Talk:Cheesoid

• interact with the fridge for cheese status
• interact with the petrol pump for petrol status

• it needs to know where they are to go and talk to them
• the status needs to be stored and needs to be set - Xino at each?
• it need to be able to read the status from the fridge and the petrol pump - what sort of interface? IR remote control?

Petrol status

• just a number!

Cheese status

• many cheese types - each with use by date
• Primula status is "in tube"

Motor skills

• get motors from post office - DONE
• simple test circuits with 12V battery and driver ICs
  • Texas Instruments L293NE or Texas Instruments SN754410 (almost equivalent)
  • useful searches L293NE or SN754410 PWM arduino
  • http://itp.nyu.edu/physcomp/Labs/DCMotorControl
  • http://www.ti.com/product/sn754410
  • datasheet: http://www.sparkfun.com/datasheets/IC/SN754410.pdf
  • PWM for speed control - a two motor library perhaps with feedback loop via rotary encoder?
    • using PWM on 2 motors http://letsmakerobots.com/node/2074
  • Adafruit motor shield is a good example:
    • http://www.adafruit.com/products/81
    • http://www.ladyada.net/images/mshield/mshieldv1-schem.png
    • My own custom motor shield for 2 DC motors
• mounting the motors and designing the axle couplings
• building the wheels : nearly done - some tweaking and securing to do
• building the plastic chassis - what's that display board plastic material called?
  • milling the plastic
  • strong enough to carry those batteries? !!!!
  • aluminium cross bracing?
• battery mount - where?
  • perhaps move to 2x 6V - keep it flexible
• battery regulation: http://letsmakerobots.com/node/3880

OK, motors tested with a two motor circuit...

Motor Test sketch (non-PWM)

int motor_left[] = {
  2, 3};
int motor_right[] = {
  7, 8};
const int ledPin = 13;      // LED 
const int switchPin = 10;    // switch input
const int enablePin = 9;    // H-bridge enable pin


// ————————————————————————— Setup
void setup() {
  Serial.begin(9600);
  pinMode(ledPin, OUTPUT);
  pinMode(switchPin, INPUT); 
  pinMode(enablePin, OUTPUT);


  // Setup motors
  int i;
  for(i = 0; i < 2; i++){
    pinMode(motor_left[i], OUTPUT);
    pinMode(motor_right[i], OUTPUT);
  }
  check_enable();
  // blink the LED 3 times. This should happen only once.
  // if you see the LED blink three times, it means that the module
  // reset itself,. probably because the motor caused a brownout
  // or a short.
  blink(ledPin, 3, 100);

}


void check_enable(){
  digitalWrite(enablePin, digitalRead(switchPin));
}
// ————————————————————————— Loop
void loop() {

  drive_forward();
  delay(1000);
  motor_stop();
  Serial.println("1");

  drive_backward();
  delay(1000);
  motor_stop();
  Serial.println("2");

  turn_left();
  delay(1000);
  motor_stop();
  Serial.println("3");

  turn_right();
  delay(1000);
  motor_stop();
  Serial.println("4");

  motor_stop();
  delay(1000);
  motor_stop();
  Serial.println("5");
}

// ————————————————————————— Drive

void motor_stop(){
  check_enable();
  digitalWrite(motor_left[0], LOW);
  digitalWrite(motor_left[1], LOW);

  digitalWrite(motor_right[0], LOW);
  digitalWrite(motor_right[1], LOW);
  delay(25);
}

void drive_forward(){
  check_enable();
  digitalWrite(motor_left[0], HIGH);
  digitalWrite(motor_left[1], LOW);

  digitalWrite(motor_right[0], HIGH);
  digitalWrite(motor_right[1], LOW);
}

void drive_backward(){
  check_enable();
  digitalWrite(motor_left[0], LOW);
  digitalWrite(motor_left[1], HIGH);

  digitalWrite(motor_right[0], LOW);
  digitalWrite(motor_right[1], HIGH);
}

void turn_left(){
  check_enable();
  digitalWrite(motor_left[0], LOW);
  digitalWrite(motor_left[1], HIGH);

