Category:ICS0023 Robotics - Revision history

Mvorklae: /* Progress & thoughts: */

2017-11-28T14:25:34Z

Progress & thoughts:

← Older revision		Revision as of 17:25, 28 November 2017
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	* think and think again to get already the first prototype with correct measures and usable hardware		* think and think again to get already the first prototype with correct measures and usable hardware
	* surf around and see what others have done ([http://greenye.net/Pages/Micromouse/Micromouse2015-2016.htm a real robomouse])		* surf around and see what others have done ([http://greenye.net/Pages/Micromouse/Micromouse2015-2016.htm a real robomouse])
			* create deadlines for bigger stages of the project
	* when making PCB design, double check that all power and GND traces are connected and they have decent cross-section		* when making PCB design, double check that all power and GND traces are connected and they have decent cross-section
	* test all the hardware functions before giving it to programmers		* test all the hardware functions before giving it to programmers

Hpaves: /* Progress & thoughts: */

2017-11-26T21:09:15Z

Progress & thoughts:

← Older revision		Revision as of 00:09, 27 November 2017
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	* make hardware components modular, so any component can be easily replaced if necessary		* make hardware components modular, so any component can be easily replaced if necessary
	* make sure to have enough spares for every component		* make sure to have enough spares for every component

			Henri:
			* In electronics, a significant amount of effort is needed simply to suppress hardware noise
			* A coding error might quite literally send the hardware up in flames
			* Hardware may produce spikes and weird signals, especially during booting/resets
			* As such, software needs to be able to handle any errant signals that the hardware may send
			* Brainstorming your for your own unique ideas is a great way to learn, but not an optimal way to win a competition
			* Never develop hardware and software simultaneously

Mvorklae: /* Hardware used: */

2017-11-26T20:53:00Z

Hardware used:

← Older revision		Revision as of 23:53, 26 November 2017
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	====Hardware used:====		====Hardware used:====
	* [https://store.arduino.cc/arduino-yun Arduino YUN]		* [https://store.arduino.cc/arduino-yun Arduino YUN]
	* Nema17 stepper motors w. dual [http://www.st.com/content/ccc/resource/technical/document/datasheet/09/80/6c/ac/79/b2/47/c4/CD00000090.pdf/files/CD00000090.pdf/jcr:content/translations/en.CD00000090.pdf L6204 drivers]		* [http://www.nmbtc.com/pdf/motors/standard_hybrid/17PM-K.pdf Nema17 bipolar stepper motors] w. dual [http://www.st.com/content/ccc/resource/technical/document/datasheet/09/80/6c/ac/79/b2/47/c4/CD00000090.pdf/files/CD00000090.pdf/jcr:content/translations/en.CD00000090.pdf L6204 drivers]
	* 19V Makita Li-Ion battery		* 19V Makita Li-Ion battery
	* TK0446 DC-DC step-up converter to get 30V for steppers		* TK0446 DC-DC step-up converter to get 30V for steppers

Mvorklae: /* Hardware used: */

2017-11-26T20:49:22Z

Hardware used:

← Older revision		Revision as of 23:49, 26 November 2017
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	====Hardware used:====		====Hardware used:====
	* Arduino YUN		* [https://store.arduino.cc/arduino-yun Arduino YUN]
	* Nema17 stepper motors w. dual [http://www.st.com/content/ccc/resource/technical/document/datasheet/09/80/6c/ac/79/b2/47/c4/CD00000090.pdf/files/CD00000090.pdf/jcr:content/translations/en.CD00000090.pdf L6204 drivers]		* Nema17 stepper motors w. dual [http://www.st.com/content/ccc/resource/technical/document/datasheet/09/80/6c/ac/79/b2/47/c4/CD00000090.pdf/files/CD00000090.pdf/jcr:content/translations/en.CD00000090.pdf L6204 drivers]
	* 19V Makita Li-Ion battery		* 19V Makita Li-Ion battery

