Regbot

Small robot intended for control-1 exercises.

Software download

• Robot software (regbot.hex): 2.124

• Client software for windows (regbot.exe): 2.124

(as of September, 2015)

repository for software - client and robot

• client: svn://repos.gbar.dtu.dk/jcan/regbot/qtgui
• robot: svn://repos.gbar.dtu.dk/jcan/regbot/regbot

On a Linux computer do something like this:

svn co svn://repos.gbar.dtu.dk/jcan/regbot/regbot .
svn co svn://repos.gbar.dtu.dk/jcan/regbot/qtgui .

Install software

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.

A driver must be installed to get in contact with the robot - see installation in windows

The driver will create a com-port when connected - most likely com3 or any higher number. 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
• installation in windows some of the tool-chain
• Schematic

User interface

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.

for more advanced installation see installation in windows

Design overview hardware

Hardware blockdiagram. Most blocks are off-the-shelf hardware modules from PJRC (Teensy), Polulu (motor ad driver) or Sparkfun (IMU).

Design overview software

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.

Pin 1 on the IMU is as shown here

The teensy processor and power is connected as shown