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	<title>Mikael Tulldahl</title>
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	<link>http://www.mikaeltulldahl.se</link>
	<description>My projects, thoughts &#039;n stuff</description>
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		<title>Setting up SBUS with Naze32,Cleanflight, OrangeRx, Turnigy 9XR</title>
		<link>http://www.mikaeltulldahl.se/guides/setting-up-sbus-to-work-with-naze32cleanflight-dsmx-turnigy-9xr/</link>
		<comments>http://www.mikaeltulldahl.se/guides/setting-up-sbus-to-work-with-naze32cleanflight-dsmx-turnigy-9xr/#comments</comments>
		<pubDate>Thu, 02 Apr 2015 00:04:26 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Guides]]></category>
		<category><![CDATA[Projects]]></category>
		<category><![CDATA[Quadcopter]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=94</guid>
		<description><![CDATA[There&#8217;s lot of posts and information out there on how to use Naze32 with Sbus but still I found myself having to do a lot of research and guesswork to make it work on my setup. I figured I&#8217;d make it easy for the next person with the same gear or at least bring one more puzzle piece to the solution on how to make it work on your setup. In this guide I will go through: Setting up the 9xr transmitter How to bind your transmitter and receiver How to electrically connect receiver and Naze32 How to set up Naze32 in Ceanflight to use the SBUS as rc input Here is a list of what gear I use which is used in this guide: OrangeRx DSMX Compatible DSMX 3Ch S.BUS 2.4Ghz Rx (twin long antenna version) Turnigy 9XR Transmitter Mode 2 (No Module) OrangeRX DSMX/DSM2 Compatible 2.4Ghz Transmitter Module (JR/Turnigy compatible) AfroFlight Naze32 Acro AbuseMark FunFly Controller (rev5) You will need to invert the logic level of the SBUS signal from the reciever to the Naze32. I made my own inverter which I will explain but you would save some time on just buying a premade inverter such as this one recommended by Cleanflight wiki: ZYX-S S.BUS Connection Cable. It should be noted that it probably doesn&#8217;t matter what reciever you use as long as it has SBUS support. 1. Setting up the 9xr transmitter turn on the 9xr after the splash screen, press right button choose which model to use by pressing right click right button once so it says &#8220;2/11&#8243; in the upper right corner Change to: ppm, 14ch, 300µSec, 12.5ms I noted that some settings will make the DSMX module &#8220;angry&#8221; and then it wouldn&#8217;t send anything. if this happens you need to change back to some settings that works<a class="more-link" href="http://www.mikaeltulldahl.se/guides/setting-up-sbus-to-work-with-naze32cleanflight-dsmx-turnigy-9xr/">[Read More...]</a>]]></description>
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		<title>3d printed landing gear for 420 gram 250-size quadcopter</title>
		<link>http://www.mikaeltulldahl.se/projects/3d-printed-landing-gear-for-400g-250-size-quadcopter/</link>
		<comments>http://www.mikaeltulldahl.se/projects/3d-printed-landing-gear-for-400g-250-size-quadcopter/#comments</comments>
		<pubDate>Sun, 29 Mar 2015 23:56:48 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Projects]]></category>
		<category><![CDATA[Quadcopter]]></category>
		<category><![CDATA[3d printed]]></category>
		<category><![CDATA[miniquad]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=99</guid>
		<description><![CDATA[The stock landing gear of my 250 tarot was too large, heavy and would get caught in grass in fast forward flight. The situation demanded upgraded landing gear! What I wanted to accomplish was to avoid the landing gear to hook onto things on the ground. it should be cheap, light, flexible, crash proof, aerodynamic and also easy to change! I got inspired by this Youtube video but wanted something more slim  Here is the 3rd iteration of my design Do it yourself! Here is the source file and stl file for use with a 3d-printer. The design is 3d-printed with ABS plastic and it only takes a few minutes on our Bukobot-8 to print out a new set. I attach it with some hot glue and a zip-tie to the frame. After a crash it&#8217;s very easy to peel off the hot glue from the carbon fiber plate to change it for a new one. If you have problems getting old hotglue off, put it in the freezer for 5 minutes and try again, it will be a lot easier! 240fps slow-mo drop: I found that they will brake a bit too easily when i crash with the current thickness(0.6mm), but I find that I rather have to change the landing gear every now and then than having something heavier on, and if it breaks it means it absorbed some energy! After crashing from more than 5 meters altitude onto a football field &#160;]]></description>
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		<title>The Key to building a succesfull robot</title>
		<link>http://www.mikaeltulldahl.se/robots/the-key-to-building-a-succesfull-robot/</link>
