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: -

- 40mm al angle motor mounts
- 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)

Rotary Encoders for wheels

an easily available "obsolete" ball type PS/2 mouse
Microsoft "Mouse Port Compatible Mouse 2.0A"
using the serial output from the mouse circuitry
encoder usage in daylight
mounting encoder wheel to axle

Talk:Cheesoid

goal/job list

Rotary Encoders for wheels

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