Difference between revisions of "Talk:RunBot: a Robogame Robot"

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== Motion Control ==
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[[Image:Motion_control.JPG]]
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Angle between V1 and X-axis is 30°
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Angle between V2 and X-axis is 150°
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Angle between V3 and X-axis is 270°
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V1 = F3-F1
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V2= F1-F2
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V3= F2-F3
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Vt= c1*V1 + c3*V3 (region 3)
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Vt= c1*V1 + c2*V2 (region 2)
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Vt= c2*V2 + c3*V3 (region 1)
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If Vt is between V1 and V3 then region 3
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                V1 and V2 region 1
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                V2 and V3 region 2

Revision as of 15:38, 26 March 2010

Requirements

The robot should have:

  • a dimension of about 25cm of radius, 20 cm height
  • a speed of about 1 m/sec
  • omnidirectional movement (Kamro wheels)
  • sensors to avoid obstacles (sonars)
  • a camera that can be moved up and down (and eventually left and right)
  • wireless connection to a computer (Wi-fi)
  • Bluetooth connection
  • have power enough to move and transmit for at least 2 hours without recharging
  • Have the possibility to recharge autonomously

The robot should cost as less as possible

TO DO

  • Select HW 
 ** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)
 ** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)
 ** batteries (above, or standard A, AA or AAA type)
 ** Camera (ST smart cameras, with Ethernet wired link)
 ** Sonar (already available (see ROBOWII2.0))
 ** Blue tooth and WI-FI
  • Design body (structure and appearance), sensor placement, eventual movements of the camera
  • Implement the robot
  • test the robot with a simple game (e.g. RoboWII2.0)


This is the processor comparison table, the cells without entry is left blank

Name Clock Speed Ram Storage Onboard Devices Power Consumption Price OS Source Page
1 ESOM270 PXA270@520MHz 128 MB SDRAM 32 MB FLASH PMIC USB device,Camera interface(QCI),USB host 0.8 W @ Full running Mode,100mW @ Deep Sleep mode 76 € Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2 http://www.e-consystems.com/esom270.asp
2 IGEPv2 BOARD OMAP3530@720 Mhz 512MB RAM 512MB ONENAND-FLASH Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host 145 € IGEPv2 running Ubuntu 9.04 http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55
3 Em-x270 Intel's XScale PXA270 CPU, up to 520 MHz 128 Mbyte SDRAM 512 Mbyte Flash Disk WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port 0.2 - 2 W 76 $ ce OR linux http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm
4 S3C2440 Core Board II Samsung S3C2440A based on ARM920T, 400MHz 64MB SDRAM 64MB NAND Flash 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling) 110$ Windows CE4.2/5.0, 6.0 and Linux2.6 http://www.embedinfo.com/en/list.asp?id=64
5 Overo™ Air COM [GUM3503A] OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz 256MB RAM 256MB Flash 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host 199$ Linux 2.6.31 or higher OpenEmbedded http://www.gumstix.com/store/catalog/product_info.php?products_id=226
6 MX31 TurboG5 Module Freescale i.MX31 @ 532MHz 128 MB of Mobile DDR 32 MB of Flash Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port Windows CE 5.0 and 6.0 Linux http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp

Motion Control

Motion control.JPG

Angle between V1 and X-axis is 30° Angle between V2 and X-axis is 150° Angle between V3 and X-axis is 270°

V1 = F3-F1 V2= F1-F2 V3= F2-F3

Vt= c1*V1 + c3*V3 (region 3) Vt= c1*V1 + c2*V2 (region 2) Vt= c2*V2 + c3*V3 (region 1)

If Vt is between V1 and V3 then region 3 V1 and V2 region 1 V2 and V3 region 2

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