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Small robot intended for control-1 exercises.


==Version==
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]).


*Robot software (regbot.hex): 95
[[file:foto_of_Alba_40.png | 250px]]


*Client software for windows (regbot.exe): 95
Figur 1. Version 2 of Regbot.


(as of June, 2015)
== Overview ==


==User interface==
This section is intended for users.


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.
[[Getting started]] with REGBOT GUI.


[[File:Gui_rev0.png]]
[[Regbot_first_setup | Regbot initial settings]].


==Install client in Windows==
[[User interface]], how to configure the robot using the Regbot client.


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.
[[Control]] overview gives some information on control possibilities.


A driver must be installed to get in contact with the robot - see [[installation in windows]]
[[Mission]], how to write a mission.


The driver willcreate a com-port when connected - most likely com3.
[[Regbot calibration]] for better performance.
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]]
[[Regbot maintenance]] for longer life.


==Design overview==
[[Regbot GUI]] installation.


[[File:Blockdiagram.png]]
[[Regbot hardware board]].


[[Regbot motor parameters | Estimated motor parameters]].


===Design issues===
== Install notes ==


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


This part is for design issus, and not needed for normal user.
[[Regbot command interface]] - command list.


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


* [[Installation on Linux]]
[[Regbot firmware]] introduction.
* [[Installation on windows]]
* [[Software installation]] and tool-charin
* [[Design calculations]]
* [[installation in windows]]
* [[Schematic]]


repository for software - client and robot
[[Regbot balance details | Balance details]]


* client: svn://repos.gbar.dtu.dk/jcan/regbot/qtgui
[[Regbot maintenance notes | Maintenance notes]]
* teensy: svn://repos.gbar.dtu.dk/jcan/regbot/regbot
 
[[Regbot old stuff]]

Latest revision as of 11:01, 8 January 2026

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.

Regbot initial settings.

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.

Estimated motor parameters.

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 firmware introduction.

Balance details

Maintenance notes

Regbot old stuff

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