Progress Report...

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!

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!

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!