Regbot

Small robot intended for control-1 exercises.

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.

Install client in Windows

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 willcreate a com-port when connected - most likely com3. 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

Development pages

News

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.

• 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