A robot that is controlled by python on a raspberry pi. The build is rover-like, with four driven wheels.
Whenever available, detailed information and supplier-link are provided as pdf in the docs-folder.
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Raspberry-Pi B+ V2
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Edimax EW-7811UN Wireless USB Adapter
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Motors: 4x DC 6.0V, 35:1 gear ratio, diameter of shaft: 4mm
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Motor-mounts: 4x DROK 25mm universal dc motor mount
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Motor-driver: 2x L298 dual H-bridge modules
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Tires: 4x GoolRC 1:10 Drift Car Tires
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Tire-mount: 12mm Hex Wheel Adapter for 4mm shaft
Current hardware configuration:
Basic module structure finished:
- Python mainloop with subprocesses for motor/sensor/worldmodel/reasoning control
- CAM: Sensing: camera + ultrasonic modules
- MEM: Worldmodel: 2D-map of environment
- BRAIN: Reasoning: Obstacle avoidance, object-tracking, self-loading and finding base
- MOT: Motor control: GPIO interfaced with motor-module, speed via PWM-implemention of pyGPIO
TODO:
- Define datatypes and interfaces (messages) for inter-process-communication
- Think about synchronization (in terms of time, perception/action cycle, etc.)
- How to organize perceptions, who marks them as read/removes them from the dictionary?
- Implement logging
Edimax WLAN-Stick has a power-save mode and goes to sleep, to avoid this:
sudo vim /etc/modprobe.d/8192cu.conf
options 8192cu rtw_power_mgnt=0 rtw_enusbss=0