This page (revision-30) was last changed on 2020-07-17 09:18 by Murray Altheim

This page was created on 2019-12-23 06:53 by Murray Altheim

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Page References

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SR 04
SR04

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At line 4 removed 5 lines
David has also suggested to me a [Build Sequence|BuildSequence] which is a pretty good action plan for anyone building robots. As someone who's had a bit of trouble focusing on getting my
robot going (there's just sooo much to learn!), his advice is greatly appreciated.
See also the links at bottom of this page.
At line 16 changed one line
[{Image src='attach/SR04/sr04-oblique-36.jpg' caption='David Anderson’s SR04 Robot' width='500' align='right' class='imgFloatRight'}]
[{Image src='attach/SR04/sr04-oblique-36.jpg' caption='David Anderson’s SR04 Robot' align='right' class='imgFloatRight'}]
At line 31 changed one line
[{Image src='attach/SR04/sr04-geometry.jpg' caption='SR04 Geometry' align='right' class='imgFloatRight' }]
[{Image src='attach/SR04/sr04-front-49-thumb.jpg' link='attach/SR04/sr04-front-49.jpg' caption='SR04 Front View' align='right' class='imgFloatRight' }]
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The robot controller is a Motorola HC6811 microprocessor running in an M.I.T. 6.270 board. This card was developed for the introductory robotics course taught at M.I.T. It provides the HC6811 processor with 32k of battery-backed RAM, 32 eight-bit A/D channels, hardware 40kHz IR , 6 one-amp H-Bridge (L293) motor driver channels, an LCD readout, and some digital I/O ports for timer and output compare functions useful to robot builder-types.
The robot controller is a Motorola HC6811 microprocessor running in an M.I.T. 6.270 board. This card was developed for the introductory robotics course taught at M.I.T. It provides the HC6811 processor with 32k of battery-backed RAM, 32 eight-bit A/D channels, hardware 40khz IR , 6 one-amp H-Bridge (L293) motor driver channels, an LCD readout, and some digital I/O ports for timer and output compare functions useful to robot builder-types.
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[{Image src='attach/SR04/sr04-front-49-thumb.jpg' link='attach/SR04/sr04-front-49.jpg' caption='SR04 Front View (click to enlarge)' align='right' class='imgFloatRight' }]
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* [IMU Odometry|http://geology.heroy.smu.edu/dpa-www/robo/Encoder/imu_odo/]: Tracking the robot's position in X,Y,theta with wheel encoders and wheel encoders plus gyroscope. Section II.B details the classical odometry algorithm for a two wheel differentially driven platform:
* [The DPRG Outdoor Challenges: Navigation|http://www.geology.smu.edu/~dpa-www/robots/dprg/outdoor]: Navigating to a waypoint target using the robot's location as collected by odometry as described in the previous paper
* [Math Routines for the DPRG Outdoor Robot Challenge|http://www.geology.smu.edu/dpa-www/robo/challenge/math.html]
This page (revision-30) was last changed on 2020-07-17 09:18 by Murray AltheimTop