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Author Topic: Finally started documenting my current robot.  (Read 5270 times)

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Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #30 on: April 16, 2010, 09:40:49 AM »

the orientation data comes from a Honeywell HMC6343 compass. It has a 3 axis accelerometer built in, and provides roll and tilt data. The only issues is the noise, something that all solid state accelerometers have.

The fix is to combine accelerometer date with solid state gyro data, as gyros smooth out the noise, and accelerometers fix gyro drift. I plan to add gyros to my robot at some point, to smooth out the data.

There are ready made open source products that combine gyros and accel for clean orientation data. http://store.diydrones.com/product_p/kt-arduimu-20.htm

Offline amando96

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Re: Finally started documenting my current robot.
« Reply #31 on: April 16, 2010, 12:17:44 PM »
200 bucks for a chassis!? Crap! That's my whole robot!

haha that's more than double what my current 'bot cost so far, i do a lot of scavenging...

nice looking bot though!
Rorcle, 60% complete
AATV, 5% complete

Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #32 on: April 16, 2010, 02:32:01 PM »
The chassis has proven itself though, a few times now when i am not paying attention, it has driven over curbs, and pulled itself up over them as well. No damage. Handles moderate grass and dirt no problem. The HDPE is real easy to mount things to.

This isn't a robot for you living room.

Offline parallax

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Re: Finally started documenting my current robot.
« Reply #33 on: April 16, 2010, 05:45:57 PM »
The chassis has proven itself though, a few times now when i am not paying attention, it has driven over curbs, and pulled itself up over them as well. No damage. Handles moderate grass and dirt no problem. The HDPE is real easy to mount things to.

This isn't a robot for you living room.

The saying "You get what you pay for" definitely applies here! Given what you are trying to do, I would say 200 dollars is a fair price  ;) I won't even go into what I paid for servos for my hex  :-\ It was totally worth it though as I have learned soooo much from my bot! There is something to be said for creating a bot by scavenging for sure. However I feel like you can only go so far that way without some serious computer engineering knowledge, or mechanical engineering knowledge and access to a fully stocked machine shop. Correct me if I am wrong, but I feel like you feel the same, madsci1016.

Thank you for the link! This is an option I will totally look into. When you get your gyros, will you replace your Honeywell entirely with this? Or will you just add gyros?
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Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #34 on: April 16, 2010, 10:49:50 PM »
Just add gyros most likely, as it's cheaper and I'd like to learn how to meld the data together.

Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #35 on: April 19, 2010, 12:31:06 AM »
Here's a better video of the new redesigned interface, and a Picture in picture of SAGAR running the mission.

BE SURE TO WATCH IN HD!!!!

SAGAR Autonomous Rover Waypoint Mission Interface and Vehicle Video

Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #36 on: April 20, 2010, 08:21:40 AM »
I've started a series on how SAGAR works. First installment is the communication protocol to the user GUI. Enjoy

http://www.billporter.info/?p=202

Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #37 on: June 02, 2010, 04:51:06 PM »
Latest SAGAR update:

SAGAR can now be driven by PS2 Controller!!!

PlayStation 2 Controller Arduino Library Demonstration


This is just first version. Final controller will have 20x4 LCD to give feedback to operator.

Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #38 on: August 07, 2010, 09:52:55 PM »
New Update,

New motors and motor controller. Designed a 'Arduino daughter board' for a Pololu motor driver.

More details and info if you want a free PCB of the daughter board at: http://www.billporter.info/?p=286




Offline Ro-Bot-X

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Re: Finally started documenting my current robot.
« Reply #39 on: August 08, 2010, 06:07:32 AM »
Nice motors Mad, how big is the backlash on them? I placed an "order" for a PCB on your site...
Check out the uBotino robot controller!

Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #40 on: August 08, 2010, 09:06:12 AM »
They definitely have some backlash. I did some tests of going full speed and then braking hard, and it nearly jumped off the table.

Offline madsci1016Topic starter

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Re: Finally started documenting my current robot.
« Reply #41 on: August 08, 2010, 05:01:02 PM »
More pictures:

The old board, man it looks messy now:


With the power sensor:


Installed. Man it looks sexy.

 


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