RKMIX - RummyKub Mixer
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RKMIX automatically mixes a set of RummyKub pieces and spits them all out on the table lying face-down.
RKMIX has 3 components:
- mixing drum
- colorSensor
- switch and turn-around mechanism
mixing drum
The mixing drum is driven by a pair of stepper motors Schrittmotor MOONS 1454HS5405-01N - NEMA 14 B - 1,8Grad.
- If the motors turn in the SAME direction, the drum is rotating and therefore MIXING the pieces in it.
- If the motors turn in the OPPOSITE direction, the drum carriage will be TILTED in order to empty it into the sorting Chute.
mix drum motor drive
pre-test with IBT-2 H-bridge drivers
2 IBT-2 BTS7960B Driver Modules per motor (Schrittmotor MOONS 1454HS5405-01N - NEMA 14 B - 1,8Grad).
motor has 2 coils:
- A-C coil
- B-D coil
Thus, 4 wires:
| Wire | Wire color | Connector pin number |
|---|---|---|
| D | BLUE | 1 |
| B | RED | 2 |
| C | GREEN | 3 |
| A | BLACK | 4 |
- board A drives A-C coil
- board B drives B-D coil
Connection from driver boards to motors:
| board | board pin name | motor pin | motor wire color |
|---|---|---|---|
| A | M+ | A | BLACK |
| A | M- | C | GREEN |
| B | M+ | B | RED |
| B | M- | D | BLUE |
4 RasPi GPIO ports to control the IBT-2 BTS7960B Driver Module:
| GPIO-Number | GPIO-Connector-Pin-Number | Used for | connected to at driver board pin number | driver board pin name |
|---|---|---|---|---|
| 5 | ||||
| 6 | ||||
| 13 | ||||
| 19 | ||||
| 12 | ||||
| 16 | ||||
| 20 | ||||
| 21 |
color sensor
calibration
switch and turn-around mechanism
Software
Base Material:
- EdjeElectronics Playing Card Detecor:
Variant A: Detect Face with OpenCV
This uses a Raspberry Pi Model B Version 3, running OpenCV.
