CS 495 Special Topics: AUTONOMOUS ROBOTS
Winter 2000, Instructor:
Jeffrey Horn
Assignment 4:
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Handed out Wed. (3/8/00)
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ZENTROPIX EFFORTS:
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MEGATEL ZENTROPICS:
Build our own Install for Megatel with DiskOnChip
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PC ZENTROPICS: Install
FULL version of Zentropix distribution on a partition on one of our PCs,
and write code to USE the real-time kernel.
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PARALLEL PORT I/O:
Develop drivers to do I/O for Zentropix via parallel
port, first on PC, then on Megatel board. Control servos, sensors,
and read from sensors.
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TRUCK BASE:
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BASIC X: Get
truck running JUST AS BEFORE (with Basic Stamp I (the "First
Step" board)) but using the Basic X chip. This will give us expertise
in using Basic X as well as in control of the truck base.
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SUSPENSION: Firm
up suspension to handle expected load increases (throw a few bricks on
and add some 10W40 to the shocks! and stiffer springs if you can
find them. whatever it takes)
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SPEED CONTROL:
Get a speed controller and test it out!
With Basic X. First, help order it by calling finding out if a MOSFET controller
is what we want. Ask Tower Hobbies. Tell them what we are trying
to do (slow down the truck, control it to a finer degree) 1-800-637-6050
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MAX BASE:
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BASIC X for SPEED CONTROLLER:
Get the Basic X using the speed controller to
actually forward, turn on a dime, arc turn, and reverse, at various speeds.
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BASIC X for OPTICAL SHAFT CONTROLLERS:
Get the Basic X reading the optical shaft encoders,
then set up feedback loop to have active control of speed.
Then test it!
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SONAR with BasicX control:
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ULTRA HEXAPOD: Contact Tom Centko and/or
Tom Meravi, see if they can still make us aluminum pieces, but scaled up.
Figure out how to mount the TS-80 Super Servos on their sides (this
will impact design). Wait for servos! While waiting, see if
serial servo controllers will drive TS-80.
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WIRELESS: Get two processors communicating via
wireless serial comm. First take two Stamp I's and get them taking
via SERIN and SEROUT commands via jumpered I/O pins. Then stick
Tony's RF kit in between.
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OTHER: