Transcript RoboNova 1 - Drexel University

RoboNova 1
Hardware Capabilities
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MR-3024C Microcontroller
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24 servo / PWM output
interfaces
8 8-bit A/D channels
TTL serial @ 115200 baud
Onboard piezo speaker for
tone generation
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HMI 8598 Servos (6V)
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300 deg/s max speed
7.4 kgf-cm @ 1.2A
Digital interface
RoboBasic Programming
Strengths
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Simple syntax & structure
Servo control & timing
Canned routines for stock sensors
Limitations
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Slow instruction execution (.5-2ms)
Move command does not accept
variables
Limited compound arithmetic
External Command Interface
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Interactive motor
positioning
Bluetooth / serial
interface
IR remote control
Stock Sensors
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Rate Gyros
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IR Distance
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3cm-15cm
Touch sensor
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~6 bit resolution
~70Hz update
Contact (digital)
Sound Sensor
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>80dB detection
Expansion & Upgrades
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Additional Analog Sensors
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Camera & Vision
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Connect directly to A/D port
Up to 7 sensors
8 bit resolution
Insufficient processing power
for native implementation
Compatible with CMU Cam’s
serial interface
Music & Sound Detection
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External device can be
triggered by serial or digital IO
Feedback Control
Requirements & Delays
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Bluetooth/SPP
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PC
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Read sensor data (~1.5 ms per
sensor)
Read servo position (~1 ms
per)
Control algorithm on PC (.11ms)
Transmit & set motor positions
(~1.5ms per)
Total time = 33 ms -> 30Hz
update
User Hacks
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Replace processor to use C
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18 DOF upgrade
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Successfully transplanted
virgin ATMega chip
No libraries for servo control
Allows hip rotation
Improves turning
Grippers
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Allows grasping with
individual hands