ECE597 Project Sumo Robot

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Revision as of 17:22, 20 April 2010 by Zeta Syanthis (Talk | contribs)

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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 (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]
  • Interface Beagle with external components
    • I2C (sonic rangefinders, accelerometer) [In progress]
    • PWM (motor control) [In progress]
    • ADC (IR rangefinders, edge sensors) [Completed]
    • 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