Mvorklae: /* Maze solver */

2017-11-26T20:48:11Z

Maze solver

← Older revision		Revision as of 23:48, 26 November 2017
Line 102:		Line 102:
	====Hardware used:====		====Hardware used:====
	* Arduino YUN		* Arduino YUN
	* Nema17 stepper motors w. dual L6204 drivers		* Nema17 stepper motors w. dual [http://www.st.com/content/ccc/resource/technical/document/datasheet/09/80/6c/ac/79/b2/47/c4/CD00000090.pdf/files/CD00000090.pdf/jcr:content/translations/en.CD00000090.pdf L6204 drivers]
	* 19V Makita Li-Ion battery		* 19V Makita Li-Ion battery
	* DC-DC step-up converter to get 30V for steppers		* TK0446 DC-DC step-up converter to get 30V for steppers
	* HC-SR04 ultrasonic sensors for distance		* [http://www.micropik.com/PDF/HCSR04.pdf HC-SR04] ultrasonic sensors for distance
	* TLE4905L HALL effect sensors for position tracking		* [http://www.produktinfo.conrad.com/datenblaetter/150000-174999/153775-da-01-en-HALL_SENSOR_TLE_4935L.pdf TLE4905L] HALL effect sensors for position tracking
	* 3D printed frame.		* 3D printed frame.

Mvorklae: /* Maze solver */

2017-11-26T20:40:52Z

Maze solver

← Older revision		Revision as of 23:40, 26 November 2017
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	==Maze solver==		==Maze solver==

	===Members: Allar Vendla, Andreas Porman ~~(software guys)~~, Henri Paves ~~(3D modeling)~~, Madis Võrklaev ~~(electronics)~~ ===		===Members: Allar Vendla, Andreas Porman, Henri Paves, Madis Võrklaev ===

			Allar & Andreas - software guys

			Henri - 3D modeling

			Madis - electronics, hardware and project management

	===GitHub: [https://github.com/allavett/mazeRunner2017 see here]===		===GitHub: [https://github.com/allavett/mazeRunner2017 see here]===

Mvorklae: /* Maze solver */

2017-11-26T20:32:51Z

Maze solver

← Older revision		Revision as of 23:32, 26 November 2017
Line 146:		Line 146:
	Madis:		Madis:
	* think and think again to get already the first prototype with correct measures and usable hardware		* think and think again to get already the first prototype with correct measures and usable hardware
			* surf around and see what others have done ([http://greenye.net/Pages/Micromouse/Micromouse2015-2016.htm a real robomouse])
	* when making PCB design, double check that all power and GND traces are connected and they have decent cross-section		* when making PCB design, double check that all power and GND traces are connected and they have decent cross-section
	* test all the hardware functions before giving it to programmers		* test all the hardware functions before giving it to programmers
	* make hardware components modular, so any component can be easily replaced if necessary		* make hardware components modular, so any component can be easily replaced if necessary
	* make sure to have enough spares for every component		* make sure to have enough spares for every component

Mvorklae: /* Progress & thoughts: */

2017-11-26T20:29:03Z

Progress & thoughts:

← Older revision		Revision as of 23:29, 26 November 2017
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	We made a first simple prototype with a [https://www.oomipood.ee/product/rob_2wd_1_robotauto_aluskomplekt_2wd_1_rattad_mootorid_kinnitused?q=robot bought chassis], Arduino Uno, 3x ultrasonic sensors and optical RPI-579 sensors for wheels. As it quickly turned out, it was really hard to get the driving and turning right without seeing the sensors' realtime data. So we needed a way to see the Arduino's serial monitor wirelessly.		We made a first simple prototype with a [https://www.oomipood.ee/product/rob_2wd_1_robotauto_aluskomplekt_2wd_1_rattad_mootorid_kinnitused?q=robot bought chassis], Arduino Uno, 3x ultrasonic sensors and optical RPI-579 sensors for wheels. As it quickly turned out, it was really hard to get the driving and turning right without seeing the sensors' realtime data. So we needed a way to see the Arduino's serial monitor wirelessly.

	At the moment there's 2 good choices for a controller that has a wireless on board - Arduino YUN and ESP32. YUN is much more expensive, ESP seems more complicated to program. As I just happen to have a YUN lying around, it's our current choice to go on with the project~~. The plan is to use the 32U4 for getting the sensors' data and AR 9331 for orientation logic~~.		At the moment there's 2 good choices for a controller that has a wireless on board - Arduino YUN and ESP32. YUN is much more expensive, ESP seems more complicated to program. As I just happen to have a YUN lying around, it's our current choice to go on with the project.

