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2017-12-04T17:49:31Z

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2017-12-04T17:41:55Z

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2017-12-03T18:31:54Z

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2017-07-20T20:33:13Z

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File:Flexbot-rendered-115678 gi tonemapped reinhard05.png

2017-07-16T16:11:03Z

S130074: S130074 uploaded a new version of "File:Flexbot-rendered-115678 gi tonemapped reinhard05.png"

Flexbot

2017-07-16T13:51:49Z

S130074: /* Introduction */

File:Flexbot-rendered-115678 gi tonemapped reinhard05.png

2017-07-16T13:50:33Z

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Flexbot software

2017-07-16T13:08:04Z

S130074:

Back to [[Flexbot]] main page
=Change request (issues)=
Amend when a problem is noted, and delete when corrected.
* No items yet - yay!

=Open items (to-do)=
The software can divided into three parts; [[#Ankle software|ankle]], [[#Knee software|knee]] and [[#Body software|body]]. Each section holds the open items for the specified Teensy board.

When starting on a new item, the developer should create a branch of the master in order maintain a current working version of the software on the master branch. When an item is completed and well tested, the developer should merge the branch into the master branch. It is the developers responsibility to ensure everything on the master branch works as it should after merging. After completing an item, please delete it from the list below and remove the branch on git (both locally and remote). The history of the branch will be not be deleted.

==Ankle software==
This list specifies the to do list for the ankle software.

* Port data_logger, eeconfig, command (terminal interface) and control from knee code to obtain a matching interface.
* Implement support for rotary encoder.
* Add a modular controller setup. See regbot code for reference.
* Add a mission interface, where users can build and carry out missions based on timing and sensor values. See regbot for reference.

==Knee software==
* Add a more modular controller setup. As of now only a P-controller is available. See regbot code for reference.
* Add a mission interface, where users can build and carry out missions based on timing and sensor values. See regbot for reference.
* Implement a second linear actuator in code. Most variable are already arrays of 2 to hold values for both actuators, but complete implementation is missing.
* Implement a second MPU. Either on same bus as the one already existing or to a new wire.
* Add support for the linear actuators with hall sensor feedback. Currently the linear actuator has potentiometer feedback, but this will be changed in the future.

==Body software==
Not started yet. Will wait till mid/late autumn.

Flexbot software

2017-07-16T12:46:09Z

S130074:

==Change request (issues)==
Amend when a problem is noted, and delete when corrected.

==Open items (to-do)==

Flexbot software

2017-07-16T12:45:59Z

S130074: Created page with "=Change request (issues)== Amend when a problem is noted, and delete when corrected. ==Open items (to-do)=="

=Change request (issues)==
Amend when a problem is noted, and delete when corrected.

==Open items (to-do)==

Flexbot

2017-07-16T12:43:40Z

S130074: /* Introduction */

Flexbot

2017-07-16T12:37:02Z

2017-07-16T12:00:10Z

S130074: /* Git repository */

Back to [[Flexbot]] main page

=Git repository=

The git repository includes all project files. This includes:
* 3D files (*.stl)
* Schematics (exported from and available through Upverter)
* Datasheets and documentation for all hardware components
* Software for the Flexbot

Use this page to browse: https://repos.gbar.dtu.dk/gitweb/?p=jcan/flexbot.git;a=tree

== Read only access==

Get a copy of all

git clone git://repos.gbar.dtu.dk/git/jcan/flexbot.git

This should not ask for a username/password

== Read write access ==

First get a copy of the repository (will be in a subdirectory called 'flexbot'.

git clone https://repos.gbar.dtu.dk/git/jcan/flexbot.git

Then to refresh the copy, go to the flexbot directory and say:

git pull

Adding new files

git add foo.cpp bar.h
git commit -m "commit message (i.e. what was changed)"
git push

After modifying files, this may be easier (there may be simpler ways, but then I don't know)

git add *.h *.cpp
git commit -m "commit message (i.e. what was changed)"
git push

Flexbot

2017-07-16T11:54:42Z

S130074: /* Introduction */

=Introduction=

[[flexbot_design|Hardware design overview]] and open items (to-do).

[[To do | Mechanical design modification to do list]] - design change request list (please amend when you note a problem / and delete when solved)

[[Flexbot_parts_list | Flexbot parts list]] (please note, when you know)

[[Repository | Documents, drawings and software]] (git repository)

[[ProjectPlan | Project plan]] notes

[[Importing_models_from_OnShape| Importing model from OnShape ]] being written.

[[File:underben-screenshot.png]]

Flexbot

2017-07-16T11:53:26Z

S130074:

=Introduction=

[[flexbot_design|Hardware design overview]] and open items (to-do) can be found here.

