6050, length and width design is 48*48mm, compact size

6 Lead out the 3-way Wanbao brushless motor interface (this motor has a built-in driver) and share the drive signal with the reduction motor. When using it, pay attention to the duplication of ports.

7 ESP32 integrates one-click download circuit, HK32 uses CH340E serial port chip (this chip does not have one-click download function), HK32 reserves SW debugging port

8 ESP32 and HK32 each reserve an LED status indicator.

9 ESP32 and HK32 each reserve a normal button and a reset button.

10 0.96-inch OLED displays MPU6050 attitude data and encoder data in real time, and simultaneously displays PID parameters, voltage and other data

11 LM2596 is used as the 5V voltage stabilizing component, XL4015 is used as the motor-specific voltage stabilizing component, and the AMS1117 linear voltage stabilizing component supplies power for HK32 and ESP32

12 The power input can be connected using DC005 input or ordinary 2P terminal block.

 Functions that have been physically implemented so far (both F1 and F4 have been tested):

(1) DC deceleration balancing car (including open-loop control)

(2) TT motor balancing car (including open-loop control)

  (3) N20 reduction motor (including open-loop control)

(4) Stepper motor balancing car

(5) Mabuchi brushless motor balancing car

(6) Momentum wheel balance system based on Lello triangle (first-order balanced block model)

The physical object has been produced, but the code has not been debugged:

(1) Three-motor balancing column

(2) Point balance balancing block

(3) Wind pendulum

(4) Based on PID propeller lifting system

(5) Balance bike

 Due to time constraints, no physical objects have been produced yet, but hardware support projects (will be completed one by one in the future):

(1) First-order inverted pendulum (2) Second-order inverted pendulum (3) Unicycle balancing car

(4) Ball balancing robot (4) Self-balancing triangular prism

*5. Software part

Development environment: keilMDK Arduino

Note: If your project involves software development, please upload the corresponding project source code in the attachment. Here you can describe in detail your software flow chart, functional module block diagram, explanation or popular science of related algorithms, source code structure, construction and configuration of compilation environment, source code compilation method, program burning method, etc. It is recommended to introduce your ideas to others in the form of pictures and texts.

*6. BOM list

   When purchasing components, it is recommended to compare them with PCB.

*7. Contest LOGO verification

   Purely manual welding, please support me.

* 8. Demonstration video

Detailed tutorials and explanations will be released on my personal Bilibili account: Lotte Technology.