Ricbot hardware: Difference between revisions
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== | == Drive hardware == | ||
Tentative layout: | Tentative layout: | ||
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[[file: ric_cabling.png | 500px]] | [[file: ric_cabling.png | 500px]] | ||
DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042 | * The battery can be replaced by a power supply using the XT60 input plug. 15 to 29V and 2-4A will do. | ||
* The power board includes 3 MOS switch transistors, two for the motors, and one for the remaining electronics. The board further holds temperature interface (for power board and motor driver). | |||
* Motor driver DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042 | |||
* Regbot 6.3 is a version of the Regbot that can control the motors and take input from wheel encoders. It further controls the power board and interface the IMU (MPU9250). | |||
* The Raspberry Pi 1 controls the drive system through the USB interface to the Teensy 4.1. All data are made available on MQTT. | |||
* The gamepad is for driving the vehicle. | |||
* The GNSS is for recording the actual position (not RTK). | |||
* The Raspberry Pi 3 (aux) is (pt) used as a wifi hotspot. | |||
* The Net switch is used to connect the two Raspberry Pis and the sensor box on a cabled network. | |||
[[file: ric-hw-interface-ann.png | 500px]] | [[file: ric-hw-interface-ann.png | 500px]] | ||
The Regbot 6.3, power distribution and motor drivers are mounted on a common 3D print. This includes a fan. | |||
=== Interface board (Regbor 6.3) === | === Interface board (Regbor 6.3) === | ||
| Line 87: | Line 97: | ||
Power off is via the Teensy and the other set of contacts of the on-switch. This set goes to IDC-pin 5 and 10. When this set is not connected, the Teensy will set the power management pin to low (power off). It then takes about 10 seconds to turn off. | Power off is via the Teensy and the other set of contacts of the on-switch. This set goes to IDC-pin 5 and 10. When this set is not connected, the Teensy will set the power management pin to low (power off). It then takes about 10 seconds to turn off. | ||
==== Encoder ==== | |||
The encoder connection connects one type of plug (5 pins) from the encoder to another (4 pins) on the HW-interface board. | |||
==== Temperature sensors ==== | |||
The on-board temperature sensor is not mounted. | |||
The others are of type MCP9700A, extended with a cable to the 3-pin plug. | |||
=== Teensy interface === | === Teensy interface === | ||
Latest revision as of 07:12, 30 July 2026
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Drive hardware
Tentative layout:
Length is 1m, free height 25cm, width 65cm.
Installation notes
Camera position
Forward-looking camera: Intel RealSense D455, FOV 87 x 58 deg, range 0.6 to 6m.
Down-looking camera: Intel RealSense D435, FOV: 87 x 58 deg, range 0.3 to 3m.
Cabling
- The battery can be replaced by a power supply using the XT60 input plug. 15 to 29V and 2-4A will do.
- The power board includes 3 MOS switch transistors, two for the motors, and one for the remaining electronics. The board further holds temperature interface (for power board and motor driver).
- Motor driver DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042
- Regbot 6.3 is a version of the Regbot that can control the motors and take input from wheel encoders. It further controls the power board and interface the IMU (MPU9250).
- The Raspberry Pi 1 controls the drive system through the USB interface to the Teensy 4.1. All data are made available on MQTT.
- The gamepad is for driving the vehicle.
- The GNSS is for recording the actual position (not RTK).
- The Raspberry Pi 3 (aux) is (pt) used as a wifi hotspot.
- The Net switch is used to connect the two Raspberry Pis and the sensor box on a cabled network.
The Regbot 6.3, power distribution and motor drivers are mounted on a common 3D print. This includes a fan.
Interface board (Regbor 6.3)
Regbot 6.3: Regbot hardware board
- a) Power management split into 3 cables
- 1) To j17: (b1, r1, h1, y1) on power distribution board
- 2) To j11: (r2, h2, y2) on power management board (temp sensors)
- 3) To on/off switch
- b) Motor driver PWM and direction, 3 pins
- c) Encoder (optical) 4 pins on original 6-pin motor connector.
- d) IMU (I2C connection)
- e) Serial (LED-band) Rx8, TX8 (not working with LED-band (not DMA?))
DRI0042 to Regbot 4-pin PWM
DRI Regbot PWM Software 7 GND (black) 1 GND -- 4 PWM (red) 2 in1 PIN_xxxx_DIR 5 IN1 (white) 3 in2 PIN_xxxx_PWM 6 IN2 (yellow) 4 fault PIN_xxxx_FAULT 3 5V out
DRI0042 control values IN1 IN2 PWM OUT1, OUT2 Motor Behavior 0 0 x Stop 1 1 x Vacant (relax) 1 0 1 Forward 100% 0 1 1 Reverse 100% 1 0 PWM Forward at PWM speed 0 1 PWM Reverse at PWM speed
Power distribution
Power management
Pin IDC10-pin Software Function 1 (black) 1 -- GND 2 (red) 3 LS_1 (pin 27) power off (when low) -- pt not working (wrong mod on power board) 3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k) 4 (yellow) 6 LS_4 (pin 26) Alive LED
Temperature
Pin IDC10 Software Function 1 black (nc) -- -- 2 (red) 7 LS_4 (A8) Temp on board (not mounted) 3 (white) 8 LS_5 (A11) Temp power distribute (T1) 4 (yellow) 9 LS_6 (A9) Temp motor driver Left
On-Off
Power on is the mechanical on switch; connect the pins to ON.
Power off is via the Teensy and the other set of contacts of the on-switch. This set goes to IDC-pin 5 and 10. When this set is not connected, the Teensy will set the power management pin to low (power off). It then takes about 10 seconds to turn off.
Encoder
The encoder connection connects one type of plug (5 pins) from the encoder to another (4 pins) on the HW-interface board.
Temperature sensors
The on-board temperature sensor is not mounted. The others are of type MCP9700A, extended with a cable to the 3-pin plug.
Teensy interface
The Teensy interface implements a bridge to MQTT, a motor controller (velocity and turn rate), and a remote control.
The configuration is in
/home/local/svn/teensy_interface/build/robot.ini
See also Robobot teensy interface.
Start at boot
See the similar start setup in [[1]].
Comment out (or delete) the start of the camera streamer (not compatible with RealSense 3D cam)
Install software on Raspberry Pi
Perform the same installation as Robobot install on Raspberry, except for the serial port configuration (which should not be needed).
Teensy software
This is the Regbot software, configured to match the Ricbot.
See more details here Regbot firmware.
