RoboNova 1.

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Presentation transcript:

RoboNova 1

Hardware Capabilities MR-3024C Microcontroller 24 servo / PWM output interfaces 8 8-bit A/D channels TTL serial @ 115200 baud Onboard piezo speaker for tone generation HMI 8598 Servos (6V) 300 deg/s max speed 7.4 kgf-cm @ 1.2A Digital interface

RoboBasic Programming Strengths Simple syntax & structure Servo control & timing Canned routines for stock sensors Limitations Slow instruction execution (.5-2ms) Move command does not accept variables Limited compound arithmetic

External Command Interface Interactive motor positioning Bluetooth / serial interface IR remote control

Stock Sensors Rate Gyros IR Distance Touch sensor Sound Sensor ~6 bit resolution ~70Hz update IR Distance 3cm-15cm Touch sensor Contact (digital) Sound Sensor >80dB detection

Expansion & Upgrades Camera & Vision Additional Analog Sensors Connect directly to A/D port Up to 7 sensors 8 bit resolution Camera & Vision Insufficient processing power for native implementation Compatible with CMU Cam’s serial interface Music & Sound Detection External device can be triggered by serial or digital IO

Feedback Control Requirements & Delays Read sensor data (~1.5 ms per sensor) Read servo position (~1 ms per) Control algorithm on PC (.1-1ms) Transmit & set motor positions (~1.5ms per) Total time = 33 ms -> 30Hz update Bluetooth/SPP PC

User Hacks Grippers Replace processor to use C 18 DOF upgrade Successfully transplanted virgin ATMega chip No libraries for servo control 18 DOF upgrade Allows hip rotation Improves turning Grippers Allows grasping with individual hands