  digitalWrite(motor_right[0], HIGH);
  digitalWrite(motor_right[1], LOW);
}

void turn_right(){
  check_enable();
  digitalWrite(motor_left[0], HIGH);
  digitalWrite(motor_left[1], LOW);

  digitalWrite(motor_right[0], LOW);
  digitalWrite(motor_right[1], HIGH);
}

/*
    blinks an LED
 */
void blink(int whatPin, int howManyTimes, int milliSecs) {
  int i = 0;
  for ( i = 0; i < howManyTimes; i++) {
    digitalWrite(whatPin, HIGH);
    delay(milliSecs/2);
    digitalWrite(whatPin, LOW);
    delay(milliSecs/2);
  }
}

This sketch is a munge of http://letsmakerobots.com/node/2074 and http://itp.nyu.edu/physcomp/Labs/DCMotorControl

I want to have motor enable based on digital logic as this will be controlled by bumper and cliff sensors

Range Sensors

• SRF05 by Devantech Ltd
  • http://robot-electronics.co.uk/acatalog/Ultrasonic_Rangers.html
  • http://www.robot-electronics.co.uk/htm/srf05tech.htm

Xino upgrades

• power screw terminal blocks: http://uk.rs-online.com/web/p/products/4258720/
• smt caps for smt regulators!

PIN usage on main Xino

• PWM capable pins: 3,5,6,9,10,11
• Dig out x2 for eyes
• Dig in for mode switch
• dig out for beacon on pin 13
• motor enable dig out
• PWM x4 for motor logic control - can it be reduced?
• bumper and cliff inputs - use serial mux?
• others!

PIN usage summary table...

TODO

goal/job list

Take to HS:

• boxfile, eeepc, station clock antenna, wheel assemblies,
• big battery station? nah,
• backup multimeter and hook probes - label it and solder plugs onto probe wires

DO: -

• camp in blue room with all gear
• fabricate chassis
  • 40mm al angle motor mounts
  • al cross support plates
  • wheel assemblies
  • test charged 12V battery and examine the available 6V and 12V batteries

• Look into voice commands using sphinx
  • http://cmusphinx.sourceforge.net/wiki/tutorialconcepts
  • try the sphinx packages

p    --\ sphinx2-bin                                                                                                                    <none>     0.6-2.1
  Description: speech recognition utilities
    Sphinx 2 is a real-time, speaker-independent speech recognition system.

    This package contains examples and utilities that use Sphinx. It also includes a sample language model that is capable of recognizing simple commands
    like "go forward ten meters" and other commands one might use to tell a robot where to move.
  Priority: optional
  Section: universe/sound
  Maintainer: Ubuntu MOTU Developers <ubuntu-motu@lists.ubuntu.com>
  Compressed size: 129k
  Uncompressed size: 500k
  Source Package: sphinx2
  --\ Depends (3)
    --- libc6 (>= 2.4)
    --- libsphinx2g0 (>= 0.6) (UNSATISFIED)
    --- sphinx2-hmm-6k (UNSATISFIED)
  --\ Packages which depend on sphinx2-bin (0)
  --\ Versions of sphinx2-bin (1)
p    0.6-2.1

• pizza box mods
  • power port extension
  • USB extension - USB hub
  • PWR switch extension - LED in "Micro", PWR switch? Monostable/bistable startup flasher circuit for "Micro" switch

• cylinder case mods
  • speakers in mouth plate/grill
  • side mount for Xino and boards
  • top for beacon - keep on side for now
  • mounting of cylinder on pizza box

• Xino/UNO main sketch code
  • motor drive code and motor drive commands from PC
  • speech commands from

• PC app code
  • console read and process
  • speech module
    • speech commands from stdin
    • speech thread - busy flag and job queue management
  • motor module
    • motor control input from STDIN
  • sensor module
  • camera module - look at Java interaction with V4L or whatever is in use
  • mic input - and speech recognition
  • GUI interface port and GUI app

--Michael Erskine 11:38, 28 September 2011 (EST)