		<comments>http://www.mikaeltulldahl.se/robots/the-key-to-building-a-succesfull-robot/#comments</comments>
		<pubDate>Sat, 02 Nov 2013 00:25:19 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Robots]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=46</guid>
		<description><![CDATA[Adjustability It&#8217;s key to make things adjustable in your hardware. A good example of how devastating it can be to forget this can be seen in this clip: the robot to the right have the wheels too high up, so the magnets are in contact with the dohyo, and the wheels just spin in the air. probably they adjusted the height once on a table, but with the forces from the magnets, they chassi bent and needed re-adjustment. important things to make adjustable: plow height, motor mount, wheel height. with tons of unknown parameters, it is impossible to design something that will have the right settings directly Tolerance you find yourself grinding and fileing things a lot of the build time on your first robots, and the reason is the optimism about how things will fit in eachother. if you cnc-cut things, a &#8220;coincident&#8221; contact surface in CAD will have high likelyhood to cause problems. Iterative design go through many iterations, ask others about their opinions and don&#8217;t stick to one design just because you spent time developing it, if it turns out to be a bad design making a detailed design will take more time to implement, but will save time in the end, by not just having rectangular blocks stuffed together you will realize problems before you manufacture. Design first, then buy&#38;build design and browse for parts simultaneously. don&#8217;t buy stuff before the design is locked down, unless it&#8217;s cheap. try to make design decisions based on available hardware. Spare parts get spare parts for everything. things will break, and they will break when there is no time to order new ones. a lot of robots have been stranded because one part got broken. it&#8217;s worth the extra cost in the time you will save. &#160;]]></description>
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		<item>
		<title>Lilla Lisa Specs</title>
		<link>http://www.mikaeltulldahl.se/robots/lilla-lisa-specs/</link>
		<comments>http://www.mikaeltulldahl.se/robots/lilla-lisa-specs/#comments</comments>
		<pubDate>Fri, 01 Nov 2013 23:37:12 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Lilla Lisa]]></category>
		<category><![CDATA[Robots]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=38</guid>
		<description><![CDATA[Motors Model: Turnigy L3040A-480G Brushless Motor Specs: kv :480 rpm/V max current: 52A. suitable for 6s system (22.2V) You can calculate the torque constant, Kt, given the kv: Kt=9.5/Kv=9.5/480=0.02Nm/A at 52A: M=I*Kt=52*0.02=1.04Nm gear ratio of 10:35 gives: Mout=1.04*3.5= 3.64Nm M=F*r &#8211;&#62; F=M/r=3.64/0.02=182N two motors: 2*182N=364N so it is able to push forward with about 364N at full current at both engines. however we dare to push much more current for a short duration Transmission the motors have a 5mm axle, we picked regular rc buggy pinion steel gear for use on the motor shaft, 10t and mod1 the motor gear has a direct drive on the wheel gear, a 35t mod1 gear from sdp-si of stainless steel. the wheel gears were modified (not the teeth)with cnc to minimize weight and to fit nicely with the rims. the rims are cnc cut from both sides from a piece of Nylon. nylon turned out to be very hard to work with and i had some failed pieces before I figured out a good manufacturing method. the wheel gear is slided on the hub, and fastened with a handful of m3 screws threaded into the nylon. a mold was milled from 8mm sheets of PC and used to mold polyurethane on the rims. a wheel diameter of 41mm was used. with a 4.5mm thick polyurethane tire. the tire is expected to compress about 1mm as they touch the doyho. &#160; Batteries we have one individual battery pack for each motor, each is a 1.3Ah 6s(22.2V) 45c &#8211; 130c turnigy nanotech http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22907 Motor controllers (ESC) the motor controllers are a custom design by Benjamin Vedder. they turn out to run our motors perfectly sensorless, but we will anyway probably put in sensors in the motors, by putting hall-sensors between the coils. Magnets magnets were sourced from http://www.magnetvaruhuset.se/ we chose the type &#8220;super-flatgripare&#8221;<a class="more-link" href="http://www.mikaeltulldahl.se/robots/lilla-lisa-specs/">[Read More...]</a>]]></description>
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		</item>
		<item>
		<title>Linefollower airflow simulation</title>
		<link>http://www.mikaeltulldahl.se/robots/linefollower-airflow-simulation/</link>
		<comments>http://www.mikaeltulldahl.se/robots/linefollower-airflow-simulation/#comments</comments>
		<pubDate>Sun, 13 Oct 2013 22:39:25 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Linefollower]]></category>
