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[DPRG] Another Challenge - Another Robot of 3 Rovers

Subject: [DPRG] Another Challenge - Another Robot of 3 Rovers
From: David Anderson davida at smu.edu
Date: Thu Dec 19 17:20:26 CST 2013

Well I'm still  using my Mini Robominds boards, so you're about a dozen 
years ahead of me...

Does anyone have any experience with or opinions about the BeagleBone 
Black controller?   ( they are local guys, I think)



On 12/19/2013 04:19 PM, steve at txtulip.com wrote:
> dpa,
>         I picked up an old IFI robot control system they used to use 
> in the FIRST Robotics competition. ( I DID mention I was lazy? Right?) 
> It's an Atmel based unit and does way more than I think I will ever 
> need.  I did hack a small Wall-E a few years ago and used a Basic 
> stamp... I had plans for upgrading the motor drives and that meant 
> upgrading the processor but like so many projects, something else was 
> more important so I never have revisited that.
>     I kind of like the Arduinos. They've come a long way in a short 
> time and I think the Duo might be the next processor I explore... 
> AFTER I rebuild My robot and AFTER I finally finish that EMCO mill 
> and.. well you see what I mean.
>     Guess I'm not much help with robot controller advise.
> Steve
> -----Original Message-----
> From: David Anderson <davida at smu.edu>
> To: steve <steve at txtulip.com>
> Cc: k5rud <k5rud at arrl.net>; dprglist <dprglist at dprg.org>
> Sent: Thu, Dec 19, 2013 4:10 pm
> Subject: Re: [DPRG] Another Challenge - Another Robot of 3 Rovers
> Cool.  That's 3.  No wait, Rud is really building 3 robots for his 
> project, so that's 5.
> Steve, what processor are you using?  I've been looking around at some 
> of the arm+atmel boards.  Any thoughts?
> dpa
> On 12/19/2013 03:30 PM, steve at txtulip.com wrote:
>> Oh Hey Rud, you should see my navigation unit. As you might expect 
>> Yaw is a bear but it tracks pretty well. It DOES drift about a degree 
>> every  2 minutes but if you want to do relative 45 degree or 90 
>> degree turns, it should be pretty accurate. I'm using a proportional 
>> voltage output to make integration to a processor easier. If you 
>> establish a known heading point, you might be able to reset it for 
>> zero and compensate for the drift.
>>     Which brings up MY robot... affectionately named Ankle Biter... 
>> (well maybe not so affectionately)  A mecanum wheeled base. It has 
>> been down for a number of years as my robotics team had it 
>> cannibalized for parts. I have all the parts back but one of the 
>> transmissions has a problem and I haven't had tie to look into it . 
>> But any time now I'll get the bug and put it back together and 
>> finally build the arm I've promised I'd designed.
>> Steve
>> -----Original Message-----
>> From: Rud Merriam <k5rud at arrl.net>
>> To: David P. Anderson <davida at smu.edu>
>> Cc: dprglist <dprglist at dprg.org>
>> Sent: Thu, Dec 19, 2013 2:37 pm
>> Subject: [DPRG] Another Challenge - Another Robot of 3 Rovers
>> David asked about building robots. Mine are mainly built but the 
>> software is very much a work in frustration progress.
>> You can see the project on my web site (below signature) but the 
>> specific starting point is at 
>> http://www.mysticlakesoftware.com/introduction.
>> I entered the 2013 NASA Sample Return Robot (SRR) Centennial 
>> Challenge and am working toward the 2014 SRR. The web site documents 
>> to some extent my 2013 work. Right now I am writing a good deal to 
>> aid my thinking for the 2014 SRR. Anything marked WIP is a work in 
>> progress and subject to major revision and rewrites. There are videos 
>> and documents listed in the material. There is a YouTube playlist 
>> with other videos, including the live video during the challenge 
>> taken by the rovers: 
>> http://www.youtube.com/playlist?list=PLo9blbzvWvrG9_Mkug2W6FMsEww7IsKXv.
>> There are three main action items: a lot of vision processing to be 
>> designed and implemented, determining the location and bearing of a 
>> rover, and another method for picking up and transporting a sample.
>> As the SRR assumes the rovers are not on the Earth neither GPS nor a 
>> compass can be used for positioning.
>>  I have not been successful with integrating gyro and accelerometer 
>> information for measuring bearing. I am doing some experiments now in 
>> using vision to track in a straight line and turn a 45 or 90 angles. 
>> The main requirement for positioning is during the search process to 
>> assure complete coverage of the competition area. Vision processing 
>> should suffice for the other tasks in the SRR.
>> The biggest limitation is the size and weight of the rovers. There is 
>> not much room to anything complex and not much capacity to carry much 
>> more weight. I think the current lifter design is still possible but 
>> I need a way of knowing when it is positioned properly. All of this 
>> is discussed more on the site.
>> - 73 -
>> *Rud Merriam K5RUD
>> * /Mystic Lake Software <http://mysticlakesoftware.com/>
>> /
>> On 12/19/2013 10:06 AM, David P. Anderson wrote:
>>> But ain't it great to see so much activity and, dare I say, passion, 
>>> on this robots list?!   Who knows, might even inspire someone to, I 
>>> don't know, I'm going out on a limb here but, to you know, build a 
>>> robot. Wouldn't that be something!!!
>>> I'm building one right now.  Anybody else?
>>> cheers!
>>> dpa
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