Design overview - Revision history

Jca at 13:39, 11 January 2021

2021-01-11T13:39:13Z

← Older revision		Revision as of 15:39, 11 January 2021
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	Back to [[regbot \| ~~Regot~~]] main page.		Back to [[regbot \| Regbot]] main page.

	==Design overview hardware==		==Design overview hardware==

Jca: /* Design block diagram */

2019-05-24T07:28:21Z

Design block diagram

← Older revision		Revision as of 09:28, 24 May 2019
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	All software is written in c++, based on Arduino libraries.		All software is written in c++, based on Arduino libraries.

	~~Most~~ controllers can be switched off. I.e. if the velocity controller is switched off then the motors will never run. To control the motor voltage (rather than the velocity) then configure the velocity controller vith Kp = 0 and feed forward Kf=1.		All controllers can be switched off. I.e. if the velocity controller is switched off then the motors will never run. To control the motor voltage (rather than the velocity) then configure the velocity controller vith Kp = 0 and feed forward Kf=1.

	* [[Design calculations]]		* [[Design calculations]]

Jca: /* Design overview hardware */

2019-05-24T07:27:04Z

Design overview hardware

← Older revision		Revision as of 09:27, 24 May 2019
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	Figure 1. Hardware blockdiagram.		Figure 1. Hardware blockdiagram.
	Most blocks are off-the-shelf hardware modules from PJRC (Teensy), Pololu (motor, driver and buck converter) and Sparkfun ~~9250~~ (IMU). Some of the supported sensors are optional, but all will have gyro to enable balancing and most also wifi to enable monitoring and confuguration without a USB cable.		Most blocks are off-the-shelf hardware modules from PJRC (Teensy), Pololu (motor, driver and buck converter) and Sparkfun 9150 (IMU). Some of the supported sensors are optional, but all will have gyro to enable balancing and most also wifi to enable monitoring and confuguration without a USB cable.

	Other sensors like an line (edge) detector (edge of a tape line on the floor), IR distance sensors (Sharp 2Y0A21 type) and wifi access may be implemented on some of the robots.		Other sensors like an line (edge) detector (edge of a tape line on the floor), IR distance sensors (Sharp 2Y0A21 type) and wifi access may be implemented on some of the robots.

Jca: /* Design overview hardware */

2019-05-24T07:26:45Z

Design overview hardware

← Older revision		Revision as of 09:26, 24 May 2019
Line 18:		Line 18:

	Figure 1. Hardware blockdiagram.		Figure 1. Hardware blockdiagram.
	Most blocks are off-the-shelf hardware modules from PJRC (Teensy), Pololu (motor, driver and buck~~-boost~~ converter) and Sparkfun (IMU). Some of the supported sensors are optional, but all will have gyro to enable balancing and most also wifi to enable monitoring and confuguration without a USB cable.		Most blocks are off-the-shelf hardware modules from PJRC (Teensy), Pololu (motor, driver and buck converter) and Sparkfun 9250 (IMU). Some of the supported sensors are optional, but all will have gyro to enable balancing and most also wifi to enable monitoring and confuguration without a USB cable.

	Other sensors like an line (edge) detector (edge of a tape line on the floor), IR distance sensors (Sharp 2Y0A21 type) and wifi access may be implemented on some of the robots.		Other sensors like an line (edge) detector (edge of a tape line on the floor), IR distance sensors (Sharp 2Y0A21 type) and wifi access may be implemented on some of the robots.

Jca: /* Design overview hardware */

2019-05-24T07:25:39Z

Design overview hardware

← Older revision		Revision as of 09:25, 24 May 2019
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	==Design overview hardware==		==Design overview hardware==

	Regbot consist of a microprocessor board (teensy 3.1/3.2) that controls 2 motors (Pololu 25D) through a motor driver (MC33926). Motor rotation data is collected from motor encoders. Motor current is avaiable and there is further a gyro-accelerometer sensor (see figure 1 below).		Regbot consist of a microprocessor board (teensy 3.2/3.5) that controls 2 motors (Pololu 25D) through a motor driver (MC33926). Motor rotation data is collected from motor encoders. Motor current is avaiable and there is further a gyro-accelerometer sensor (see figure 1 below).

	The processor is supplied with 5V from either USB or from a 12V battery or power supply.		The processor is supplied with 5V from either USB or from a 12V battery or power supply.

	A ~~reset~~ button ~~disables the~~ power ~~- and therefore initiates~~ a ~~reboot~~.		A start button that starts a mission and a power button that enables power after a shutdown.

