Mechanics: Difference between revisions

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(Created page with "== Start up guide == To work with Fejemis, you can connect directly using a monitor and keyboard. The monitor can be connected to one of the Raspberry Pis, while the keyboard connects through USB. After booting, log into the Ubuntu system using the provided credentials. The Raspberry Pis can be also accessed through SSH. local@10.197.218. (The IP some time changes, check it by connecting directly with the monitor) If you are connected to the main Raspberry Pi,the au...")
 
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== Start up guide ==
== Main electronics ==


To work with Fejemis, you can connect directly using a monitor and keyboard. The monitor can be connected to one of the Raspberry Pis, while the keyboard connects through USB. After booting, log into the Ubuntu system using the provided credentials.
[[File:teensy-configuration.png | 600px]]


The Raspberry Pis can be also accessed through SSH.
Figure: The main hardware blocks. Two Teensy processors are the interface to the hardware. The drive processor controls the drive motors, safety and battery system. The front processor controls the brush and the front wheel to lift the brush. A main PC integrates the functionality with additional sensors to allow autonomous operation.


local@10.197.218. (The IP some time changes, check it by connecting directly with the monitor)
==== Electrical ====


If you are connected to the main Raspberry Pi,the auxiliary Raspberry Pi can be accessed using:
[[Fejemis electrical]] wiring etc.
ssh fejemis-aux


Fejemis uses two Raspberry Pis:
==== Teensy firmware ====


Main Raspberry Pi
[[Fejemis Teensy]] software is build using standard Arduino library configurations.
Auxiliary Raspberry Pi
The interface to the main PC is organized as text-lines.


Both devices must run the same launch file:
==== Battery control ====


ros2 launch fejemis_maploc slam_test.launch.py localization:=true map_location:=asta
The [[Fejemis battery control]] is a 24V system (2x3cell LiPo 5Ah) with power on-off and measurement electronics. There is on-board chargers for all batteries.


This launch file runs the latest version of the autonomous cleaning software. It must be launched on both Raspberry Pis, since each device handles different parts of the system.
==== Brush unit ====
 
The [[Fejemis brush unit]] is a commercial brush that comes with its own battery (12V), charger and motor control. The unit is slightly modified to to allow measurement and control from the software.

Revision as of 12:22, 27 May 2026

Main electronics

Figure: The main hardware blocks. Two Teensy processors are the interface to the hardware. The drive processor controls the drive motors, safety and battery system. The front processor controls the brush and the front wheel to lift the brush. A main PC integrates the functionality with additional sensors to allow autonomous operation.

Electrical

Fejemis electrical wiring etc.

Teensy firmware

Fejemis Teensy software is build using standard Arduino library configurations. The interface to the main PC is organized as text-lines.

Battery control

The Fejemis battery control is a 24V system (2x3cell LiPo 5Ah) with power on-off and measurement electronics. There is on-board chargers for all batteries.

Brush unit

The Fejemis brush unit is a commercial brush that comes with its own battery (12V), charger and motor control. The unit is slightly modified to to allow measurement and control from the software.

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