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== Eesmmärk ==
== Goal ==


Ehitada ja programmeerida robot mis võidaks Robotex 2010 võistluse. Võistluse reegleid võib lugeda [http://www.robotex.ee/et/node/341 siit].
Build and programm a robot that will win the Robotex 2010 competiotion. The rules can be found [http://www.robotex.ee/et/node/341 here].
Roboti ehitamiseks on aega ~4 kuud ja selle ajaga peab võistlusreeglitele vastava roboti ehitama.
We have ~4 months to build a robot that meets the specifications described in the rules.


== Meeskonna koosseis ==
== Team and roles ==


<table border="0">
<table border="0">
<tr>
<tr>
<th>Nimi</th>
<th>Name</th>
<th>Tegevused</th>
<th>Role</th>
</tr>
</tr>
<tr>
<tr>
<td>Meelis Tamm</td>
<td>Meelis Tamm</td>
<td>Riistvara</td>
<td>Hardware</td>
</tr>
</tr>
<tr>
<tr>
<td>Martin Lensment</td>
<td>Martin Lensment</td>
<td>Progemine/Riistvara</td>
<td>Hardware/Software</td>
</tr>
</tr>
<tr>
<tr>
<td>Mihkel Sokk</td>
<td>Mihkel Sokk</td>
<td>Progemine/Wiki</td>
<td>Software/Wiki</td>
</tr>
</tr>
<tr>
<tr>
<td>Andrus Reedla</td>
<td>Andrus Reedla</td>
<td>Riistvara</td>
<td>Hardware</td>
</tr>
</tr>
<tr>
<tr>
<td>Silver Kuusik</td>
<td>Silver Kuusik</td>
<td>Abistamine</td>
<td>Wiki/Debugging/Documentation</td>
</tr>
</tr>
</table>
</table>
Line 62: Line 62:
== TODO ==
== TODO ==


Suur:
Mandatory:
# Loe andureid (läbi seina ei saa sõita)
# Read the sensor for avoiding hard collisions with walls and opponent
# Drelliakuga välja vahetada mootoriaku
# Replace the motor battery with the drill battery
# Solenoid/rull lükata mootoriaku külge
# Connect the coilgun and ballroll to the drill battery
Keskmine:
# Choosing the goal and indicating it on the screen
# Värava valik + indikaator ekraanile
 
Secondary:
# Väravaandurid dokumenteerida
# Väravaandurid dokumenteerida
Väike:
#
# Teravad ääred maha viilida põhja pealt
# Iseloom - [http://people.ict.usc.edu/~pynadath/images/hal-9000-eye.jpg]


== Tarkvara ==
Nice to have:
# Polish sharp edges from the bottom
# Make a personality for the robot - [http://people.ict.usc.edu/~pynadath/images/hal-9000-eye.jpg]
 
== Software ==


Kood on kätte saadav klubi liikmetele klubi SVNist. Pilditöötlus on tehtud OpenCV -d kasutades. Installeerimise juhendi leiab [http://robot.itcollege.ee/wiki/index.php/Opencv_installeerimine siit]. Terve platvorm on üles ehitatud kasutates QT -d.
The code is available for the robotics club members from the club SVN repository. The image processing is build up on using OpenCV -d. The installing instructions can be found [http://robot.itcollege.ee/wiki/index.php/Opencv_installeerimine here]. The whole platform is build up using QT libraries.


== Riistvara ==
== Hardware ==


* 3xHBridge - DC mootorite kasutamiseks vajalikud
* 3xHBridge - DC mootorite kasutamiseks vajalikud
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<gallery>
<gallery>
Image:Prose_plaat_infoga.jpg| Prose plaadi joonis
Image:Prose_plaat_infoga.jpg| the microcontroller
Image:Hbridge.jpg| HBridge
Image:Hbridge.jpg| HBridge
Image:Asus.jpg| Asus
Image:Asus.jpg| Asus
Image:412px-Mootorid.jpg| DC mootorid
Image:412px-Mootorid.jpg| DC motor
Image:Omniwheelkinnitusega.jpg| rattad
Image:Omniwheelkinnitusega.jpg| wheels
Image:Allinone.png| seletav joonis: otse liikumine
Image:Allinone.png| seletav joonis: moving forward
Image:Teineee.png| seletav joonis: sõidupealt keeramiseks
Image:Teineee.png| seletav joonis: turning while moveing
</gallery>
</gallery>


