Hi,
It has been a long time since I want to build a proper controller for GP Bikes.
I create this thread to share with you what has been done and the next steps of development.
The controller I want to build should allow riders to control more realistically the different bikes by using Steering Torque as an input and Bike Angle as an output.
Here are the main characteristics:
Further development:
I will update this post regularly.
03/03/2019: Project introduction
Please keep in mind that the controller is only a prototype for the moment. The parts and design are subject to change. The servomotor is obviously undersized.
On the video the bike is controlled via a Bluetooth keyboard as the main purpose is to show the servomotor driven by the bike angle.
The data is received via UDP and sent via Wi-Fi to the microcontroller. An Ethernet connection will be probably used in the future.
The servo control program code is still "under construction" for obvious safety reasons.
For now:
The next big task is the sizing and selection of the the servomotor.
23/03/2019 : Rig and Direct Steering Torque introduction
First version of the rig made of aluminium profiles.
The rig will probably be redesigned in the future. For now, I need something convenient I can easily modify. Stability plates will be added.
Steering Torque input:
For the moment the handlebar is fixed on the rig and has no DOF.
A first "rough" calibration has been made to set the basis. It is a good starting point to evaluate the needed input.
I put two LEDs to give a basic preview of how the torque is applied. Those LEDs turn on when torque is applied; the brightness is also relative to the torque. It's not really representative but I hope it makes it easier to visualize.
Feedback from my side so far:
Next tasks are:
It has been a long time since I want to build a proper controller for GP Bikes.
I create this thread to share with you what has been done and the next steps of development.
The controller I want to build should allow riders to control more realistically the different bikes by using Steering Torque as an input and Bike Angle as an output.
Here are the main characteristics:
Steering | Direct Steer Torque | |
Front Brake | Pressure sensor input | |
Throttle | Fly-by-wire quick throttle | |
Rear Brake | Thumb lever | |
Clutch | No clutch at the moment | |
Rolling | Bike lean angle to drive a Servomotor | |
Gears | Push buttons switch |
Further development:
- Controller to be implemented on full size structure
- Foot pegs controls (Gears and rear brake)
- Clutch implementation (if necessary)
- Launch control feature (experimental)
I will update this post regularly.
03/03/2019: Project introduction
Please keep in mind that the controller is only a prototype for the moment. The parts and design are subject to change. The servomotor is obviously undersized.
Quick video showing the Rolling Angle used as an input for the the servo motor.
On the video the bike is controlled via a Bluetooth keyboard as the main purpose is to show the servomotor driven by the bike angle.
The data is received via UDP and sent via Wi-Fi to the microcontroller. An Ethernet connection will be probably used in the future.
The servo control program code is still "under construction" for obvious safety reasons.
For now:
- if the bike crash the servo goes to its initial value at a given speed
- angle limit is +/- 60 degrees
- limit rotation speed
- other safety issues
The next big task is the sizing and selection of the the servomotor.
23/03/2019 : Rig and Direct Steering Torque introduction
First version of the rig made of aluminium profiles.
The rig will probably be redesigned in the future. For now, I need something convenient I can easily modify. Stability plates will be added.
Steering Torque input:
For the moment the handlebar is fixed on the rig and has no DOF.
A first "rough" calibration has been made to set the basis. It is a good starting point to evaluate the needed input.
Quick video showing Direct Steering Torque with fixed handlebar.
I put two LEDs to give a basic preview of how the torque is applied. Those LEDs turn on when torque is applied; the brightness is also relative to the torque. It's not really representative but I hope it makes it easier to visualize.
Feedback from my side so far:
- At low speed the bike is out of control. I need to understand how to handle it as it seems that I will need to modify my software for this specific condition.
- Direct Steer Torque mode works fine until the bike reach a "high" lean angle. As soon as you release the amount of torque on the handlebar, the virtual rider stops to lean left/right and it leads to a crash.
- Surprisingly, using the "normal" steering mode is really intuitive using torque input. I'm looking forward to try it with the servomotor installed.
Next tasks are:
- mounting the servo on the rig.
- upgrade the controller (new material to increase rigidity)
- add seat and tank on the rig