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P8 and P9: Confusion and Progress

Spent a little bit of time writing python code to talk to the RoboClaw. After I got the MUX mode set correct for UART1, I could not figure out why a loop-back test was not working. If in doubt, read the reference document. It turns out I had was using the right pins on the wrong expansion header. Resoldered the serial lines for UART1 and UART2 back to P9…and it works. Personally, I think it’s even simpler to write serial byte commands in Python than using the Arduino. It should only take a few hours to come up with a simple state machine that can use the five front-facing distance sensors to do obstacle detection.

Otherwise, been a busy day buying The Boy a new bike, acquiring construction tools at the Home Despot for a project this May, and cleaning the bbq.

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New adventures: model #7

I’ve started a new, more ambitious robotics project. This robot is targeted for outdoor use in semi-controlled settings, but with much larger range. I’ve been conceptualizing this for about six months now.

The goal is to build a platform that:

  • can be used outside on pavement
  • provides a wide array of sensors to navigate complex environments
  • has enough computation power to play with OpenCV
  • can be internet connected for rapid development (aka BeagleBone, wifi, and Python)

Using this platform I would like to play with:

  • Outdoor navigation and obstacle avoidance
  • OpenCV
  • GPS and pre-planning algorithms
  • “mission control” software
  • infrastructure management

In the near term it will be built upon:

  • Arduino Mega
  • BeagleBone
  • RoboClaw for motor control
  • Pololu 37D motors with encoders
  • LS20031 GPS
  • CH robotics UM6 IMU
  • Adafruit TTL Camera
  • HC-SR04 Ultrasound sensors
  • IOGear GWU627 for wifi

In the longer term:

  • XBee Pro for long-range “missions”
  • Solar panel charging
  • “measurementation” sensor packages

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