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| == Main electronics == | | == Main electronics == |
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| === Teensy Configuration ===
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| [[File:teensy-configuration.png | 600px]]
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| 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.
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| ===== Teensy firmware =====
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| [[Fejemis Teensy]] software is build using standard Arduino library configurations.
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| The interface to the main PC is organized as text-lines.
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| ===== Electrical =====
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| [[Fejemis electrical]] wiring etc.
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| === Battery control ===
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| 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.
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| === Brush unit === | | === Brush unit === |
Revision as of 12:36, 27 May 2026
Main Mechanical Parts
Front Wheel Design
The wheel is ... here are the cad files etc
Main electronics
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.
Linear actuator
The actuator is a ...
Lidar
The lidar is a ...
Realsense D455
The camera is a ...
Ethernet Router
The ethernet router is a ...
Dual Rasperry Pi 5 setup
we have two rasperry pis ...
