| | 5 | == Todo List == |
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| | 6 | |
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| | 7 | === Software === |
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| | 8 | |
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| | 9 | * using CodeSourcery Gxx Lite toolchain |
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| | 10 | * using serial bootloader |
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| | 11 | * code is in repository under users/nstiurca/boot_loader |
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| | 12 | * accompanying serial programming utility (sflash) comes included in DriverLib/StellarisWare |
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| | 13 | * SBL currently is 1.3KB, which leaves 2KB footprint. If it can be squeezed down to <1KB, it only needs to leave 1KB footprint |
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| | 14 | * perhaps remove some of the error checking? |
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| | 15 | * competition code is in repository under region5/region5_2009 |
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| | 16 | * most of the drivers were copied/adapted from RASLib |
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| | 17 | * some parts need to be optimized/cleaned up/readapted for the new hardware (as opposed to the Roboathon hardware) |
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| | 18 | * encoder code needs to be optimized, and verify correctness/accuracy of position tracking using encoders |
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| | 19 | * using CMUcam for color detection and hopefully some basic vision as well |
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| | 20 | * interface through serial port |
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| | 21 | * CMUcam can operate in either polled or continuous data acquisition modes |
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| | 22 | * can't really begin work or make much progress on actual competition code until Mechanical and Electrical progress catches up |
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| | 23 | |
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| | 24 | === Mechanical Parts === |
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| | 25 | * use a small bowl to "grab" the boxes in order to drag them to their destination |
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| | 26 | * mounted on a hinge |
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| | 27 | * comes up/down as powered by a servo |
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| | 28 | * mount encoders |
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| | 29 | * coaxial to the drive wheels, but not connected to the drive shafts/wheels |
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| | 30 | * track motion on table accurately without introducing error if drive wheels slip while ac-/de-celerating |
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| | 31 | (encoder wheels should never slip since they have relatively low inertia) |
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| | 32 | * mount battery |
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| | 33 | * mount on bottom so as to have a low center of mass |
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| | 34 | * mount CMUcam |
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| | 35 | * away from bowl if used for vision & to help navigate |
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| | 36 | --- OR --- |
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| | 37 | cut hole in top of bowl, and point camera into bowl if only used to detect cube colors |
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| | 38 | * mount blinking LED detector |
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| | 39 | * just less than 8" above table surface |
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| | 40 | * should be able to revolve, mounted on either a servo or stepper motor |
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| | 41 | * no part of the robot should rise 8" (or more) above the table surface |
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| | 42 | |
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| | 43 | === Electronics === |
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| | 44 | * band pass filter to detect frequency of blinking LEDs |
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| | 45 | * redesign Intro Board |
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| | 46 | * add second serial port |
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| | 47 | * beefier motor controllers |
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| | 48 | * add switch for boot/program mode |
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| | 49 | * bootloader checks if a pin (currently PB4) is high or low to decide if it should await a software update, or load the application |
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| | 50 | * reposition pins to better accommodate current hardware |
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| | 51 | * change M1 and M2 pins to work with Faulhaber [http://www.faulhaber.de/uploadpk/EN_2224SR_DFF.pdf 2224 U006 SR] [http://www.faulhaber.de/uploadpk/EN_IE2512_DFF.pdf IE2-512] [http://www.faulhaber.de/uploadpk/EN_201_MIN.pdf 20/1 14:1] motors |
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| | 52 | * encoder pins are unused since we are using external encoders not attached to the drive shafts |
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| | 53 | * map old motor +/- pins to pins 1&2 on Faulhaber ports (see the Faulhaber encoder pinout diagram) |
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| | 54 | * make sure servo pins work with [http://www.hitecrcd.com/servos/show?name=HS-322HD Hitec HS-322HD servos] |
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| | 55 | * these are our standard servos, so this should already work |
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| | 56 | * make ports for [http://docs.bgmicro.com/pdf/oak-grigsby%20encoders.pdf encoders] |
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| | 57 | * each encoder needs 2 GPIO pins, 5V, and Gnd |
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| | 58 | * make JTAG pins more accessible |
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| | 59 | * if possible, put battery port sideways so as to reduce board height |
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| | 60 | * board may (should) be expanded (width & height) |
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| | 61 | |
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| | 62 | == Related Links == |
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| | 63 | * [WikiStart RAS Wiki Home] |
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| | 64 | * [RegionVcompetition Region V Home] |
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| | 65 | |
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