Differential Drive Mobile Robot - Revision history

JarvisSchultz: /* Code Download */

2010-04-27T13:10:38Z

Code Download

← Older revision		Revision as of 08:10, 27 April 2010
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	===Code Download===		===Code Download===

	The fully documented code used in this project can be downloaded [[Media:~~Mobile_Robot_-_Code~~.zip \| here]], and a flowchart illustrating the functionality of the code can be found [[Media:Winter2010SwarmbotCodeUML.pdf \| here]].		The fully documented code used in this project can be downloaded [[Media:JS_JW_Final_Mobile_Robot_Codes.zip \| here]], and a flowchart illustrating the functionality of the code can be found [[Media:Winter2010SwarmbotCodeUML.pdf \| here]].

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JarvisSchultz: /* Code Download */

2010-04-09T22:37:16Z

Code Download

← Older revision		Revision as of 17:37, 9 April 2010
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	===Code Download===		===Code Download===

	The fully documented code used in this project can be downloaded [[Media:Mobile_Robot_-_Code.zip \| here]].		The fully documented code used in this project can be downloaded [[Media:Mobile_Robot_-_Code.zip \| here]], and a flowchart illustrating the functionality of the code can be found [[Media:Winter2010SwarmbotCodeUML.pdf \| here]].

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JarvisSchultz at 03:09, 19 March 2010

2010-03-19T03:09:49Z

Show changes

JakeWare: /* Electrical */

2010-03-19T02:03:38Z

Electrical

← Older revision		Revision as of 21:03, 18 March 2010
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	One of the main goals of the robot was to have the ability to communicate wirelessly. The XBee wireless chip was used to fill this requirement. The XBee is a device that allows simple serial communication over a 2.4 GHz connection. By connecting the chip to ground, power, a transmit pin, and a receive pin, one is able to perform standard serial communication between two properly configured XBee chips. More information about the XBee can be found [http://www.sparkfun.com/commerce/product_info.php?products_id=8665 here].		One of the main goals of the robot was to have the ability to communicate wirelessly. The XBee wireless chip was used to fill this requirement. The XBee is a device that allows simple serial communication over a 2.4 GHz connection. By connecting the chip to ground, power, a transmit pin, and a receive pin, one is able to perform standard serial communication between two properly configured XBee chips. More information about the XBee can be found [http://www.sparkfun.com/commerce/product_info.php?products_id=8665 here].

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JakeWare: /* Electrical */

2010-03-19T02:03:27Z

Electrical

← Older revision		Revision as of 21:03, 18 March 2010
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	One of the main goals of the robot was to have the ability to communicate wirelessly. The XBee wireless chip was used to fill this requirement. The XBee is a device that allows simple serial communication over a 2.4 GHz connection. By connecting the chip to ground, power, a transmit pin, and a receive pin, one is able to perform standard serial communication between two properly configured XBee chips. More information about the XBee can be found [http://www.sparkfun.com/commerce/product_info.php?products_id=8665 here].		One of the main goals of the robot was to have the ability to communicate wirelessly. The XBee wireless chip was used to fill this requirement. The XBee is a device that allows simple serial communication over a 2.4 GHz connection. By connecting the chip to ground, power, a transmit pin, and a receive pin, one is able to perform standard serial communication between two properly configured XBee chips. More information about the XBee can be found [http://www.sparkfun.com/commerce/product_info.php?products_id=8665 here].

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JakeWare: /* Overview */

2010-03-19T02:03:08Z

Overview

← Older revision		Revision as of 21:03, 18 March 2010
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	The goal of this project was to create a low cost replacement for the popular E-Puck robot that was better suited to the needs of the current research projects here at Northwestern. The project also entailed developing a control library that would allow future users to easily interface with the robot and integrate it into their research. Specifically, the robot was to meet the following criteria:		The goal of this project was to create a low cost replacement for the popular E-Puck robot that was better suited to the needs of the current research projects here at Northwestern. The project also entailed developing a control library that would allow future users to easily interface with the robot and integrate it into their research. Specifically, the robot was to meet the following criteria:


	===Mechanical Goals===		===Mechanical Goals===
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	*Allow the user to directly control the robot's wheel speeds		*Allow the user to directly control the robot's wheel speeds


	===Video Summary===		===Video Summary===

JakeWare: /* Software */

2010-03-19T02:02:40Z

Software

← Older revision		Revision as of 21:02, 18 March 2010
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	==Software==		==Software==

	The control software for this project was written for the PIC32 with Microchip's MPLab IDE and C32 compiler. As stated in the original project goals		The control software for this project was written for the PIC32 with Microchip's MPLab IDE and C32 compiler. As stated in the original project goals, the code's final form needed to be in the form of a library that a future user can include and easily interface with. As such, the download file below contains three files. One is the main file that does little more than include the project code's header file and call one function in an infinite loop. The second file is a header file that contains the necessary function definitions. The third is the source code that contains all the code written for this project. This includes the interrupt routines, communication, motor control, odometry, and other smaller support functions.

			Another goal of the software was to give the user access to three modes of control. These include wheel speed, position in (x,y,theta), and velocity vector control. Wheel speed control allows the user to directly specify each of the wheel speeds at a rate determined by their communication speed. This is the mode of control that the Wiimote code uses. (Also, for reference, it takes the current version of code 133ms of every second to decode these strings if they are being sent at 120Hz.) Position control allows the user to specify the robots position in a global frame relative to its starting position. Velocity vector control allows the user to give the robot a velocity vector stemming from the center of the front face that it must follow.

			All of these modes of control support wireless communication through the XBee wireless chip. Furthermore, with 120Hz communication, and all else considered to be worst case scenario, this version of the code will only take about 30% of the available computation time.

			===Code Download===

			The fully documented code used in this project can be downloaded [[Media:Mobile_Robot_-_Code.zip \| here]].

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JakeWare at 01:47, 19 March 2010

2010-03-19T01:47:53Z

← Older revision		Revision as of 20:47, 18 March 2010
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	~~'''~~Mechanical Goals~~:'''~~		===Mechanical Goals===

	*Be of a similar size to the E-Puck		*Be of a similar size to the E-Puck
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	*Have an approximate run time of 1 hour		*Have an approximate run time of 1 hour

	~~'''~~Software Goals~~:'''~~		===Software Goals===

	*Use the NU32 board for control logic		*Use the NU32 board for control logic
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	~~'''~~Video Summary~~:'''~~		===Video Summary===

	A video summary can be viewed [http://www.youtube.com/watch?v=5kB0zCvFP-g here]		A video summary can be viewed [http://www.youtube.com/watch?v=5kB0zCvFP-g here]

JakeWare: /* Summary */

2010-03-19T01:43:34Z

Summary

← Older revision		Revision as of 20:43, 18 March 2010
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	*Have an approximate run time of 1 hour		*Have an approximate run time of 1 hour


	'''Software Goals:'''		'''Software Goals:'''
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	*Allow the user to directly control the robot's wheel speeds		*Allow the user to directly control the robot's wheel speeds


	'''Video Summary:'''		'''Video Summary:'''

JakeWare: /* Overview */

2010-03-19T01:43:20Z

Overview

← Older revision		Revision as of 20:43, 18 March 2010
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	*Allow the user to directly control the robot's wheel speeds		*Allow the user to directly control the robot's wheel speeds

			'''Video Summary:'''

			A video summary can be viewed [http://www.youtube.com/watch?v=5kB0zCvFP-g here]

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