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Small robot intended for control-1 exercises.


Sorry, but this page is far from complete, and not very well structured.
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]).


==Version==
[[file:foto_of_Alba_40.png | 250px]]


*Robot software (regbot.hex): 43
Figur 1. Version 2 of Regbot.


*Client software for windows (regbot.exe): 43
== Overview ==


Both includes software for exercise 3+4 in the controlcourse, but the rest is missing
This section is intended for users.


New versions will be available as needed, will be available on the campusnet.
[[Getting started]] with REGBOT GUI.


The needed drivers are available on databar computers (they require administrator rights to install), but can be installed on other windows computers
[[User interface]], how to configure the robot using the Regbot client.
see below.


==User interface==
[[Control]] overview gives some information on control possibilities.


The user interface can configure and run the robot, as wel as inspecting almost all values on the robot. Written in python using Qt GUI library.
[[Mission]], how to write a mission.


[[File:Gui_rev0.png]]
[[Regbot calibration]] for better performance.


==Install client in Windows==
[[Regbot maintenance]] for longer life.


Get the regbot.exe from the course homepage, place it in a directory, this directory will be default for configuration file and result files from the robot.
[[Regbot GUI]] installation.


A driver must be installed to get in contact with the robot - see [[installation in windows]]
[[Regbot hardware board]].


The driver willcreate a com-port when connected - most likely com3.
== Install notes ==
When the robot is disconnected by unplugging the cable, then the client needs to be restarted if it was connected when the cablewas unplugged.


for more advanced installation see [[installation in windows]]
This section is primarily installation notes and more detailed descriptions not usually needed by the end-user.


==Development pages==
[[Regbot command interface]] - command list.


[[File:Blockdiagram.png]]
[[Software installation]] on REGBOT (Arduino) and tool-chain - Linux


===News===
[[Regbot old stuff]]
 
Regbot schematic places right motor encoder yellow wire to teensy pin 22 (white on pin 21) and left motor yellow to pin 20, white to pin 19.
 
On 2nd prototye pin21,22 is switched, as is pin 19,20. This gives a sign error on velocity and position - which is bad for the designed controllers.
 
On 1st prototy it is (now) as schematic, so this should be right
 
===Design issues===
 
 
This part is for design issus, and not needed for normal user.
 
The robot consist of a 72MHz 32bit ARM processor on a teensy 3.1 board, controlling a pololu motor controller and 2 small pololu motors with magnetic encoder. A further sensor is sparkfun LSM9050 IMU. Supplied by 12V 3A from 220V on a thin wire. The processor, IMU and wheel-encoders can be supplied from USB.
 
* [[Installation on windows]]
* [[Software installation]] and tool-charin
* [[Design calculations]]
* [[installation in windows]]
* [[Schematic]]
 
repository for software - client and robot
 
* client: svn://repos.gbar.dtu.dk/jcan/regbot/qtgui
* teensy: svn://repos.gbar.dtu.dk/jcan/regbot/regbot
* all  : svn://repos.gbar.dtu.dk/jcan/regbot

Latest revision as of 14:17, 17 October 2024

REGBOT is a small robot designed for exercises for our linear control 1 course (PID control) (author).

Figur 1. Version 2 of Regbot.

Overview

This section is intended for users.

Getting started with REGBOT GUI.

User interface, how to configure the robot using the Regbot client.

Control overview gives some information on control possibilities.

Mission, how to write a mission.

Regbot calibration for better performance.

Regbot maintenance for longer life.

Regbot GUI installation.

Regbot hardware board.

Install notes

This section is primarily installation notes and more detailed descriptions not usually needed by the end-user.

Regbot command interface - command list.

Software installation on REGBOT (Arduino) and tool-chain - Linux

Regbot old stuff

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