Protos Robotics

Been a while since I've updated...

2010-01-17T12:56:00.003-05:00

Long story short, I have started a new job that is keeping me out on the road 4 nights a week, needless to say I'm not getting much work done right now... I have alot of brainstorming going on while I'm out but I'm not getting a lot of time to work on it at home which is fine... now is a good time to take a step back and reevaluate this project and some others I have going to choose the proper direction to continue... I will certainly be finishing this project I just wont be getting much done over the next 2-3 months... As I said though I will get some brain storming done and I will post ideas I am having etc on the blog here so I wont be gone either... First post about protos upgrade ideas should hit this week...

XMOS XK-1 finally proving useful!

2009-11-25T20:45:00.004-05:00

Though not due to any fault of the XK-1 or XMOS I have finally been able to get something useful out of the XK-1 I was provided for the XMOS Challenge. With some help from the gang @ xmoslinkers.org I was able to get my servo sweeping... now to get another servo in the mix.

Once I get that accomplished I will start integrating the other microcontroller data.

I have 2 Maxbotix EZ-3 Ultrasonic Sensors that will be attached to the servos and provide ranging data along with a stationary EZ-0. I will have an Arduino sending the ranging data to the XK-1 and an ArduIMU+(Arduino based 6DOF Inertial Measurement Unit) that will send data as well. Once I get the 2 servos sweeping I plan on concentrating on reading the data into the XK-1 from the arduinos...

Hurdles and trying to learn a new platform...

2009-11-12T23:26:00.004-05:00

I am definitely up against a steep learning curve here but its nothing I can't handle...

Major hurdles that will also help me mark milestones in the coming months:

Moving in with my Fiancé in the next 4-6 weeks, My goal is to move my son and I in just before new years

Possibly adding another XK-1 to the mix after the holidays, I'm planning on reading Arduino serial data on xmos that seems to take up threads so I may need the second core I'm still debating this.

Learning how to interface and program this new platform is proving to be challenging, Honestly I think the http://www.xmoslinkers.org community will spring into action as I believe the xmos challenge is drumming up alot of buzz about the XMOS, couple that with Sparkfun now carrying a dev board and the XTag adapter hopefully we will see more powerful dev boards and more community users.

General Updates: Whats working, whats not and where we are going from here!

2009-11-08T14:31:00.004-05:00

The ArduIMU, Which handles the accelerometer and GPS data is working well, I need to fine tune the accelerometer output but its functional.

My initial plan was to then control my sensor array from the XMOS, well that turned out to be a bad idea... The XMOS doesn't have any built-in support for analog sensors and since I'm using infrared and ultrasonic sensors that output analog data thats a no go...

Solution?... Use an Arduino to control the array and send the data back to the XMOS via serial, I haven't decided exactly how I'm going to do that yet but here are my ideas... It looks like I can setup a UART for each controller (ArduIMU and Arduino) and funnel data directly from the uC to the XMOS. If thats not possible my other alternative is to go through a PC intermediary... I already have a PicoITX system on the ROV now so thats not really a problem if I have to go that route... my main concern is using up too many threads on serial communication.

Now I'm having a hard time getting my arduino to behave the way I want it to with this sensor array :( but I'm hacking it out. I'll try and get some screen shots and code posted soon.

Progress Report...

2009-10-29T11:03:00.002-04:00

After a bit of a hiatus I have started to play around again. I finally have my IMU+GPS and I received my XMOS Developers kit (As part of the XMOS Challenge!).

New Toys:
ArduIMU with 4DOF (can add to 6 DOF)
uBlox GPS with Sarantel Antenna
XK-1 XMOS Developers Kit (Single Core, 8 Threads/Core)

The ArduIMU, 4DOF Sensor and GPS have been tested successfully as a unit they are funtioning normally sending data over serial connection for parsing.

The XMOS XK-1 has been tested, I have run through the basic tutorials. I have to integrate reading Ultrasonic and Infrared Range sensors, and controlling the sensor array pan servo

Once the XK-1 is reading Sensor data and sending to serial connection for parsing I will begin my "Data Logging Mode" A simple app that will log all sensor data while the robot is piloted remotely.

Protos has been selected for the XMOS Challenge!

2009-09-04T00:09:00.003-04:00

Here are some details about the xmos processors! check out http://www.xmos.com for more details!!!

XMOS event driven processors allow you to execute code in parallel which could open up a number of possibilities to evolve your robots "mind" to the next level!

Some details of the processor itself which will be on the dev kit (to be released soon):

- Single core device (Quad core versions are available!)
- 400 MIPS per core.
- 8 Threads per core.
- 64Kb RAM
- 8KBytes OTP memory for applications, boot code or security keys, with security mode
- 64 user I/O pins
- Support for high performance DSP (32 x 32 → 64bit MAC) and cryptographic functions
- Time aware ports provide up to 10ns timing resolution
- Designs implemented using a software-based design flow (can program in C or XC - very similar to C but with support for extras such as parallel execution).
- Scalable - can connect many kits together using Xlinks.

So I was chosen as one of several I know of at least a few more from Trossenrobotics.com community that were selected as well so this is going to be an interesting project again! I hope to be able to replace the current electronics in whole or atleast part by the XMOS and a WiFi WebCam.

Navigation coding is a PITA!

2009-07-20T10:06:00.002-04:00

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!!!

2009-07-15T17:29:00.002-04:00

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...

2009-07-12T08:54:00.002-04:00

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!!!

2009-07-03T23:08:00.014-04:00

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!!!

2009-07-03T20:20:00.009-04:00

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!

2009-07-03T11:22:00.004-04:00

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!

2009-07-02T10:27:00.004-04:00

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.

Pololu.com is FAST! I mean super fast!!!
Customer service is TOP NOTCH, Ned was quick and helpful!
Product quality so far is very impressive!
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

2009-07-01T23:58:00.000-04:00

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!

2009-07-01T21:58:00.000-04:00

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.