Difference between revisions of "ECE597 Project Sumo Robot"

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(Added list of tasks)
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The goal of this project is to create a BeagleBoard-powered robot capable of competing in an autonomous sumo competition in the 3.0 kg weight class ([http://www.youtube.com/watch?v=V3OR_sHrOJM an example]).  This would have minor hardware and electronics elements, but would focus on communication with sensors using the BeagleBoard and the Linux kernel.  At minimum, this involves sensors to detect the edge of the ring and the opposing robot.
 
The goal of this project is to create a BeagleBoard-powered robot capable of competing in an autonomous sumo competition in the 3.0 kg weight class ([http://www.youtube.com/watch?v=V3OR_sHrOJM an example]).  This would have minor hardware and electronics elements, but would focus on communication with sensors using the BeagleBoard and the Linux kernel.  At minimum, this involves sensors to detect the edge of the ring and the opposing robot.
  
== Links ==
+
== Tasks ==
* [http://circ.mtco.com/competitions/2010/rules/sumo Sumo rules].
+
  
== Sensors ==
+
* Build physical robot [On track]
 +
** Drivetrain [Mostly complete]
 +
*** Water-cut plates [Done]
 +
*** Cut corner fasteners [Mostly complete] (front and rear panel corners need work)
 +
*** Assemble [Mostly complete]
 +
** Electronics box (to be done after electronics have been completed) [Not started]
 +
* Build electronics (to be done after we know how to interface with external components) [Not started]
 +
** Acquire components [Mostly complete]
 +
*** SRF08 sonic rangefinders (×2) [Done]
 +
*** AA NiMH batteries (×12) [Done]
 +
*** GP2D12 IR rangefinders (×2) [Done]
 +
*** L298 H-bridges (×4) [Done]
 +
*** Edge sensors [Not started]
 +
** Create board [Not started]
 +
* Interface Beagle with external components
 +
** I2C (sonic rangefinders, accelerometer) [In progress]
 +
** PWM (motor control) [Not started]
 +
** ADC (IR rangefinders, edge sensors) [In progress]
 +
** GPIO (LED, buttons, motor control) [In progress]
 +
* Build sumo ring [Not started]
 +
 
 +
== Hardware Details ==
 +
 
 +
=== Sensors ===
  
 
* IR rangefinders -- Sharp GP2D12
 
* IR rangefinders -- Sharp GP2D12
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* Contact sensors (Cherry roller leaf switches)
 
* Contact sensors (Cherry roller leaf switches)
  
== Other I/O ==
+
=== Other I/O ===
  
* Microcontroller to do motor control PWM
+
* Motor control
** Socket for ATMega 328
+
** Two PWM pins used for speed control
 +
** Two GPIO for direction selection
 
** Use four [http://www.st.com/stonline/books/pdf/docs/1773.pdf L298] motor drivers (one for each motor)
 
** Use four [http://www.st.com/stonline/books/pdf/docs/1773.pdf L298] motor drivers (one for each motor)
* Input button to start start match
+
* Input button to start 5-second match countdown
 
* LEDs
 
* LEDs
 
** "Ready" LED (blinks when counting down to match start)
 
** "Ready" LED (blinks when counting down to match start)
  
== Misc ==
+
=== Misc ===
  
 
* Power conversion
 
* Power conversion
 
** Motors take 7.2 V, 4A at stall
 
** Motors take 7.2 V, 4A at stall
 +
 +
== Links ==
 +
* [http://circ.mtco.com/competitions/2010/rules/sumo Sumo rules].
  
 
[[Category:ECE597]]
 
[[Category:ECE597]]

Revision as of 00:58, 13 April 2010

The goal of this project is to create a BeagleBoard-powered robot capable of competing in an autonomous sumo competition in the 3.0 kg weight class (an example). This would have minor hardware and electronics elements, but would focus on communication with sensors using the BeagleBoard and the Linux kernel. At minimum, this involves sensors to detect the edge of the ring and the opposing robot.

Tasks

  • Build physical robot [On track]
    • Drivetrain [Mostly complete]
      • Water-cut plates [Done]
      • Cut corner fasteners [Mostly complete] (front and rear panel corners need work)
      • Assemble [Mostly complete]
    • Electronics box (to be done after electronics have been completed) [Not started]
  • Build electronics (to be done after we know how to interface with external components) [Not started]
    • Acquire components [Mostly complete]
      • SRF08 sonic rangefinders (×2) [Done]
      • AA NiMH batteries (×12) [Done]
      • GP2D12 IR rangefinders (×2) [Done]
      • L298 H-bridges (×4) [Done]
      • Edge sensors [Not started]
    • Create board [Not started]
  • Interface Beagle with external components
    • I2C (sonic rangefinders, accelerometer) [In progress]
    • PWM (motor control) [Not started]
    • ADC (IR rangefinders, edge sensors) [In progress]
    • GPIO (LED, buttons, motor control) [In progress]
  • Build sumo ring [Not started]

Hardware Details

Sensors

  • IR rangefinders -- Sharp GP2D12
  • Sonic rangefinders (need a way to power-cycle these [1]) -- SRF08
  • Edge sensors (used to detect the white lines at the edge of the ring)
  • Header for accelerometer module
  • USB camera (eventually; low priority)
  • Contact sensors (Cherry roller leaf switches)

Other I/O

  • Motor control
    • Two PWM pins used for speed control
    • Two GPIO for direction selection
    • Use four L298 motor drivers (one for each motor)
  • Input button to start 5-second match countdown
  • LEDs
    • "Ready" LED (blinks when counting down to match start)

Misc

  • Power conversion
    • Motors take 7.2 V, 4A at stall

Links