[[To do | Mechanical design modification to do list]] - design change request list (please amend when you note a problem / and delete when solved)

[[Flexbot_parts_list | Flexbot parts list]] (please note, when you know)

[[Repository | Documents, drawings and software]] (git repository)

[[ProjectPlan | Project plan]] notes

[[Importing_models_from_OnShape| Importing model from OnShape ]] being written.

[[File:underben-screenshot.png]]

Flexbot

2017-07-16T11:52:51Z

S130074: /* Introduction */

=Introduction=

[[flexbot_design|Hardware design overview]] can be found here.

[[To do | Design modification to do list]] - design change request list (please amend when you note a problem / and delete when solved)

[[Flexbot_parts_list | Flexbot parts list]] (please note, when you know)

[[Repository | Documents, drawings and software]] (git repository)

[[ProjectPlan | Project plan]] notes

[[Importing_models_from_OnShape| Importing model from OnShape ]] being written.

[[File:underben-screenshot.png]]

Flexbot design

2017-07-16T11:50:49Z

S130074:

Back to [[Flexbot]] main page

==Design overview hardware==
Each "leg" of the flexbot consists of 4 actuators.
* An angled DC motor to control the wheel.
* Two linear actuators to control the motion of the robot's body.
* A linear actuator to adjust heading angle on the wheel.
Each of the legs are interfaced and controlled by two μ-processor boards (Teensy 3.2 and 3.5). The boards are currently placed on matrix boards where other hardware components (IMU, motor driver, etc.) are accessible from.
Each leg is split up in two parts which are presented as the [[#Ankle hardware design|ankle configuration]] and the [[#Knee hardware design|knee configuration]]. The hardware design for robot's body is presented [[#Body hardware design|here]].

A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.

==Ankle hardware design==
The ankle configuration currently includes:
* Angled DC motor to run the wheel - model IG42-CRGM
* SyRen 10 motor driver
* Teensy 3.2 μ-processor board
* Pololu 24V to 5V voltage regulator - model D24V22F5
* Firgelli L12-50-210-12-I linear actuator
* 14-bit rotary encoder - model AS5048A

The schematic for the ankle configuration is shown in Figure 1 and can be accessed using Upverter, a free online e-CAD design tool. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.

In addition to the schematic shown it can be mentioned that a ferrite core has been introduced on the power supply wires for the DC motor. This reduces EMI which was found to greatly interfere with the encoder signals from the motor.

[[File:Teensy Wheel Configuration.png|970px]]

Figure 1: Schematic for the ankle configuration for the Flexbot. (Click on picture for full resolution)

===Open items (to-do list)===
This list includes items that needs to be done, but have not been finished (or started) yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the ankle. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.
* The rotary encoder has been wired and tested. Connections in the schematic from the Teensy to the encoder are missing. The encoder still needs to be fixed to correct position on the wheel configuration and magnets needs to be attached to bolt fastening the spring dampener.
* A Pololu 24V to 12V needs to implemented on the matrix board to supply the small linear actuator. They are of model D24V22F12 (link to product is on git) and should be ordered but have not been received.
* The I2C interface for inter-configuration(and host)-communication should be removed from the board. USB should be used instead.
* When the final hardware configuration for the ankle has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked(or made).

==Knee hardware design==
The knee configuration currently includes:
* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-POT-IP66
* Cytron 10A DC Motor Driver - model RB-Cyt-132
* MPU to obtain tilt - model MPU-9250/6500
* Teensy 3.5 μ-processor board

The schematic for the knee configuration is shown in Figure 2 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/09ebc8887ee10a31/Teensy_Knee_Configuration/ here] - contact JCA for editorial access.

[[File:Flexbot Knee Configuration.png|1000px]]

Figure 2: Schematic for the knee configuration for the Flexbot. (Click on picture for full resolution)

===Open items (to-do list)===
This list includes items that needs to be done, but have not been finished (or started) yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the knee. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.
* A Pololu 24V to 5V needs to inserted onto the matrix board. Wiring has been made, only thing missing is the component and to solder pin headers onto the component. They are of model D24V22F5 (link to product is on git) and should be ordered but have not been received.
* A second motor driver needs to be fitted to the knee. Wiring has been made and the driver is on stock and are found in one of the two boxes containing parts for the project.
* The interface for linear actuator 1 supports the linear actuator with potentiometer feedback. This should at some point be changed to the ordered actuators with hall sensor feedback and the configuration on the matrix should be changed to reflect this as well (should be same as linear actuator 2).
* The matrix board needs to support a second MPU. It has not been investigated whether or not it can be connected to the same bus by changing the address. Maybe it would be easier to simply connect to its own I2C bus. Teensy 3.5 holds 3 I2C interfaces and currently uses 1.
* A second linear actuator should be connected to the knee. This relies on the mechanics to be finished.
* When the final hardware configuration for the knee has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked (or made).

