Project: All RX hexagonal flat terminal with gimbal control - OUWECAD/MOWE GitHub Wiki
##Table of Contents
Project Description
Connection
Results
3D Printing
Project Description
The 37-module flat hexagonal all-receiver array introduced earlier is integrated here with a 2-axis gimbal and a gimbal controller in an all-RX communication terminal. The gimbal acts as an active steering device or a displacement/mechanical disturbance emulator. We designed and 3D-printed special fixtures to fix the array to the gimbal and anchor both of them on an optical table. The two angle-based servo motors are controlled by a separate MOWE module that receives its commands from the array master module. The array constantly scans the FoV and reports back to a PC where the data can be viewed using the Matlab script TerminalRX.m. Modules' indicator LEDs are lit when the measured intensity exceeds a certain threshold. Such a terminal is useful for beam detection, tracking and visualization. Note that the Matlab script has about 1 sec delay in processing and visualizing data. The array itself, however, works real time with scan rates up to 800Hz or higher.
The array firmware is hosted in the folder Firmware_RX and the gimbal controller firmware is hosted in the folder Firmware_Gimbal. Below are some pictures for the terminal setup. The gimbal used in this project is available on Amazon for $23.99.
Connection
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Master module P1 >> PC (921600 baudrate)
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Master module P5 >> Servo controller module P1 (921600 baudrate)
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Servo controller module P3 TX >> Yaw servo motor (PWM)
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Servo controller module P4 >> Pitch servo motor (PWM)
Results
The following video recordings represent various experiments using this terminal array. Click on each picture to open the video in YouTube.
- Optical Beam Tracking: A feedback regulated system tries to center the beam on the array. The array detects a full or partial beam and calculates its center. Then, it orders the gimbal to move and match beam center with array center module.
- Beam Detection & Tracking - Small Footprint: A test for an active beam where the footprint is small enough to cover only one module.
- Beam Detection & Tracking - Large Footprint: A test for an active beam where the footprint is large enough to cover multiple modules.
3D Printing
The subfolder Mechanical contains Solidworks parts used in this project. Feel free to modify the designs or do your own!
optical_table_holder_100m_quad.SLDPRT: A four-legged (quad), 100-mm-height optical table holder. The holder is strengthened to bear the weight of the array and gimbal and the moments resulting from gimbal operation.
Support Frame 2.SLDPRT: A frame-shaped fixture to connect the array to the gimbal.
Makerbolt_gimbal.SLDPRT: A modified, hollowed Makerbolt screw part affixed to a special casing to hold one of the gimbal motors.