	The robot is differential controlled, where a difference in velocity between left and right wheel generates a turn.		The robot is differential controlled, where a difference in velocity between left and right wheel generates a turn.

Jca: /* Design block diagram */

2018-12-31T09:03:02Z

Design block diagram

← Older revision		Revision as of 11:03, 31 December 2018
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	==Design block diagram==		==Design block diagram==

	The robot data and control is shown as a block diagram in figure 2 below.		The robot data and control flow is shown as a block diagram in figure 2 below.

	[[File:blockdiagram_software.png\|700px]]		[[File:blockdiagram_software.png\|700px]]

Jca: /* Design overview software */

2018-12-31T09:02:50Z

Design overview software

← Older revision		Revision as of 11:02, 31 December 2018
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	Other sensors like an line (edge) detector (edge of a tape line on the floor), IR distance sensors (Sharp 2Y0A21 type) and wifi access may be implemented on some of the robots.		Other sensors like an line (edge) detector (edge of a tape line on the floor), IR distance sensors (Sharp 2Y0A21 type) and wifi access may be implemented on some of the robots.

	==Design ~~overview software~~==		==Design block diagram==

	The robot ~~software~~ is shown as a block diagram in figure 2 below.		The robot data and control is shown as a block diagram in figure 2 below.

	[[File:blockdiagram_software.png\|700px]]		[[File:blockdiagram_software.png\|700px]]

Jca: /* Design overview software */

2018-12-31T09:01:24Z

Design overview software

← Older revision		Revision as of 11:01, 31 December 2018
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	All software is written in c++, based on Arduino libraries.		All software is written in c++, based on Arduino libraries.

	Most controllers can be switched off. I.e. if the velocity controller is switched off, then the ~~reference input is fed directly to~~ the ~~output~~ (~~in this case the reference input is then in Volts~~ rather than ~~m/s~~) and ~~the acceleration limiter is bypassed too~~.		Most controllers can be switched off. I.e. if the velocity controller is switched off then the motors will never run. To control the motor voltage (rather than the velocity) then configure the velocity controller vith Kp = 0 and feed forward Kf=1.

	* [[Design calculations]]		* [[Design calculations]]

Jca: /* Design overview software */

2018-12-31T08:59:32Z

Design overview software

← Older revision		Revision as of 10:59, 31 December 2018
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	Figure 2. Overview of software data flow. Yellow is control blocks.		Figure 2. Overview of software data flow. Yellow is control blocks.
	Green is hardware (motor and sensors), Light green is calculations. Light blue is obtained values.		Green is hardware (motor and sensors), Light green is calculations. Light blue is obtained values.
	Gray is input values.		Gray is input values from mission.

	Sample time for all controllers and data values are 1ms.		Sample time for all controllers and data values are 1ms.

Jca at 07:56, 31 December 2018

2018-12-31T07:56:49Z

← Older revision		Revision as of 09:56, 31 December 2018
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	* [[Design calculations]]		* [[Design calculations]]

	~~==PCB connections revision 2B==~~

	~~Component placement and values (in red) are shown here.~~
	~~Plug connections are shown in blue.~~

	~~[[File:component-drawing.png]]~~

	~~Figure 3. The Sharp IR sensor output is not connected to an AD converter input.~~

	~~The IR sensor voltage divider output should be between 0 and 1.2V,~~
	~~and could be connected to A0 and A1 (used to be feedback from motor-controller).~~
	~~Unfortunately a plug can not be mounted (space conflict with USB plug).~~

	~~The orange wires are patches (line sensor low power at pin 32 and from IR sensor to A0 and A1).~~

	~~Version 3 of the robot uses the same pin-configuration in all plugs (and adds a few more).~~

	~~Version 4 also uses the same pin-configuration for motor-encoder, IR-sensor, line sensor + LED drive and IMU (IPU) and adds 3-pin servo and io.~~

	~~==PCB in version 4.1==~~

	~~[[File:regbot_v4.1_schematic.png \| 1500px]]~~

	~~Figure 4. Schematic of version 4.1 with Teensy 3.5 configuration (red board). Open image in full resolution to use.~~

	~~[[File:regbot_v4.1_board_300.png]]~~

	~~Figure 5. PCB layout version 4.1. NB! I2C and IMU is different, I2C has 5V on pin 5, this is NC in IMU socket. Other pins are 1: GND, 1:3.3V, 3: SDA, 4: CLK.~~