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Small robot intended for control-1 exercises.


[[File:regbot-final.png|200px]]
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]).


==Software download==
[[file:foto_of_Alba_40.png | 250px]]


*Robot software (regbot.hex): 2.124
Figur 1. Version 2 of Regbot.


*Client software for windows (regbot.exe): 2.124
== Overview ==


(as of September, 2015)
This section is intended for users.


repository for software - client and robot
[[Getting started]] with REGBOT GUI.


* client: svn://repos.gbar.dtu.dk/jcan/regbot/qtgui
[[User interface]], how to configure the robot using the Regbot client.
* robot:  svn://repos.gbar.dtu.dk/jcan/regbot/regbot


On a Linux computer do something like this:
[[Control]] overview gives some information on control possibilities.
svn co svn://repos.gbar.dtu.dk/jcan/regbot/regbot .
svn co svn://repos.gbar.dtu.dk/jcan/regbot/qtgui .


==Install software==
[[Mission]], how to write a mission.


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 calibration]] for better performance.


A driver must be installed to get in contact with the robot - see [[installation in windows]]
[[Regbot maintenance]] for longer life.


The driver will create a com-port when connected - most likely com3 or any higher number.
[[Regbot GUI]] installation.
When the robot is disconnected by unplugging the cable, then the client needs to be restarted if it was connected when the cable was unplugged (no connection detect in windows).


* [[Software installation]] and tool-chain - Linux
[[Regbot hardware board]].
* [[installation in windows]] some of the tool-chain
* [[Schematic]]


== Install notes ==


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


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.
[[Regbot command interface]] - command list.


[[File:Gui_rev0.png]]
[[Software installation]] on REGBOT (Arduino) and tool-chain - Linux


for more advanced installation see [[installation in windows]]
[[Regbot old stuff]]
 
==Design overview hardware==
 
[[File:Blockdiagram.png]]
 
Hardware blockdiagram.
Most blocks are off-the-shelf hardware modules from PJRC (Teensy), Polulu (motor ad driver) or Sparkfun (IMU).
 
==Design overview software==
 
[[File:blockdiagram_software.png]]
 
Overview of software data flow. Yellow is control blocks (or estimation filter).
Green is hardware (motor and sensor), Light green is calculations. Light blue isobtained values.
Gray is input values.
 
 
* [[Design calculations]]
 
==Install hardware==
 
The motor and IMU wires are mounted as shown here.
The IMU uses 4 wires only, so only the rightmost pins (1..4) on the main board are used.
 
[[File:motor-imu-wire.png]]
 
Pin 1 on the IMU is as shown here
 
[[File:imu-wire.png]]
 
The teensy processor and power is connected as shown
 
[[File:teensy-annotated.png]]

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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