Swarm Robots: my progress (Architecture of Software)
Leo Yan
My progress:
made a robot prototype based on Arduino UNO board.
designed the architecture of software.
Coding the class of Sensor.
Architecture of Software:
Four kind of object: Sensor, Motor, Messager, Action.
Two thread: 'main process' and 'timer interrupt process'
Attachments in detail:
- Class diagram:
- Data of Class:
- Interaction diagram:
Message format for communicating:
baud rate: 2k bit/s( it depends on: 1.the min signal pulse width, here I take 500us. Constraint: must be less than the half of 38k.)
start bit: 3 bits of 0 (using the low output of IR-receiver as the 0 bit)
data:
typedef struct{
uint8_t ReceiverID; // send from LSB
uint8_t SenderID;
uint8_t MessageID;
uint8_t Para;
uint8_t VerifyFirst; // Verify bytes, the value should be equal to the value of ReceiverID
uint8_t VerifyLast; // Verify bytes, the value should be equal to the value of the l Para
}TxRxBuf_stru;
verification: using repeating data as above.
Stop bit: null.
Message transfer rate: 2K bits/51 bits=39, 39 messages per second.
collision detecting: thinking:)
Problem:
1. about emitting infrared of prototype robot : when change signal from 0 to 1 on the 38k PWM, there is a very strong infrared at the start of changing that can enable all four IR-receivers. I'll go to Xinchejian and to solve the problem tonight.
hao jiang
Great job leo!
spanner888
your work is really interesting and you are progressing fast!
About the "very strong infrared at the start" - my first thought is that this might actually be the other way around - the signal starts with a normal (higher) strength, then the strength fades rapidly - most likely due to power supply drain (or droop) due to the relatively high peak current.
Things to try are a local capacitor to supply current over a longer period, or reducing the output - eg series resistor (although this may depend on your driver circuit).
One of the links I sent you a few days back also discusses constant current driver to help control the output.