Barrel Stabilization

[Youngjae Bae]

The connection point and stroke speed of the linear actuator have changed, changing the underlying data and re-creating the frame.
You can see the results of this later.

Youngjae

[Youngjae Bae]

The final value was calculated for the proven weight and torque balance.
I will remove the existing weights and install a new one weighing about 3.6 kilograms.

Youngjae

[Vince Cutajar]

Received the MPU9250 motion tracker from Spain. Downloaded an Arduino sketch from the internet just to test it.

The pitch and roll readings seem to make sense. The yaw reading is another story. Need to see exactly what's happening with the yaw by going in the code. Plan for now is to use the pitch readings for the barrel stabilization and the yaw readings for the turret stabilization.

Vince

[Robert Reid]

[youtube][/youtube]

Bar set....

[Christoffer Ahlfors]

That translates to a glass of schnapps on the barrel of a 1/6th Chieftain, doesn't it?

[Robert Reid]

I will make this pledge...

For everyone who ends up with Barrel Stabilization on their tank... I will send you, gratis, a 1/6th scale Beer Mug so you can demonstrate this!

I know you will pull it off!!! And it will be my pleasure to send the beer mugs, just to see your stabilized tanks in action!

Cheers,

RPR

[Vince Cutajar]

I know you will pull it off!!!

I wouldn't hold my breath too much on that.

Vince

[Robert Reid]

I know you will pull it off!!!

I wouldn't hold my breath too much on that.

Vince

I just wouldn't bet against the creativity and skills of this crew!

Care for a wager? I'll put quart of Vermont's finest maple syrup against whatever you got... 12 months and they pull it off!

Cheers,

RPR

[Youngjae Bae]

I am confident that we can implement actions such as video because we already have PWM communication.
My wife is rooting for me that when I finish this, she will put a small soju glass (more than beer in Korea) into the barrel herself.
I have been waiting for parts for over a month at Alliexpress, interpreting the mechanical relationship several times a day.

Youngjae

[Christoffer Ahlfors]

I think we are on a mission here!

[Vince Cutajar]

Managed finally to do something useful. I got from the internet some free code to read data from the MPU9250 and convert it to yaw, pitch and roll angles. I added some code to operate a brushed DC geared motor. I am concentrating at the moment on the pitch channel which would be used for the barrel stabilization. The idea is to use the same geared electric motor which is normally used for barrel elevation.

[youtube][/youtube]

The initial motor kick is due to the MPU9250 stabilizing the raw data.

It doesn't look too bad. The motor is running at it's lowest speed and it can be increased considering that it has to operate a leadscrew. I have realised that this is going to be a bit above my paygrade. After all I am only an amateur in programming.

Vince

[Phil Woollard]

Looking good Vince

[Christoffer Ahlfors]

Time to improve your paygrade, then!
You have got the basics running. The rest is about the PID regulation (you can search for that, using your favorite search engine), which is "just" software!

[Youngjae Bae]

I am constantly measuring and adjusting the weight while waiting for an electric actuator.
The final decision on the weight was made by Armortek, 630 grams and my plan B, 1644 grams.
Fortunately, the electric actuators that will be tested are expected to arrive in about two weeks.

Youngjae

[Vince Cutajar]

Time to improve your paygrade, then!

My boss at home refuses to give me a pay rise.

Vince