Robot 13
Overview
A tall mobile robot with IR thermal sensing that will try to find people and interact with them.
Behavior
coming soon
Sensors
 |
 |
 |
|
| Panasonic GridEye
8X8 thermal sensor AMG8833 |
Sonar | LIDAR |
Control
Will be using a Raspberry Pi. I’m trying to figure out how to communicate with it since it won’t have a monitor, keyboard or mouse
Raspberry Pi
I/O board with an Arduino Nano clone
RF Link
coming soon
Hand
One finger for pointing at things, a thumb for indicating approval.
Base
Motor control board
Uses 2 LMD18220s and an Arduino Nano clone
Arrived March 25Here are the Eagle files.
Parts from Digikey
Software options
Option 1
I wrote a simple test program. It uses these commands:
| 0 | stop |
| 1 | full speed forward |
| 2 | medium speed forward |
| 3 | low speed forward |
| 4 | gradual right turn |
| 5 | sharp right turn |
| 6 | gradual left turn |
| 7 | sharp left turn |
| 8 | reverse |
| 9 | brake |
Option 2
Software that uses these commands could be written. Once it’s working it could be expanded
| Set speed | Set direction | Rotate |
| s0 stopped s1 20% s2 30% s3 40% s4 50% s5 60% s6 70% s7 80% s8 90% s9 100% |
d1 turn left, 50cm radius d2 turn left, 100cm radius d3 turn left, 2m radius d4 turn left, 10m radius d5 straight ahead d6 turn right, 10m radius d7 turn right, 2m radius d8 turn right, 100cm radius d9 turn right, 50cm radius |
x0 rotate left 180 degrees x1 rotate left 90 degrees x2 rotate left 45 degrees x3 rotate left 30 degrees x4 rotate left 15 degrees x5 rotate right 15 degrees x6 rotate right 30 degrees x7 rotate right 45 degrees x8 rotate right 90 degrees x9 rotate right 180 degrees |
b reverse at low speed
Option 3
Albert has some software written that we could use.
Motors
Banebots 12VDC, 64:1 planetary gearset, 1A with no load