	UPDATE 16.10		UPDATE 16.10

	We have a second prototype with 3D printed chassis. All the hardware should be the same that will be used on a final version. Henri accidentally drew the chassis a bit too big, so for the final version we need to print a new chassis.		We have a second prototype with 3D printed chassis. All the hardware should be the same that will be used on a final version. Henri accidentally drew the chassis a bit too big, so for the final version we need to print a new chassis.
	At the moment we're able to read the HC-SR04 and Hall effect sensors inside the motors and make it move as we want.		At the moment we're able to read the HC-SR04 and Hall effect sensors inside the motors and make it move as we want. The ultrasonic sensors aren't the best choice, because they are slow, but they're easy to use.

	The next steps would be building a real life maze with some turns to calibrate the moving and sensor reading in order to get it drive straight, turn exactly 90 degrees and, if necessary, adjust its position.		The next steps would be building a real life maze with some turns to calibrate the moving and sensor reading in order to get it drive straight, turn exactly 90 degrees and, if necessary, adjust its position.

Mvorklae: /* Maze solver */

2017-11-26T20:20:48Z

Maze solver

← Older revision		Revision as of 23:20, 26 November 2017
Line 83:		Line 83:
	==Maze solver==		==Maze solver==

	===Members: Allar Vendla, Henri Paves, Madis Võrklaev~~, Andreas Porman~~===		===Members: Allar Vendla, Andreas Porman (software guys), Henri Paves (3D modeling), Madis Võrklaev (electronics) ===

	===GitHub: [https://github.com/allavett/mazeRunner2017 see here]===		===GitHub: [https://github.com/allavett/mazeRunner2017 see here]===
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	* Nema17 stepper motors w. dual L6204 drivers		* Nema17 stepper motors w. dual L6204 drivers
	* 19V Makita Li-Ion battery		* 19V Makita Li-Ion battery
			* DC-DC step-up converter to get 30V for steppers
	* HC-SR04 ultrasonic sensors for distance		* HC-SR04 ultrasonic sensors for distance
	* TLE4905L HALL effect sensors for position tracking		* TLE4905L HALL effect sensors for position tracking
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	\| [[File:7jm.jpg\|thumb\|alt=Assembled\|Assembled with battery.]]		\| [[File:7jm.jpg\|thumb\|alt=Assembled\|Assembled with battery.]]
	\|}		\|}

			UPDATE 26.11

			CONCLUSION (what we learned):

			Madis:
			* think and think again to get already the first prototype with correct measures and usable hardware
			* when making PCB design, double check that all power and GND traces are connected and they have decent cross-section
			* test all the hardware functions before giving it to programmers
			* make hardware components modular, so any component can be easily replaced if necessary
			* make sure to have enough spares for every component

Mvorklae: /* Progress & thoughts: */

2017-11-17T21:57:41Z

Progress & thoughts:

← Older revision		Revision as of 00:57, 18 November 2017
Line 128:		Line 128:

	The Makita battery holder's model was found from [https://www.thingiverse.com/thing:1809114 here].		The Makita battery holder's model was found from [https://www.thingiverse.com/thing:1809114 here].
			{\|style="margin: 0 auto;"
			\| [[File:1jm.jpg\|thumb\|alt=Battery holder\|3D printed battery holder.]]
			\| [[File:2jm.jpg\|thumb\|alt=Battery holder\|3D printed battery holder.]]
			\| [[File:3jm.jpg\|thumb\|alt=Frame w.motors\|3D printed frame with motors.]]
			\|}
			{\|style="margin: 0 auto;"
			\| [[File:4jm.jpg\|thumb\|left\|alt=Driverboard\|Custom driverboard.]]
			\| [[File:6jm.jpg\|thumb\|alt=Assembled\|Assembled with battery.]]
			\| [[File:7jm.jpg\|thumb\|alt=Assembled\|Assembled with battery.]]
			\|}