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04/02/2024 at 03:23 •
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- Using Timer2 and Timer3 to the wheel direction and speed with PWM signals
- Channel 1 for forward rotation
- Channel 2 for backwards rotation
- Motor 1:
- Input A - PA6 - D12 - Timer3_CH1
- Input B - PA7 - D11 - Timer3_CH2
- Motor B:
- Input A - PA0 - A0 - Timer2_CH1
- Input B - PA1 - A1 - Timer2_CH2
- Motor Driver - MDD3A
- PWM frequency up to 20kHz, using 13.125kHz
- Pre-scaler: 24
- Counter Period: 256
- Will probably change above values in the future
- Important functions:
- HAL_TIM_PWM_Start()
- HAL_TIM_SET_COMPARE()
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04/02/2024 at 03:12 •
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- Accelerometers - Detect linear acceleration of devices along the x, y and z axis
- Gyroscopes - Detect angular velocity i.e. speed at which a device is rotating along the x, y and or z axis
- Both accelerometers and gyroscopes usually found inside an Inertial Measurement Unit (IMU)
- Magnetometer - relies on the Earth's magnetic field to determine the host's object's orientation related to the Earth's Magnetic North
- When combined with accelerometers and gyroscopes, can stabilize orientation calculations, and determine orientation w.r.t earth
- Accelerometers can detect the force of gravity by detecting the acceleration due to gravity along its different axes
- By itself it can measure pitch and roll (tilt) rotations but cannot measure yaw
- Gyroscope can measure roll, pitch and yaw by integrating its values
- However, Gyroscopes are prone to drift, which is why data is fused with accelerometer
- Since accelerometer can't measure yaw, this value will drift still
- By fusing with magnetometer, yaw drift will stop
- Some gyroscopes have 'self-correction' feature
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04/02/2024 at 02:50 •
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- Chassis: found 2 level, w-wheel robot platform -- DigiKey
- L-shaped motors with encoders -- Digikey
- Power supply: 30V 5A -- Amazon
- Bought sensor breakout boards for prototyping:
- Baromatic pressure and temparature sensor
- BMP180 no longer being manufactured, will use for prototyping, likely use DPS310 for PCB
- Ambient Light sensor
- Humidity Sensor
- ***Pressure and Humidity need to be far away from heat sources
- Ultrasonic Distance Sensors
- Communication will be done using I2C
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04/02/2024 at 02:35 •
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- PCB for Robot and the remote Controller will be 4-layer boards (Sig, GND, GND, Sig) based on some version of the STM32 uController
- Treat mobile robot as a vehicle that is sent into an area to survey the environment
- proximity sensors
- temperature, pressure, humidity
- accelerometer
- Camera?
- Remote Controller
- joysticks for moving linearly and rotationally
- Screen to display information
- Current speed
- Battery level
- Angle of turn
- Environment values (temp, pressure, humidity, etc)
- Menu buttons
- Robot Should have different "modes":
- Driver mode (control movement using controller)
- Explore mode (autonomously drive by itself)
- Data Collection (record environment, movement values such as speed and orientation)
- Sub-mode for the 2 above
- Control what data is being recorded