ECE597 Project Sumo Robot - Revision history

Tomwm: Added to BeagleBoard expansion boards category

2010-07-28T02:53:15Z

Added to BeagleBoard expansion boards category

Tomwm: /* Tasks */ Added drawing of the robot's panels

2010-07-26T00:33:51Z

‎Tasks: Added drawing of the robot's panels

Tomwm: Added image of the robot base

2010-07-25T23:53:41Z

Added image of the robot base

Tomwm: Fixed typo in link syntax

2010-07-25T23:29:23Z

Fixed typo in link syntax

Tomwm: Updated summary and status

2010-07-25T23:28:36Z

Updated summary and status

Batydm: /* Interface Board */

2010-05-21T02:35:41Z

‎Interface Board

Batydm: /* Links */

2010-05-21T02:34:40Z

‎Links

Batydm: /* Links */

2010-05-21T02:19:45Z

‎Links

Batydm: /* Interface Board */

2010-05-20T23:16:36Z

‎Interface Board

Batydm: /* Interface Board */

2010-05-20T23:15:46Z

‎Interface Board

← Older revision		Revision as of 02:53, 28 July 2010
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	[[Category:ECE597]]		[[Category:ECE597]]
	[[Category:Robotics]]		[[Category:Robotics]]
		+	[[Category:BeagleBoard Expansion Boards]]

← Older revision		Revision as of 00:33, 26 July 2010
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	== Tasks ==		== Tasks ==
		+
		+	[[File:ECE597SumoRobotPanels.svg\|thumb\|right\|400 px\|Drawing of the robot's aluminum panels (click for details).]]

	* Build physical robot [On track]		* Build physical robot [On track]

← Older revision		Revision as of 23:53, 25 July 2010
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		+	[[File:ECE597SumoRobotBase.jpg\|thumb\|right\|300 px\|alt="A four-wheeled robot composed of bolted-together aluminum plates with wide black tires protruding from either side. On top, two circuit boards are mounted with standoffs, the smaller BeagleBoard on top."]]
		+
	The goal of this project was 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]). A chassis was constructed of aluminum and an expansion board created to allow the Beagle to control the motors and connect to the sensors. [[BeagleBoardPWM \| Software]] was also created to allow PWM control of the motors, but a problem acquiring an important component (an ADC chip to allow reading infrared rangefinders and edge detectors) meant that control was fairly crude, relying on a single ultrasonic rangefinder. Before the robot could meaningfully compete in a sumo competition this issue would need to be corrected and a plow attached to the front. The robot is currently being used for general robotic experimentation.		The goal of this project was 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]). A chassis was constructed of aluminum and an expansion board created to allow the Beagle to control the motors and connect to the sensors. [[BeagleBoardPWM \| Software]] was also created to allow PWM control of the motors, but a problem acquiring an important component (an ADC chip to allow reading infrared rangefinders and edge detectors) meant that control was fairly crude, relying on a single ultrasonic rangefinder. Before the robot could meaningfully compete in a sumo competition this issue would need to be corrected and a plow attached to the front. The robot is currently being used for general robotic experimentation.

← Older revision		Revision as of 23:29, 25 July 2010
Line 1:		Line 1:
−	The goal of this project was 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]). A chassis was constructed of aluminum and an expansion board created to allow the Beagle to control the motors and connect to the sensors. [BeagleBoardPWM \| Software] was also created to allow PWM control of the motors, but a problem acquiring an important component (an ADC chip to allow reading infrared rangefinders and edge detectors) meant that control was fairly crude, relying on a single ultrasonic rangefinder. Before the robot could meaningfully compete in a sumo competition this issue would need to be corrected and a plow attached to the front. The robot is currently being used for general robotic experimentation.	+	The goal of this project was 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]). A chassis was constructed of aluminum and an expansion board created to allow the Beagle to control the motors and connect to the sensors. [[BeagleBoardPWM \| Software]] was also created to allow PWM control of the motors, but a problem acquiring an important component (an ADC chip to allow reading infrared rangefinders and edge detectors) meant that control was fairly crude, relying on a single ultrasonic rangefinder. Before the robot could meaningfully compete in a sumo competition this issue would need to be corrected and a plow attached to the front. The robot is currently being used for general robotic experimentation.

	== Sumo Competition Rules ==		== Sumo Competition Rules ==

@@ Line 1: / Line 1: @@
-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 was 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]).  A chassis was constructed of aluminum and an expansion board created to allow the Beagle to control the motors and connect to the sensors.  [BeagleBoardPWM | Software] was also created to allow PWM control of the motors, but a problem acquiring an important component (an ADC chip to allow reading infrared rangefinders and edge detectors) meant that control was fairly crude, relying on a single ultrasonic rangefinder.  Before the robot could meaningfully compete in a sumo competition this issue would need to be corrected and a plow attached to the front.  The robot is currently being used for general robotic experimentation.
 == Sumo Competition Rules ==
@@ Line 91: / Line 91: @@
 ** Manufacture PCB [Not started]
 *** Create PCB Schematic [Done]
-*** Layout PCB [In progress]
+*** Layout PCB [Done]
-*** Mill board [Not started]
+*** Mill board [Done]
 *** Acquire Misc board components [In progress]
 **** L298 H-bridges (&times;4) [Done]
-**** Level shifter
+**** Level shifter [Done]
 **** ADC [Not started]
-*** Place Components [Not started]
+*** Place Components [Partially done]
-*** Test Board [Not started]
+*** Test Board [Partially done]
 * Interface Beagle with external components
 ** I2C (sonic rangefinders, accelerometer) [Done]
@@ Line 104: / Line 104: @@
 ** ADC (IR rangefinders, edge sensors) [Done]
 ** GPIO (LED, buttons, motor control) [Done]
-* Write control software [Not started]
+* Write control software [Partially done]
-** Low-level motor control [In progress]
+** Low-level motor control [Done]
 ** Detect and prevent exit from arena [Not started]
 ** Detect and ram competitor [Not started]

@@ Line 45: / Line 45: @@
 == Interface Board ==
-An interface board was designed that implements many of the core features listed above.  The board was designed in OrCAD.  The schematic, board, and artwork is available here: [[File:Sumo.zip]].  Please see the included readme.  Ideally, the board would be enlarged or everything switched to surface mount components to allow for more features to be added.  This design can easily be milled so long as the holes can be plated.
+An interface board was designed that implements many of the core features listed above.  The board was designed in OrCAD.  The schematic, board, and artwork is available [[Media:Sumo.zip|here]].  Please see the included readme.  Ideally, the board would be enlarged or everything switched to surface mount components to allow for more features to be added.  This design can easily be milled so long as the holes can be plated.
 Here are the features that were implemented:

@@ Line 119: / Line 119: @@
 == Links ==
 * [http://circ.mtco.com/competitions/2010/rules/sumo Sumo rules].
-* [[File:Sumo_Robot_Presentation.pdf]]
+* [[Media:Sumo_Robot_Presentation.pdf|Sumo Robot Presentation]]
 [[Category:ECE597]]
 [[Category:Robotics]]