The STM32 Discovery dev board is used to read an SPI serial interface magnetic absolute angle sensor and drive PWM and DIR signals to an H-bridge for a brushed gear-motor directly coupled to the weighted base. Sample loop is 1024 Hz and the PWM frequency is approximately 8 kHz. A brass and PTFE composite thrust washer is used between the gearbox face and the 6061 aluminum hub of the weighted base.
The beam is dual-ball bearing mounted on a 3/8″ vented cap screw, which is fastened to the rotating platform with a nylon insert lock nut. The vented cap screw allows signal wires to pass through to the angle sensor fixed at the other end of the mount screw. Neodymium magnets are fixed to the beam on an aluminum bracket over the angle sensor.
The gearbox has experienced accelerated wear, likely do to half of the planetary gears being nylon despite being specified in the sales literature as metal. It has been rebuilt several times, with thrust washer moved in the gear stack, and exhibits a “detented” non-linearity while rotating. The PID must compensate for this as well.
The Raspberry Pi is used to update PID loop gains through an SSH terminal WiFi user interface, and generate live plots of the angle and PWM data using gnuplot and NGINX web server. Wireless interfaces allow for full continuous 360 degree rotation to balance the beam.
The Raspberry Pi and STM32 Discovery communicate using bidirectional UART serial. Processing is otherwise completely independent and parallel.
The project is used to demonstrate Zigler-Nichols and other PID tunings. The coefficients used are from the Wikipedia article on Zigler-Nichols tuning method.
In this tutorial I am going to show you how to forge 3 carving knives from drill bits and files.
The forge used here was made from NightHawkInLight’s tutorial: https://www.youtube.com/watch?v=jBVa2bw3r_k
My drill bit knife tutorial: https://www.youtube.com/watch?v=Rxo0G39ETt8
How I made the forge:https://www.youtube.com/watch?v=bmbZMtk7X80
All music was used with permission from the creator and is royalty free.
Intro music by: Lino Rise
Title: “Cypress”
Source: www.free-intro-music.com
Licenced under Creative Commons by Attribution 3.0
outro music: DM Galaxy – Paralyzed (Disfigure Remix) [NCS Release]
By Disfigure: https://soundcloud.com/disfigureofficial
NCS video: https://www.youtube.com/watch?v=3gM612nH8Yo&list=UU_aEa8K-EOJ3D6gOs7HcyNg
Main music in the video by dano : https://www.danosongs.com/#music
Disclaimer:
I hold no responsibility for any damage, injury, or death caused if you try to re create or use any of the weapons or projects seen on any of my videos. By attempting to do anything seen on my channel the user is completely responsible for any consequences caused by his/her actions. If you do make these weapons be safe and always wear eye protection when using them – (if necessary) and always use these weapons in a safe and controlled environment where no one is in danger because of your actions!
don’t be an idiot!
there may be dangers that i am not aware of when making these weapons.
I make these weapons because I am interested in the methods and engineering of them but I am NOT at all interested in using them for hunting or hurting people! (but they may be useful in the coming zombie apocalypse!) Any of the weapons or processes on my channel could be dangerous if attempted.
Thank you so much to my patrons!
They helped make this video possible!
Daniel Wiegert
kubeek
Oliver Lorrance
Stephan Burlot
Davidstgelais
Kieran Harkin
Larry Kuszmaul
Sam Carter
Villads Møller
If you want to help support my videos then please visit this link and consider donating!
https://www.patreon.com/TheArtOfWeapons