Wifi Dogbot – Post 2

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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).

WiFi Dogbot

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I was looking for a “why” for investing my time in Atmel AVR devices, because with a “why” progress is always faster. I think making an autonomous robot with dog-like behaviour will make an excellent one / two year multi-layer project, that will be able to demonstrate itself at the end. Also it won’t consume too much cash.

This post is to create a problem description, expected outcomes, and path I’ll be taking. It will also be a reference when I forget where I was going with this.

Why?

  • Being able to find my ‘Droid when it has gone missing around the house, and (more reguarly) being able to find my wife’s Crackberry is a fairly regular occurrence. So, I’d like to build something that can find both of these WiFi enabled devices. Also, being able to search out iPhones and WiFi APs, like a drug sniffer dog, would be mildly entertaining for family and visitors.

Expected features

  • Autonomously seek out and approach WiFi sources in order of strength.
  • “Bark” when the device is in close proximity.
  • Navigate & travel at dog speed in an unfamiliar environment.
  • Avoid aggressive obstacles within the map. “Growl” at these obstacles.
  • Reorientate autonomously if an aggressive obstacle “picks up” or “plays”.

Optional features

  • Follow someone around whether or not they have a WiFi device.

Assumptions

  • The floor is flat. Litter can be avoided. -> a cheaper indoor chassis can be used.
  • The room is small. 10m x 10m map can be built, with translation as map edge approached. -> memory conservation.

Initial Plan

  1. Build chassis platform for use indoors.
  2. Build motor controls to allow straight line, radius, and B?zier motion.
  3. Build emergency collision avoidance.
  4. Build long distance sensors.
  5. Build voice box – bark, growl, yap, whine, etc.
  6. Build area mapping.
  7. Build aggressive object collision avoidance.
  8. Build aggression response.
  9. Build WiFi sensors & target mapping.
  10. Build intelligence logic to enable end result.
  11. Build Thermal sensors & target tracking.

Component sourcing

  • Chassis

1x Pololu 5″ inch Robot Chassis RRC04A http://www.robotgear.com.au/Product.aspx/Details/353
1x Pololu 42 x 19mm Wheel and Encoder Set http://www.robotgear.com.au/Product.aspx/Details/307
1x TB6612FNG Dual Motor Driver Carrier http://www.robotgear.com.au/Product.aspx/Details/319
1x Pololu Ball Caster with 1″ Plastic Ball http://www.robotgear.com.au/Product.aspx/Details/370
2x 30:1 Micro Metal Gearmotor http://www.robotgear.com.au/Product.aspx/Details/344

1x Arduino Duemilanove http://arduino.cc/en/Main/ArduinoBoardDuemilanove
(will be replaced in step 9.)
1x Arduino Proto Shield http://www.sparkfun.com/commerce/product_info.php?products_id=7914

  • Emergency Sensors

3x Pololu Carrier with Sharp GP2Y0D810Z0F Digital Distance Sensor 10cm
http://www.robotgear.com.au/Product.aspx/Details/309

  • Long Distance Sensors.

2x Sharp GP2Y0A02YK0F Analog Distance Sensor 20-150cm http://www.robotgear.com.au/Product.aspx/Details/272
1x SRF10 Dual Transducer Ultrasonic Ranger http://www.robot-electronics.co.uk/htm/srf10tech.htm

  • Voice Box.

1x Piezo Buzzer from NerdKits

  • Aggression Sensors.

1x MMA7260QT 3-Axis Accelerometer http://www.pololu.com/catalog/product/766
1x LISY300AL Single-Axis Gyro http://www.pololu.com/catalog/product/765

  • WiFi Sensor (and revised Microcontroller Platform).

1x BlackWidow 1.0 http://www.seeedstudio.com/depot/blackwidow-10-p-613.html

  • Thermal Sensor.

1x Thermopile Array http://www.robotgear.com.au/Product.aspx/Details/294

So, maybe the next post once some more details are to hand.

Make Arduino Duemilanova run NerdKits C code

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Just got a NerdKit, and although it was fun to put the it all together
and make it work, I like stable power and comms, so I also just bought
a Duemilanova to play with too.

But, also not liking IDE programming, much less dirty code that has
“wiring” in it, I thought it might be nice to run NerdKit C code on
the 328p in the Duemilanova.

Following the simple instructions from the pdf in the ATmega328P
Upgrade Nano-Guide gets you most of the way.

In the C code file you’re writing change the CPU speed definition from

#define F_CPU 14745600 // for NerdKit

to

#define F_CPU 16000000 // for Duemilanova

To make avrdude work these parameters are needed for the make file:

AVRDUDEFLAGS=-c stk500v1 -p m328p -b 57600 -P /dev/ttyUSB0

Press the “S1” button on the board simultaneously with your `make` or
`avrdude` command

It works. That’s all!

#nocleanfeed #openinternet for Australia

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The need to take personal responsibility is at the base of this discussion.

Responsibility to care for the well-being of our children, through active involvement in their education and their access to the world through the Internet, and not rely on false Governmental platitudes of security.

Responsibility to accept the right to be fully informed, and not just accept a sanitised “filtered” version of the truth, as dictated by a biased panel of 11 censors.

Responsibility to speak out when barriers to personal choice are being imposed by a State that believes that it “knows better” than the populace.

Clearly Senator Conroy, and the others behind this stupid scheme, will be fully responsible too, when they are voted out of Office by the responsible thinking citizens of Australia at the next opportunity for democratic process.