Wifi Dogbot – Post 2

Construction NOTES

   1. Build chassis platform for use indoors.

Chassis platfrom elements come from Pololu, so it will be good to use their Orangutan libararies wherever possible. I will need to modify them as the Arduino/Blackwidow runs at 16MHz (not at 20MHz).

Should I modify Arduino/Blackwidow to use 20MHz crystal, to save modifying all the Orangutan, and also to gain 33% more cycles/sec? Or, modify all the code and timing?

Webbot Lib is a library that addresses most issues associated with building robots. Version 1.15b is current now.
http://webbot.org.uk/iPoint/30.page

   2. Build motor controls to allow straight line, radius, and Bézier motion.

Basic information on how to get differential drive working.
http://www.societyofrobots.com/programming_differentialdrive.shtml

Then how to add PID control to the system.
http://www.societyofrobots.com/programming_PID.shtml

Some of the Orangutan & Pololu libraries are directly relevant:
OrangutanMotors – basis for control of the DC motors.
PololuQTRSensors – basis for reading the Quadrature sensors from Pololu.
PololuWheelEncoders – basis for reading the Encoders on the Wheels.

CourbeBezier Libraries are interesting for describing Bezier curves.
http://jppanaget.com/doku.php/wiki:bezier_curves

   3. Build emergency collision avoidance.

Some of the Orangutan & Pololu libraries are directly relevant:
OrangutanPulseln – basis for reading the short range sensors.
OrangutanDigital – basis for reading the short range sensors.

   4. Build long distance sensors.

A very good description of the chosen Sharp optical rangefinders.
http://www.societyofrobots.com/sensors_sharpirrange.shtml

And this is a description of the Sonar Ultrasonic rangefinders.
http://www.societyofrobots.com/sensors_sonar.shtml

Some of the Orangutan libraries are directly relevant:
OrangutanAnalog – basis for reading the Sharp Optical Rangers

   5. Build voice box – bark, growl, yap, whine, etc.

This code at Arduino might be useful.
http://www.arduino.cc/en/Tutorial/PlayMelody
http://www.arduino.cc/playground/Code/MusicalAlgoFun

   6. Build area mapping.

Using the wavefront technique seems very relevant, from Society of Robots
http://www.societyofrobots.com/programming_wavefront.shtml

   7. Build aggressive object collision avoidance.

Some of the Orangutan libraries are directly relevant:
OrangutanSPIMaster – can drive the interfaces with the WIFI device on Blackwidow.
OrangutanSPIMaster – can drive the interfaces on the Ultrasonic Ranger.

Use the 6DOF Atomic Gyros & Acelerometer code as basis

   8. Build aggression response.

Some of the Orangutan libraries are directly relevant:
OrangutanSPIMaster – can drive the interfaces on the Acceleration & Yaw sensors.
OrangutanSPIMaster – can drive the interfaces on the Ultrasonic Ranger.

   9. Build WiFi sensors & target mapping.

Some of the Orangutan libraries are directly relevant:
OrangutanSPIMaster – can drive the interfaces with the WIFI device on Blackwidow.

A general website for location technique comparisons
http://www.positioningtechniques.eu/lbs_technique_checker.asp

The RTLS from 802.11k is useful, as are the equations for solving based on iso-power intersections of two circles.
http://mathworld.wolfram.com/Circle-CircleIntersection.html
http://local.wasp.uwa.edu.au/~pbourke/geometry/2circle/
There is a C code example to be followed.

  10. Build intelligence logic to enable end result.

Webbot Lib is a library that addresses most issues associated with building robots.
http://webbot.org.uk/iPoint/30.page

Use the Seeker2 source where possible, from Society of Robots.
Research into finite state machines required.

Also there is an Experimental Robot Platform code that is being provided ERP_WebbotLib
that will be very relevant.
http://www.societyofrobots.com/robot_ERP.shtml

  11. Build Thermal sensors & target tracking.

Some of the Orangutan & Pololu libraries are directly relevant:
OrangutanServos – can drive the PCM interfaces to the pan servo for Thermopile Sensor (option).

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