Navigation coding is a PITA!

I have started to write some very basic code for sweeping the sensor array and reading in data. I will start pushing forward again this week trying to get some data. Mapping and navigation are going to be fun!

Good News!!!

My motor isn't burned out! I have tested both, it must have been a program glitch or something else on my part. I plan on trying to get the top half buttoned up this evening, I have notches to cut in the top piece but that should be a quick endeavor.

I am hoping to start writing navigation code soon. I have realized that EZ-0 Sensor was the cheapest for a reason, the beam width is too high for any real accuracy. I'm ordering 2 IR sensors (a long and short range) for more precision.

Disappointment...

Well I wsaz playing around the other day and it seems that I have somehow burned out one of my motors :( this is a bit of a surprise honestly but never the less not something totally unexpected considering my work habits and work ethic :D

I have also managed to crack the "base" right by one of the "L" brackets but that is my fault again for man handling it when I picked it up, I accidentally slipped and lost grip on one side, distorting the shape and causing the fracture. It will still suffice for prototyping and will be re-done with 1/4" plexi soon. If it becomes an issue before I'm ready to have the final design cut I have one of my original 1/4" base plates I can use.

So all that has kind of put me off working on the Chassis for a while. Since I am a little irk'd I've been working on the code and concepts for the navigation system.

Currently I have an Arduino hooked up on my test bench with a Maxbotix Ultrasonic range sensor. Having not really understood (or payed attention is what is really boils down to) I bought an EZ-0 which has a HUGE beam width and as such is really only going to be good for unidirectional ranging, I was originally trying a "radar" sweeping approach, but with such a wide beam width its unneccesary. I will be replacing that unit with an EZ-3 and mount the EZ-0 facing forward with no sweep, Using the EZ-3.

Thats is for now!

Assembly Photos!!!

I'm getting tired and wont get a chance to work on it again until tomorrow or Sunday.

Here are the photos I've taken so far

Front Isometric View

Artigo PicoITX Board

Electronics placement

Checking the clearance

Front view of chassis

Chassis Part Photos finally!!!

Here are the sneak peek shots of the Protos chassis.

Take a look at the last photo for a sneek peek at how it will look assembled!

This image shows one side of the track/tread assembly
I couldn't resist at lunch today!

Thats it for now!!! I'm off to rebuild Protos and document the build properly!

Chassis woes!

Well I had a bad night last night. As I was going to do some test installation before taking photos and really documenting the build process I ran across 2 problems :(

• First the new chassis is about 1/8th" thinner.
  I had to go get new screws this morning no big deal just an inconvience.

• Second the battery "holder" section of the tread sections was machined incorrectly.
  NOT Pololu's fault it was my design flaw) so I'll need to drill new holes for that.

I have a feeling in a couple of months I'll be ordering a new chassis from Pololu, I'll probably increase the width an inch or so and may look at adding a deck to raise the Turret system and make room for the electronics beneath it.

I keep forgetting to pickup my camera at my mom's place, I'll try to pick it up tonight.

Pololu.com! For the win!

Pololu.com looks like it has come through in the clutch! This morning, before I went to work Fedex dropped off my package from Pololu! Now here is the best part, Last week this time I had just created my "CAD" work and submitted it for a quote, I had quote in hand and ordered Friday last week (and this is after a revision as well). It gets better! I was checking my email Saturday morning and what do I see? Your order has been shipped! I wasn't expecting it to be shipped until Wednesday this week! So just because I can lets break it down.

1. Pololu.com is FAST! I mean super fast!!!
2. Customer service is TOP NOTCH, Ned was quick and helpful!
3. Product quality so far is very impressive!
4. Pricing was outstanding when other places were 3-5 times the cost!

I'll take some sneak peak shots and get them posted tonight when I get off work!

Protos Project Information

Key Points and Features:

• Lynxmotion 2” Track based platform with off road capabilities.
• Remotely operated via WiFi.
• PicoITX system
• Logitech Orbit QuickCam MP
• Phidgets HV Motor Controller (Looking for a possible replacement)
• Arduino Duemilanove
• Pan and Tilt base (Arduino controlled)
• EZ-0 Sonar Module (Arduino controlled)
• Custom Designed Chassis 1/8” Acrylic (Laser cut by Pololu.com)

Future Upgrades:

• 3 Sonar modules
• 4 IR distance sensors
• GPS (I’m sketchy on these if I’m only going to get 25ft accuracy it seems useless for navigation)
• Axon Microcontroller (Seriously contemplating this one, more on this below)
• I have a 2 phase upgrade plan for the pan and tilt to add guns (Airsoft) and rockets (micro)
• Weather resistance improvements and I mean that in the “most” effective manor, not “PROOF”

About the project:

• Protos is my attempt at getting an ROV to use outdoors, that really was my main goal, Throw on top of that Controllable via X-Box 360 controller (Windows USB version), Wifi remote control and pan and tilt camera and there you have it.
• More to come soon! I may get lucky and get my chassis parts tomorrow (a day ahead of schedule! most on this once I get to inspect the cargo!).

Inagural Post!

This blog is a look inside my new hobby, robotics, microcontrollers, other electronics and the like.

My first robot is Protos, A tread based ROV

In the next couple of days I will be getting the custom laser cut acrylic chassis to replace my wooden chassis prototype. During the teardown/rebuild this weekend and over the next couple of weeks I will try to detail the process. Eventually I will go back and revisit the design phase as well.