Motorized Skateboard Operated by Hand Ge

Motorized Skateboard Operated by Hand Gestures

I was just sitting in our Robotics Lab doing nothing. And then I had this idea to make an automatic Skateboard,operated only by hand gestures. How much more awesome it can be?

Well then i started gathering the parts. We had some very high torque BLDC motors just sitting there. They had 75KG/CM of torque each making it 150KG/cm for me. Me being only 90 KG it was enough for me.

Then there was this accelerometer a faulty one, with only X axis Working and Y axis burnt down. I tried making it work without reading its datasheet and by mistake made it hot and its Y axis output went non functional.So i had this 3 axis accelerometer with only X and Z axis working.

Also had a uC board with atmega16 on it. Few long wires a Limit switch and a bunch of connectors.

Thanks to my Mechanical Engineer friends they modified an old chasis for me with the help of a Caster wheel into a very good looking (Ahem!) Skateboard.
So i mounted my Motors, powered the drivers, Charged my Accelerometer.
But sadly i realised as the Y axis was burnt i won’t be able to turn it properly. But then there was a little chance of a solution. The Z axis was sure giving the change in outputs on both tilts. But the output was same. Well i fixed it by a Limit switch And a little bit of extra coding. I added both left and right turns in it. (Well i have to do Gesture + Limit switch for left turn but its still enough awesome )
so I just powered it up with my 5S LiPo and whoa it worked. My childhood dream was right there. A hand gesture operated Skateboard.

I have still kept a kill switch as at certain times it goes out of control and i surely don’t want to get killed.

I Still have to reduce all those wires and make it RF.

Whats Next?
-have to fix it with a Proper Accelerometer.

-Make it wireless
-Improve Stability.
-Add proper deceleration while Stopping

Here is the code:

#include
#include
#include"LCD.h"
void fwd()
{
   PORTD |= (1<<PD3);
   PORTD &= ~(1<<PD2);
while(OCR1A<=28)
{
   OCR1A++;
   OCR1B++;
   _delay_ms(30);
}
}

void rev()
{
   PORTD &= ~(1<<PD3);
   PORTD |= (1<<PD2);
while(OCR1A<=18)
{
   OCR1A++;
   OCR1B++;
   _delay_ms(30);

}
}

void right()
{

   PORTD |= (1<<PD3);
   PORTD &= ~(1<<PD2);
   while(OCR1A<=20)
   {
       OCR1A++;
       OCR1B=0;
       _delay_ms(25);

   }
}

void left()
{
   PORTD |= (1<<PD3);
   PORTD &= ~(1<<PD2);
   while(OCR1B=2)
{
OCR1A--;
OCR1B--;

}

OCR1A=0;
OCR1B=0;

}

void main()
{
int x=0,y=0,z=0;
DDRA=0x00;
//PORTB=0xFF;
ADCSRA=0b10001001;
ADMUX=0b00100000;
PORTA |= (1<<PA3);
DDRA |= (1<<PA4);
PORTA &=~(1<<PA4);
lcd_init();
DDRD=0xFF;
PORTD |= (1<<PD6);
PORTD &= ~(1<<PD7);
TCCR1A=0xA0;
TCCR1B=0x11;
ICR1=50;

//right();

while(1)
{

ADCSRA |= (1<<ADSC);

       while(!(ADCSRA & (1<<ADIF)))
       {
       ;
       }
       x=ADCH;
       //lcd_gotoxy1(0);
       //lcd_showvalue(x);
       ADMUX++;
       ADCSRA |= (1<<ADSC);

       while(!(ADCSRA & (1<<ADIF)))
       {
       ;
       }
       y=ADCH;
       //lcd_gotoxy1(6);
       //lcd_showvalue(y);
       ADMUX++;

       ADCSRA |= (1<<ADSC);

       while(!(ADCSRA & (1<<ADIF)))
       {
       ;
       }
       z=ADCH;
       //lcd_gotoxy1(12);
       //lcd_showvalue(z);
       ADMUX--;
       ADMUX--;

       if(x100)
       {
           lcd_gotoxy1(0);
           lcd_string("REV");
           rev();
       }
       else if(z<100)
           {
               if(!(PINA & (1<<PA3)))
               {
               lcd_gotoxy1(0);
               lcd_string("LFT");
               left();
               }
               else if(PINA & (1<<PA3))
               {
                   lcd_gotoxy1(0);
                   lcd_string("RGT");
                   right();
               }

           }
       else
           {
               lcd_gotoxy1(0);
               lcd_string("STP");
               stop();
               _delay_ms(1000);

           }

       /*
       /*else if(!(PORTA & (1<<PA3)))
       {
           lcd_gotoxy1(0);
           lcd_string("STP");

       }
       else
       {
           lcd_gotoxy1(0);
           lcd_string("NWS");
       }
       */

   }

}