Robots - Debot5 - Planned Versions

Planned Robot Versions
RR.HH.SS
RR = Robot version
HH = Hardware version
SS = Software version

• 05.00 - Build up hardware and code for MarkIII, CMD, GM2/8, and wheel encoders.
  • MarkIII PWM
    • Hardware (pin outs mainly)
    • Software check with oscope
  • CMD
    • Hardware (pwr switch, fwd rev signals, pwm signals)
    • Software (fwd, rev, brake, coast) check with LEDS
  • GM2/8
    • Hardware (tie motor in)
  • Wheel Encoders
    • Hardware
      • Pin to patch, patch to encoder
      • sensor placement
      • validate encoder sector size with oscope
    • Software
      • PWM ramp in, sector timing out
         
• 05.01 - Build differential drive using gm and tune for waypoint driving using timing.
  • .00 Basic hardware design for Debot5 - Images
    • Block diagram
    • Pin-out tables for version 1 (and version 3)
    • 2D construction drawings of decks
      • Base deck
      • Top deck
    • 3D visualization (optional)
  • .01 Basic pwm driven wheel code
    •  Test and measure straight, turn, and way point driving using servo timing only
       
• 05.02 - Improve differential drive using geared motors and wheel encoders. Tune for waypoint driving using odometry.
  • .00 Basic wheel encoder hardware
  • .01 Basic wheel encoder code - Images
    • Test and measure straight, turn, and way point driving using encoder data to adjust geared motor timing
  • .02 Revisit servo control for wheels using wheel encoders
    • I2C eeprom code to record and playback for data collection
    • Document and adjust mcu controlled dead band, speed and forward/reverse direction control.
    • Test and document (no load/load rotation speed) Parallax continuous rotation servos verses modified CWS servos from Junun
    • Test and document static resistor servo set up.
    • Test and measure straight, turn, and way point driving using encoder data to adjust servo speed
    • Test servo duty cycle speed control. 0/full cycling (optional)
  • .03 Improve wheel encoder and code
    • Adjust and document wheel encoder sectors per disk, distance to disk, for wheel diameter and speed under load and no load conditions.
    • Test and measure straight, turn, and way point driving using improved encoder data to adjust servo speed
       
• 05.03 - Improve differential drive robot by adding IR distance sensor on servo turrent.
  • .00 IR sensor and servo turrent.
  • .01 Follow perimeter using IR distance sensor on servo turret
  • .02 Orientate to wall using distance sensor and odometry, stop scan go.
  • .03 Navigate to specific way points using odometry corrected by orientation. No map knowledge before hand.
    • Test and measure straight, turn, and way point driving using prior improvements and improved navigation.
  • .05 Map area.
    

If you have any questions or comments about this page please email me at: debots_replacethis_dinkdaze.org with at sign.