==Body hardware design==
The design of the body hardware has not been started yet. A few ideas have been discussed bot nothing final has been decided upon. The body hardware design will first be relevant in mid/late autumn.
A few discussed ideas of what the body hardware design should include are listed below:
* An Intel Nuc i7 configuration: https://www.intel.com/content/www/us/en/products/boards-kits/nuc/kits.html
* A USB hub or at least enough connections to connect all Teensy μ-processor boards. This will sum up to 8 μ-processor boards (2 on each leg).
* A main power supply. Should be 24V obtained from LiPo batteries or other mobile source.

Flexbot design

2017-07-16T11:50:10Z

S130074:

Back to [[Flexbot]] main page

==Design overview hardware==
Each "leg" of the flexbot consists of 4 actuators.
* An angled DC motor to control the wheel.
* Two linear actuators to control the motion of the robot's body.
* A linear actuator to adjust heading angle on the wheel.
Each of the legs are interfaced and controlled by two μ-processor boards (Teensy 3.2 and 3.5). The boards are currently placed on matrix boards where other hardware components (IMU, motor driver, etc.) are accessible from.
Each leg is split up in two parts which are presented as the [[#Ankle hardware design|ankle configuration]] and the [[#Knee hardware design|knee configuration]]. The hardware design for robot's body is presented [[#Body hardware design|here]].

A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.

==Ankle hardware design==
The ankle configuration currently includes:
* Angled DC motor to run the wheel - model IG42-CRGM
* SyRen 10 motor driver
* Teensy 3.2 μ-processor board
* Pololu 24V to 5V voltage regulator - model D24V22F5
* Firgelli L12-50-210-12-I linear actuator
* 14-bit rotary encoder - model AS5048A

The schematic for the ankle configuration is shown in Figure 1 and can be accessed using Upverter, a free online e-CAD design tool. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.

In addition to the schematic shown it can be mentioned that a ferrite core has been introduced on the power supply wires for the DC motor. This reduces EMI which was found to greatly interfere with the encoder signals from the motor.

[[File:Teensy Wheel Configuration.png|970px]]

Figure 1: Schematic for the ankle configuration for the Flexbot.

===Open items (to-do list)===
This list includes items that needs to be done, but have not been finished (or started) yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the ankle. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.
* The rotary encoder has been wired and tested. Connections in the schematic from the Teensy to the encoder are missing. The encoder still needs to be fixed to correct position on the wheel configuration and magnets needs to be attached to bolt fastening the spring dampener.
* A Pololu 24V to 12V needs to implemented on the matrix board to supply the small linear actuator. They are of model D24V22F12 (link to product is on git) and should be ordered but have not been received.
* The I2C interface for inter-configuration(and host)-communication should be removed from the board. USB should be used instead.
* When the final hardware configuration for the ankle has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked(or made).

==Knee hardware design==
The knee configuration currently includes:
* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-POT-IP66
* Cytron 10A DC Motor Driver - model RB-Cyt-132
* MPU to obtain tilt - model MPU-9250/6500
* Teensy 3.5 μ-processor board

The schematic for the knee configuration is shown in Figure 2 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/09ebc8887ee10a31/Teensy_Knee_Configuration/ here] - contact JCA for editorial access.

[[File:Flexbot Knee Configuration.png|1000px]]

Figure 2: Schematic for the knee configuration for the Flexbot.

===Open items (to-do list)===
This list includes items that needs to be done, but have not been finished (or started) yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the knee. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.
* A Pololu 24V to 5V needs to inserted onto the matrix board. Wiring has been made, only thing missing is the component and to solder pin headers onto the component. They are of model D24V22F5 (link to product is on git) and should be ordered but have not been received.
* A second motor driver needs to be fitted to the knee. Wiring has been made and the driver is on stock and are found in one of the two boxes containing parts for the project.
* The interface for linear actuator 1 supports the linear actuator with potentiometer feedback. This should at some point be changed to the ordered actuators with hall sensor feedback and the configuration on the matrix should be changed to reflect this as well (should be same as linear actuator 2).
* The matrix board needs to support a second MPU. It has not been investigated whether or not it can be connected to the same bus by changing the address. Maybe it would be easier to simply connect to its own I2C bus. Teensy 3.5 holds 3 I2C interfaces and currently uses 1.
* A second linear actuator should be connected to the knee. This relies on the mechanics to be finished.
* When the final hardware configuration for the knee has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked (or made).

==Body hardware design==
The design of the body hardware has not been started yet. A few ideas have been discussed bot nothing final has been decided upon. The body hardware design will first be relevant in mid/late autumn.
A few discussed ideas of what the body hardware design should include are listed below:
* An Intel Nuc i7 configuration: https://www.intel.com/content/www/us/en/products/boards-kits/nuc/kits.html
* A USB hub or at least enough connections to connect all Teensy μ-processor boards. This will sum up to 8 μ-processor boards (2 on each leg).
* A main power supply. Should be 24V obtained from LiPo batteries or other mobile source.