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New York State School of Industrial and Labor Relations (ILR) ​hello guys today I'm going to take another look at the siku control 22 servos and today we will actually have some success and be able to control the serval so I've actually managed to get an Arduino to control one of these siku control 22 searles it took quite a long time so what I'm going to do is just show you the different steps so the problem we had the last date was that we didn't have a controller and we didn't have the battery to power up this controller 32 control board so there was no way to know that this was actually active there was no lights or no no but when I was at the cast the blame show one of the viewers came along and he gave me a controller and a battery so that I could get the model runnin and hopefully it solved this problem so thanks a lot William for the different bits and pieces takia gave me to try and solve this problem and then I don't think I would have got it done without them so thanks a lot for that and I hope that you would be able to get make some use of the cold yourself so once I had the battery and this infrared controller I put the pieces of the Jodi or 69 20s back here so I needed this M China and select switch the motor i soldered a motor on here because M if you can see here I've just have a hobby server because I've already used the servo in the donde online are 69 20s so I had gotthard the control board from this sort of abbudin into the CQ servo which then went into the John Deere 69 20s so I had the remains of this level and I've just connected them up to the remains of the or two to control board of the siku control 22 server so it's not near only the two wires to control the motor and the three wires to give us the feedback from the potentiometer so that all goes back here then I have the four wires I just bought some pin connections on here so that I could them intersect the signals in the middle here and I've just rewired them back to the main control board so now when I put the battery on the board here we should be able to get us to move tomorrow so you can see now we have we have control I've got to mention the infrared receiver is over here so i just bought them facing each other that's all so if you remember from the last video i taught that the uttermost wire here would be ground and the next weigh-in would be the VCC then the next word the arms one here is connected to all the servos so I thought that was most likely a clock signal and then the final wire goes to the individual circles so I thought that would be a signal wire so i thought it was probably an IE to see sort of boss so with that in mind I took luck with the oscilloscope here I actually tried a couple of different things i did a large catalyzer with the with the arduino as well and i was able to see all these different signals but i couldn't say analyze them to give me any data well i just spent about an hour trying to shoot this next piece of the video and why does it take so long the reason was the servo here kept cutting edge i taught the batteries fast what turns out Tosh wasn't a battery corner at all it was that this little connection here every time it moved slightly it was disconnected the power to the servo so that's it that was a bit of a problem so this is the the connection that came in the seafood control 22 attractor so if you haven't troubled with your servos in your tractor it's probably worthwhile given the wires a little twist when you're testing it to see is it just this connection that's failed I don't know why this connector fail mean it looks fine but and I haven't done too much with this so I mean I've moved their connectors round on there I've only disconnected maybe two times or three times so you know it it may be just a crap connector so if your model has troubled with a serval not working and hope you watch a wise to just get the wires and kind of shake it a bit so the collectors in the control 22 months might just be kind of crap so that's no use to a cellular i rewired this and what I wasn't running off or what I've been trying to save for the last hour instead nurse we have all these parts the first thing that I learned was that we don't actually need the battery and the VCC wire that goes to the servo is the common VCC wire which is connected directly to the battery and there's nothing special in the battery so I just connected VCC and ground to one of my battery packs in this case just happens to be this john deere more so it's very big battery in that so that's what i've been using for the test in here and cdr3 point yet seven volts so that battery is fine this is the only siku control thirty two battery i have so i can't be I can't be tricking you in any way this is hooked up to just a normal lipo battery there's nothing special but anything I've don't you have just connected the battery directly to the CQ controller 22 control board and you can see Stephen server was working find joy motor is working fine so everything is working perfectly her dad helped me was you can see the contacts on the rack adesso just flash and there's a spring contact on the other side so I would have had to all the time hold the battery to the board to try and do the testing which is pretty annoying so once i knew i didn't need that battery i was able to hook it up to a bigger battery here and just wired directly into the board so that I didn't have to hold the battery to the board all the time which is very useful so next thing is to check out our signal wires so if we take our oscilloscope probe and we probe what I talk was the data line you can see that we have some data and if i