		<category><![CDATA[Robots]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=23</guid>
		<description><![CDATA[i did a quick and dirty check on how the undercarriage shape affects the pressure and thus the downforce. what i wanted to know was: can you assume that the pressure difference the fan creates is maintained under the entire hood, or is the vacuum decreasing towards the edges &#8211; and what kind of downforce can be expected? i&#8217;ve learnt that the shape of the underside of the hood plays a major role in the downforce generated, as you can see in the picture bellow, the fan creates a difference of about 300Pa, but the major part of the undercarriage is only experiencing a mere 60 Pa pressure difference. more investigation needed!]]></description>
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		<item>
		<title>Linefollower beginning calculations</title>
		<link>http://www.mikaeltulldahl.se/robots/linefollower-beginning-calculations/</link>
		<comments>http://www.mikaeltulldahl.se/robots/linefollower-beginning-calculations/#comments</comments>
		<pubDate>Sun, 13 Oct 2013 22:02:33 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Linefollower]]></category>
		<category><![CDATA[Robots]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=21</guid>
		<description><![CDATA[since competing at RobotChallenge 2013 in Vienna with Sleipner and Lilla Lisa, i&#8217;ve got more and more excited about building a linefollower. initial design-goals ( preliminary) 200g mass 3g acceleration sideways as well as accelerating/deaccelerating (all the way up to top-speed) more than 5m/s top speed vacuum fan. probably a 35-27mm EDF size of max 25 x 25 cm to be able to compete in Robot-SM, Stockholm Robot Championship, Robotex and RobotChallenge (just for calculations) wheel radius: 1cm 2s lipo rought estimate of suitable components: rpm on wheels at 5m/s: 4800rpm since 2s lipo &#8211;&#62; ca 7.4 volt system &#8211;&#62; 4800/7.4=650kv on motor or equivalent with gearbox power out of engine at 5m/s, 3g(=30m/s^2): P=F*V=m*a*V=5*30*0.2 =30W = 15W per motor since there is no lightweight 650kv, 15w motors, i&#8217;ll have to use a gearbox. i like brushless outrunners, there are lots of variations but i&#8217;ve found some ca 10g 15W motor with about 2000kv, so a gear ratio of about 3:1 is needed. 2s lipo ,350mah, 65c 130c burst = 22A continous= 170W kont, 34g. http://www.hobbyking.com/hobbyking/store/__19117__Turnigy_nano_tech_350mah_2S_65_130C_Lipo_Pack.html ESC wheel engines: 2s, 10A, 8g http://hobbyking.com/hobbyking/store/__23766__HobbyKing_Brushless_Car_ESC_10A_w_Reverse.html ESC EDF: 10A, 9g http://www.hobbyking.com/hobbyking/store/__659__TowerPro_9g_w12A_Brushless_Speed_Controller.html EDF: 27mm, 2s, 5.5A, 40W, 8g &#160; wheel motors: http://www.hobbyking.com/hobbyking/store/__5358__18_11_2000kv_micro_brushless_outrunner_10g_.html CAD for motors: https://grabcad.com/library/micro-brushless-motor-1 axle: bearings: http://www.kullager.se/sv/product/501/Kullager-623-3x10x4 &#160; so far it seems as if 200g total is a reasonable and achievable goal. i will research more what kind of &#8220;diffusor&#8221; style undercarriage is the best shape to get as much downforce as possible with the EDF as a vacuum fan.]]></description>
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		</item>
		<item>
		<title>Meta-post</title>
		<link>http://www.mikaeltulldahl.se/uncategorized/meta-post/</link>
		<comments>http://www.mikaeltulldahl.se/uncategorized/meta-post/#comments</comments>
		<pubDate>Sun, 13 Oct 2013 21:58:02 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Personal]]></category>
		<category><![CDATA[Uncategorized]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=18</guid>
		<description><![CDATA[I&#8217;ve made one attempt on blogging before, that didn&#8217;t go too well. Now however i feel i had a need for a blog, my vision for this blog is a way to document primarily projects i undertake, but also to share things i learnt and help others. So let&#8217;s get to it! these are the mentionable project&#8217;s I&#8217;ve been involved in so far: DeathCounter, Festmaskinen, Döbbeldäcker 3000, Quadcopter ( probably the only project i have not yet found a good name for), Gulliver, Sleipner(benjamins posts, showoff video), Lilla Lisa, Bikelights. I hope I&#8217;ll find time to write more about each and every of these projects in separate posts. ongoing stuff: Chairman in Chalmers Robotförening, trainee in Chalmers Student Formula, learning the STM32F4, Lilla Lisa ( I plan to put a STM32F4 Discovery in this sumo and develop the code running on it myself as a first project), Quadcopter &#8211; design phase is basically done and i just need to find time to manufacture it, put in electronics, test, crash, repeat. Linefollower. let&#8217;s hope this get&#8217;s interesting!]]></description>
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