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| REGBOT is a small robot designed for exercises for our linear control course (PID control) ([http://www.dtu.dk/english/Service/Phonebook/Person?id=14453 author]). | | REGBOT is a small robot designed for exercises for our linear control 1 course (PID control) ([http://www.dtu.dk/english/Service/Phonebook/Person?id=14453 author]). |
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| [[file:foto_of_Alba_40.png | 250px]] | | [[file:foto_of_Alba_40.png | 250px]] |
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| Figur 1. Version 2 af Regbot. | | Figur 1. Version 2 of Regbot. |
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| ==Introduction== | | == Overview == |
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| [[Design overview]] can be found here.
| | This section is intended for users. |
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| [[Getting started]] with REGBOT GUI. | | [[Getting started]] with REGBOT GUI. |
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| [[Mission]], how to write a mission. | | [[Mission]], how to write a mission. |
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| [[Regbot maintenance]] for longer life.
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| [[Regbot calibration]] for better performance. | | [[Regbot calibration]] for better performance. |
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| REGBOT comes in 3 versions:
| | [[Regbot maintenance]] for longer life. |
| * version 2B - with extension boards to match version 3
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| * version 3 - configuration with (almost) all on one board ([[REGBOT version 3]] technical notes)
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| * version 4.1- using Teensy 3.5 ([[Regbot version 4]])
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| [[REGBOT robot status]]
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| Video presentation https://www.youtube.com/watch?v=mOz4eNkjTM0
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| Intro til HW http://aut.elektro.dtu.dk:rse/regbot/lektion_1_intro_1_hardware_software.mov
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| REGBOT design sketch https://cad.onshape.com/documents/f14415feea0d8731f084d070/w/e9bf714402f35ee217c58672/e/c64e392bfa5890fe6ebcffad
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| '''Robobot'''
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| Robobot is a base robot for "Building dependable robot systems". See details here ([[Robobot]]), it is basically a Regbot robot extended with a raspberry pi.
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| ==Use software as is==
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| To use REGBOT two software parts are needed - one for the robot (regbot.hex) and the client (regbot.exe (for windows)).
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| ====Client software====
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| Get the client software (regbot.exe) from file sharing on campusnet, place it in a directory, this directory will be default for configuration file and result files from the robot.
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| * get software from SVN, or from the link below.
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| * http://aut.elektro.dtu.dk/regbot/regbot-gui/regbot.exe (probably an old version)
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| For windows a complete executable file (''regbot.exe'') is in the ''dist'' subdirectory of QTGUI, or can be downloaded as an exe-file from the link above.
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| ==Software download==
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| The source code for the robot and the client is available here.
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| NB! the software source can not be compiled without the proper tool-chain (compiler and library for the robot and python and libraries for the client)
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| repository for software - client and robot (version 3)
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| * client: svn://repos.gbar.dtu.dk/jcan/regbot/qtgui
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| * robot: svn://repos.gbar.dtu.dk/jcan/regbot/regbot
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| * robobot (c++): svn://repos.gbar.dtu.dk/jcan/regbot/robobot
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| On windows something like ''TortoiseSVN'' needs to be installed, see e.g.: http://www.gbar.dtu.dk/faq/39-svn
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| On a Linux computer install the ''subversion'' package, and do something like this:
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| svn co svn://repos.gbar.dtu.dk/jcan/regbot/regbot regbot
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| svn co svn://repos.gbar.dtu.dk/jcan/regbot/qtgui qtgui
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| svn co svn://repos.gbar.dtu.dk/jcan/regbot/robobot robobot
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| *Robot software version 3.1046 (march 2019) implemented chirp command
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| *Robot software version 3.943 (as of 9 Oct 2018) added overload protection (full motor voltage for 0.5sec gives overload).
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| *Robot software (including regbot.hex): version 2.285 (as of 31 January 2016) - ready for F16 course
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| *Client software : 3.1046 (March 2019): support for communication through Raspebrry PI bridge.
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| *Client software : 3.923 (23 Mar 2018) added new chirp command for identification - require big log (teensy 3.5)
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| *Client software : 3.484 (as of 15 November 2016) - adapted to hardware 3, modular control settings and wifi access
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| *Client software (including regbot.exe for windows): 2.285 (as of 31 January 2016) - ready for F16 course
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| === Older version===
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| repository for software - client and robot (version 2)
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| * client: svn://repos.gbar.dtu.dk/jcan/regbot/version2/qtgui
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| * robot: svn://repos.gbar.dtu.dk/jcan/regbot/version2/regbot
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| ==Install software tools==
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| The software tools to modify the software requires some tools.
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| ===Linux===
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| [[Software installation]] and tool-chain - Linux
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| ===Windows===
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| [[installation in windows]] with some of the tool-chain
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| ==Extensions==
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| ===Camera based line follower===
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| This extension adds a Raspbery Pi with a Raspberry Pi camera on top of the robot.
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| The Raspberry Pi is connected to the robot base through the UART serial connection.
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| [[File:regbotVision.JPG|200px]]
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| The [[Camera based line follower]] detects a tape line in front of the robot and controls the robot to follow the line through the serial connection.
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| Go to [[Vision based Line Follower]] for detailed information on the project and instructions on how to setup a new Line Following RegBot.
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| | [[Regbot GUI]] installation. |
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| ===ESP8266=== | | == Install notes == |
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| This extension adds wireless communication to the robot through the Teensy's UART serial connection. | | This section is primarily installation notes and more detailed descriptions not usually needed by the end-user. |
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| | [[Regbot command interface]] - command list. |
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| [[File:esp8266.jpg|200px]] | | [[Software installation]] on REGBOT (Arduino) and tool-chain - Linux |
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| Go to [[ESP8266]] for instructions on how to add the ESP8266 to the Teensy board.
| | [[Regbot old stuff]] |
