ECE597 Project Sumo Robot

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Revision as of 03:25, 26 April 2010 by Tomwm (Talk | contribs) (Tasks: Added link to battery holder)

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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.

Team Members

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]
  • Construct electronics [In Progress]
  • Interface Beagle with external components
    • I2C (sonic rangefinders, accelerometer) [In progress]
    • PWM (motor control) [Completed]
    • ADC (IR rangefinders, edge sensors) [Completed]
    • GPIO (LED, buttons, motor control) [In progress - Waiting on MUX]
  • Write control software [Not started]
    • Low-level motor control [In progress]
    • Detect and prevent exit from arena [Not started]
    • Detect and ram competitor [Not started]
    • Recover from a competitor's attack [Not started]
  • Build or print sumo ring [Not started]

Hardware Details

Sensors

  • IR rangefinders -- Sharp GP2D12
    • Analog voltage output fed to ADC.
    • Voltage output varies non-linearly with distance. See datasheet link above for details.
  • Sonic rangefinders (need a way to power-cycle these [1]) -- SRF08
    • Primary sensing: Distance in in cm/inches/μs up to 6 meters.
    • Secondary sensing: Light Amount [Not used in our application]
    • 5V required. 3mA standby, 11mA during ranging.
    • Communication via I2C bus.
  • Header for three-axis accelerometer module
    • Auto-ranging from +-2/4/8/16 g in z,y,z
    • Vs = 2.0-3.3V and Vi/o 1.7V-Vs
    • Communication via I2C bus
  • Edge sensors (used to detect the white lines at the edge of the ring)
  • 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