Tag Archives: freertos

Wifi Dogbot – Post 3 – Pin Outs

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Changed the processor to Pololu Orangutan SVP

*** PIN OUTS DEFINED

For the Orangutan SVP from http://www.pololu.com

Port Pin Orangutan (Alternate Functions) Function Notes

  • PA0 (ADC0) IR Analogue Distance Sensor GP2Y0A02YK0F (20cm-150cm) to ~2.8V – ORANGE
  • PA1 (ADC1) IR Analogue Distance Sensor GP2Y0A21YK0F (10-80cm) to ~2.8V – WHITE
  • PA2 (ADC2) LISY GIRO Z Axis Analogue Sensor to 3.3V – PURPLE
  • PA3 (ADC3) MMA7260QT Three Axis Accelerometer – X Axis Analogue to 3.3V – YELLOW
  • PA4 (ADC4) MMA7260QT Three Axis Accelerometer – Y Axis Analogue to 3.3V – BROWN
  • PA5 (ADC5) MMA7260QT Three Axis Accelerometer – Z Axis Analogue to 3.3V – GREEN
  • PA6 (ADC6) Motor1 Current sense – WHITE
  • PA7 (ADC7) Motor2 Current sense – WHITE
  • PB0 (T0) LCD control line RS Timer/Counter 0
  • PB1 (T1, CLKO) LCD control line R/W
  • PB2 (AIN0, INT2) LCD control line E
  • PB3 (AIN1, OC0A) Timer0 PWM output A? PIR (Digital LOW) – YELLOW (& RED & GREY)
  • PB4 (SPI_SS, OC0B *) Timer0 PWM output B
  • PB5 (SPI_MOSI) auxiliary processor control
  • PB6 (SPI_MISO) auxiliary processor control
  • PB7 (SPI_SCK)? auxiliary processor control
  • PC0 (I2C_SCL) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – BROWN
  • PC1 (I2C_SDA) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – ORANGE
  • PC2 LCD data line DB4 – user pushbutton (pressing pulls low)
  • PC3 LCD data line DB5 – user pushbutton (pressing pulls low)
  • PC4 LCD data line DB6 – green user LED (high turns LED on)
  • PC5 LCD data line DB7 – user pushbutton (pressing pulls low)
  • PC6 Motor2 direction control line – LEFT MOTOR
  • PC7 Motor1 direction control line – RIGHT MOTOR
  • PD0 (USART0_RXD0)
  • PD1 (USART0_TXD0) digital I/O red user LED (low turns LED on)
  • PD2 (USART1_RXD1, INT0)
  • PD3 (USART1_TXD1, INT1)
  • PD4 (OC1B) Timer1 PWM output B – Buzzer
  • PD5 (OC1A) Timer1 PWM output A – I/O servo SPWM? – Neck Servo
  • PD6 (OC2B) Timer2 PWM output B – Motor2 speed control line
  • PD7 (OC2A) Timer2 PWM output A – Motor1 speed control line
  • AREF VCC 3.3V Battery Supply

IN PHYSICAL ORDER

TOP RIGHT TO LEFT

  • PD5 (OC1A) Timer1 PWM output A – I/O servo SPWM – Neck Servo
  • Quadrature Sensor D – YELLOW (LEFT 2nd)
  • Quadrature Sensor C – WHITE (LEFT 1st)
  • Quadrature Sensor B – BLUE (RIGHT 2nd)
  • Quadrature Sensor A – BROWN (RIGHT 1st)
  • GND

BOTTOM RIGHT TO LEFT

  • VIN
  • GND
  • M1 OUT B – PURPLE (RIGHT)
  • M1 OUT A – GREY (RIGHT)
  • M2 OUT B – ORANGE (LEFT)
  • M2 OUT A – GREEN (LEFT)=
  • PD3 (USART1_TXD1, INT1)
  • PD2 (USART1_RXD1, INT0)
  • PD1 (USART0_TXD0) digital I/O red user LED (low turns LED on) blank
  • PD0 (USART0_RXD0) blank – reserved
  • PC1 (I2C_SDA) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – ORANGE
  • PC0 (I2C_SCL) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – BROWN
  • PB4 (SPI_SS, OC0B *) Timer0 PWM output B
  • PB3 (AIN1, OC0A)???? Timer0 PWM output A PIR (Digital LOW) – YELLOW (& RED & GREY)
  • PA0 (ADC0) IR Analogue Distance Sensor GP2Y0A02YK0F (20cm-150cm) to ~2.8V – ORANGE
  • PA1 (ADC1) IR Analogue Distance Sensor GP2Y0A21YK0F (10-80cm) to ~2.8V – WHITE
  • PA2 (ADC2) LISY GIRO Z Axis Analogue Sensor to 3.3V – PURPLE
  • PA3 (ADC3) MMA7260QT Three Axis Accelerometer – X Axis Analogue Sensor to 3.3V – YELLOW
  • PA4 (ADC4) MMA7260QT Three Axis Accelerometer – Y Axis Analogue Sensor to 3.3V – BROWN
  • PA5 (ADC5) MMA7260QT Three Axis Accelerometer – Z Axis Analogue Sensor to 3.3V – GREEN
  • PA6 (ADC6) Motor1 Current sense – WHITE – RIGHT MOTOR
  • PA7 (ADC7) Motor2 Current sense – WHITE – LEFT MOTOR
  • AREF VCC 3.3V Battery Supply (to centre board) – BLUE

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.