zoom out a bit we can see that it is a repeating group of pulses and we have a loom in on the pulse here so I'm calling it a pulse but it's actually a group of nine smaller pulses and what I'm very quickly noticed when you move the when you move the potentiometer here you can actually see that each of these little pulses is going smaller or wider but they always stay in one of two widths so there's a there's always nine pulses and the null impulses are always two particular width so there I think it's 12 microseconds or 20 micro seconds and you can see that the change as you rotate the part and not to me looked like a byte of data so i think there's one pulse is like the flag to say the data is common and then the next nine pulse is because the first pulse doesn't seem to vary when you change the path but the other pulses do and they seem to vary as if its binary character so it may be going from zero that looks like FF actually that that's probably children 2055 that way then 20 something like that I'm not sure which way it is but it looks like it's it's just a binary value after this initial kind of flag pulse so that's very useful information it's not very hard to generate knowing pulses using something like an Arduino so I've zoomed into the first two pulses here and i'll just show you what i meant about the pulse width so we always seem to have one of two states so here's one of the states so this will probably be a zero looks to be about 15 micro seconds there and the gap then is around 150 to 160 something like that 14 aureate there it says so let's put the gap between the bits in the boys I guess hit color and then this it would probably be a one it's it's wider that's about 21 microseconds so what we need is nine pulses separated by about 150 micro seconds and we need 50 around 15 micro second pulse to indicate a zero and a 20 micro second pulse or 21 micro second pulse to indicator one so that's what I tried to replicate on the adrenal that's the line i thought was the data so that's pretty good that's a kind of what we expected some sort of it swing your pulses and next line i taught was a clock line so let's bring our probe over and we have a look at the clock line but now we have a flat line so that's not a clock signal there's no clock signal there at all that's connected to ground so that's 0 volts so then my tinkin is if that's not a clock line but it's connected to all the servos the next most likely thing that is is a signal to both the servos into sleep mode so you're not wasting battery power when the servers aren't needed so if the controller isn't connected to the attractor maybe the microcontroller that's on the main control board tells all do microcontrollers to go to sleep I've disconnected this wire from the main controller now and here is a wire that I'm going to use it's connected to the the other end of this arms where the part that was connected to the serval so if this wire really is a signal wire to turn the server into the sleep mode then it would need to be pulled high on the server board so that there was no mistake if the if the server doesn't get this zero signal it will pull itself I to make sure that it is is he going into sleep mode that there can be no mistake i mean the wire isn't left floating is what i mean so if i write this should be a positive voltage and there you go so the wire is getting pulled high and with the wire with this pin this this sleep mode pinned i guess we call us that's Paul hina and we have no sorrel control we do still have control we are still connected to the board so that's the more they're the main drive motor spinning no problem but no steering that's because the pin has been held high so if i connect this to ground so now I have physically connected at the ground myself so I've imitated what the microcontroller and the main control board is doing and once again we have connection to the server and just again to confirm it I'm connected the scope flow is connected to dark paint as I think is the sleep mode so I'm going to plug in the power for the board if it is putting the store wasn't asleep we'd expect it to go high because the controller is in turn down so here's the power and the pinion went high so that's good we expect that now that's the controller ozone and if I go to channel would the signal line just went low so that has taken the servos out of sleep mode so that hopefully confirms to that pin just puts the servos in the node of sleep mode so now to recap what we've learned if we take a look at our server we can see this is the other server from the from the John Deere 69 20s and the wires are a different color so I can't just tell you that whatever color of wire equals ground or positive because the difference is the green wire here and it's blue in here but the other tray seem to be the same so maybe you can take that to be the case what am I wouldn't just be that I wouldn't just jump to that conclusion but the four wires are going to be in this order even if they're not discolor so if you can identify the ground wire which is going to be on the outside then the next wire in is red in this case that is going to be your VCC signal then the next wire is going to be the one that puts the servo into sleep mode and then the outermost wire is your signal wire if you don't want to switch the servo from sleep mode to to awake mode I guess all you have to do is connect the orange wire to the brown wire or let's connect that pin to ground so you could connect those two pins and just have three wires coming out but it's not the same as a normal server normal several doesn't have nine process it only has it's a pulse width modulation thing this is taken actual data okay so I thought the best way to generate these pulses was going to be to make a library to use the timer so I chose to use time or two and I have just made some code that will produce the nine pulses tap we need to control the serval now you can see there's a little bit of jitter and disorder and I'm not entirely sure what that is but because I've made it in a library if any of us use and the code from the library there to use library in our code and I call put some way of improving that or someone else comes up with a wave and proven us then all we need to do is

change the library and all our other code will just work immediately for other than have them to go and go through all the code to change the store apart so we just have to change the one library rather than having to go through our individual Arduino sketches to improve it so I hope that makes sense I think it will make things a little bit easier if I do it that way so with this library what I've done is recreate the servo library sketches the example sketches from the servo library so first one I have here is the knob sketch so we have the potentiometer here we change a potentiometer and that changes the position of our sorrow so that's a fairly normal example for server so I'll do the next obvious example which is just the sweep sketch so when you download library both of these sketches should be in the examples folder of your arduino ide here's the other example sketch this is the sweep sketch so it just sweeps from 0 to 180 what them some reason the circle doesn't seem to go from 0 to 180 seems go from about 0 to 1 50 degrees something like that I'm not sure why that is but that seems to be the way it is I can't seem to get it to go any further than that maybe those limits are set by there the control board somewhere I'm not sure so my library seems to be working ok so the next thing I'll show you is the control 22 serve old library working alongside the normal hobbies or library just to show you that they will rock together ok now I've made a sketch that's going to use the normal sorvall library which is running this normal hobby servo alongside my library that controls the control 32 sorrows so this one here is the controller 22 sorrow so now when I moved apart you can see both circles are moving without any problem and that's because it's doing one measurement from the output of the potentiometer and it's just writing that value to both Saul's sno you can see we can use both server libraries will each other because the normal server library is using timer 1 and my several library is using time or two so when any luck they won't interfere with each other too much so if you like that video don't forget to hit the thumbs up and share the video all that stuff that helps a lot and as I said to start a video if you're looking for the library for this there's a link in the description to bring you to the website and you can download the library and you just install it like any other like brief for an Arduino that you've installed before I revisit this in the future because now we're controlling the servo but we might also want to add additional functions to a model so say not all the servo and sockets on the control board of the of the RC tractor were used so maybe we'll take that signal and we control an Arduino and control maybe just another server or maybe we want to control a motor there's a lot of different things we could add controlled using that signals I probably add to this library and include cold tap we'll just take the signal from the control 32 main control board suppose the color and I just give you a value between 0 and 180 then once you have that value in your Arduino you can do everyone with us you can control a serval you can control another motor you do anything with that then but that's all I have for today so thanks very much for watching Fu Foundation School of Engineering and Applied Science.

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