== Visuaalne progress ==
== Visual progress ==


<gallery>
<gallery>
Image:Solenoidi_kondensaator.jpg| Solenoidi kondensaator
Image:Solenoidi_kondensaator.jpg| coilgun capacitors
Image:Solenoidi_relee.jpg| Solenoidi relee
Image:Solenoidi_relee.jpg| coilgun relay
Image:Protsessor.jpg| Protsessor solenoidi connectoritega
Image:Protsessor.jpg| microcontroller with the coilgun connectors
</gallery>
</gallery>


== Logi ==
== Logi ==


'''09.09.10''' - Töölaud leitud, vana roboti lammutamine ning dokumenteerimine<br />
'''09.09.10''' - Found a table to work on, disassemling the old robot and documenting it<br />
'''12.09.10''' - Juppide testimine, Asuse konfimine (OpenCV + PS3Eye paigas)
'''12.09.10''' - Testing all the parts, configuring Asus (OpenCV + PS3Eye)


== Lingid ==
== Links ==


[http://www.robotex.ee/et/node/341 Robotex 2010 reeglid]<br />
[http://www.robotex.ee/et/node/341 Robotex 2010 rules]<br />
[http://robot.itcollege.ee/wiki/index.php/ServoBasic_kontroller USB-RS232 kontroller]<br />
[http://robot.itcollege.ee/wiki/index.php/ServoBasic_kontroller USB-RS232 controller]<br />
[https://wiki.itcollege.ee/index.php/OpenCV_installeerimine OpenCV install]<br />
[https://wiki.itcollege.ee/index.php/OpenCV_installeerimine installing OpenCV]<br />
[https://wiki.itcollege.ee/index.php/Ps3eye_Linux Kaamera draiveri install]
[https://wiki.itcollege.ee/index.php/Ps3eye_Linux installing camera draiver]

Revision as of 00:15, 5 January 2011


Robotex 2010 robot HAL
300px
Informatsioon
School: Eesti Infotehnoloogia Kolledž
Project members: Meelis Tamm
Martin Lensment
Mihkel Sokk
Silver Kuusik
Andrus Reedla
Supervisor: Margus Ernits
Location: Tallinn
Date: September 2010

Goal

Build and programm a robot that will win the Robotex 2010 competiotion. The rules can be found here. We have ~4 months to build a robot that meets the specifications described in the rules.

Team and roles

Name Role
Meelis Tamm Hardware
Martin Lensment Hardware/Software
Mihkel Sokk Software/Wiki
Andrus Reedla Hardware
Silver Kuusik Wiki/Debugging/Documentation

TODO

Mandatory:

  1. Read the sensor for avoiding hard collisions with walls and opponent
  2. Replace the motor battery with the drill battery
  3. Connect the coilgun and ballroll to the drill battery
  4. Choosing the goal and indicating it on the screen

Secondary:

  1. Väravaandurid dokumenteerida

Nice to have:

  1. Polish sharp edges from the bottom
  2. Make a personality for the robot - [1]

Software

The code is available for the robotics club members from the club SVN repository. The image processing is build up on using OpenCV -d. The installing instructions can be found here. The whole platform is build up using QT libraries.

Hardware

  • 3xHBridge - DC mootorite kasutamiseks vajalikud
  • Protsessori plaat - Roboti kontroll osa, mis suhtleb Asusega
  • Roboti raam + rattad + mootorid - mehaanilised detailid roboti ülessande täitmiseks
  • Asus Eee PC - Toimub roboti koodi jookustamine ja signaali saatmine edasi protsessori plaati
  • Lülitid, kaitsmed jms. - Vajalikud turvalisuse ja mugavuse jaoks
  • Akud - Toide
  • the microcontroller

    the microcontroller

  • HBridge

    HBridge

  • Asus

    Asus

  • DC motor

    DC motor

  • wheels

    wheels

  • seletav joonis: moving forward

    seletav joonis: moving forward

  • seletav joonis: turning while moveing

    seletav joonis: turning while moveing

Visual progress

  • coilgun capacitors

    coilgun capacitors

  • coilgun relay

    coilgun relay

  • microcontroller with the coilgun connectors

    microcontroller with the coilgun connectors

Logi

09.09.10 - Found a table to work on, disassemling the old robot and documenting it
12.09.10 - Testing all the parts, configuring Asus (OpenCV + PS3Eye)

Links

Robotex 2010 rules
USB-RS232 controller
installing OpenCV
installing camera draiver

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