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Mechanical System

Class Hardware Presentation

(Powerpoint) - This includes an overview of all the parts and how they connect, along with some construction ideas.

Imaging Your Raspberry Pi

  1. Download Ubuntu Mate 16.04 LTS (the image is set up with the default user oem, password oem)
  2. Image using win32diskimager or dd to image SD card: http://odroid.com/dokuwiki/doku.php?id=en:odroid_flashing_tools
  3. Use gparted to expand the partition. The original image creates a 7GB partition on the 16GB SD card. Gparted can expand the partition to fill the remaining space.

SSH into your Raspberry Pi

  1. Connect to wifi (no need to use the wifi dongle - there is an on-board wifi chip) or ethernet
  2. Install open-ssh-server on the Raspberry Pi
sudo apt-get install openssh-server

GPIO connections

Raspberry Pi GPIO - This will help you find serial rx and tx pins to communicate with the PSoC.

Omnidirectional Wheels

Voltage Regulator

The Raspberry Pi needs 5V input voltage that the battery does not provide. To remedy this we will be using this voltage regulator.

Other Materials

(old) motors_batteries.pdf

(old) robot_construction.pdf

(old) models_for_mobile_robots.pdf This file is important in the sense that it contains the model for a DC motor, and also explains how pulse width modulation works. There is also an explanation of how to model the time between expected battery charges.

(old) motor_model_and_control.pdf There are useful things in this file including the relationship between angular speed of a wheel and its linear velocity, how to use system identification to find motor constants. Most of the rest of the material is contained in other files.