|Embedded Networked Robots session #6 tomorrow evening||andyg (@geekscape)||8/26/13 8:10 PM|
Planned activities for tomorrow evening ...
- Continue working on the CCHS robot, e.g motor controller, on-board microcontroller. I've copied Damien's update from the last session (below). Thanks Damien !
- Prepare for "ENR#7: NodeBots". Connecting Arduino and Raspberry Pi (or any SBC) is a popular topic. We've already tackled it the "hard way" utilizing ROS (ENR#1 - #4). Now let's try an approach that has a lower barrier to entry, fast pay-off and high fun factor. I'm aiming to give a more structured presentation at the following ENR session, by collaboratively preparing tomorrow evening.
- Working on our robots, fielding questions regarding Arduino (or embedded microcontrollers), Raspberry Pi (or single board computers), Robot Operating System (ROS) sensors, actuators, etc.
If anyone has other suggestions or thoughts, please reply.
Sounds like some people are interested in ...
- Cameras, OpenCV and ROS
- Wireless connectivity for Arduinos, etc
Damien Wise wrote:
Update on the CCHS robot platform from this week's Embedded Networked Robots session:
* We untangled the robot's wiring, and hooked-up each motor to a bench power supply to test them independently. They all run, though one is a bit slow (and has wobbly bearings), and another draws nearly twice as much current (its drive-belt is under a _lot_ of tension, which places considerable load on the motor). Next time, we'll try adjusting belt-tension and replacing some parts.
* Motor spec is 24V, 100W, though they run okay on as low as 10-12V. This could be a safe "low speed" option while testing at the hackerspace, and the trade-off gives us different options for batteries and power-management. On the other hand, the combination of 24V and PWM offers an attractive speed and torque.
* The motor-controller has three channels -- this was wired-up as left pair of motors, right pair of motors, and accessory. For more accessories, or independent control of each wheel, consider a different motor controller. The old motor controller takes servo style inputs for proportional speed and delivers PWM output.
* The chassis has room on the sides or middle for an Arduino, Raspberri Pi, and other boards if needed.
* Possible future options were discussed, such as adding more accessories on top (camera, arm/hand?), installing ROS, navigation with a Kinect, using it as a telepresence robot, and more. It comes down to what sorts of hardware and software hacks everyone wants to do with it.
* For now, we're looking at getting basic motor/movement functionality up and going, and building from there with small, incremental improvements...
I'll bring an Arduino Mega, plus a spare wheel+bearing assembly.
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