SLIDE 1
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Introduction
- MART Robotic Team
- How we improved the design and the
implementation of our robot
- Built from scratch, then improved
- PC based
- Software -
Software-Hardware Software-Hardware mapping mapping in a Robot - - PowerPoint PPT Presentation
Software-Hardware Software-Hardware mapping mapping in a Robot - - PowerPoint PPT Presentation
Software-Hardware Software-Hardware mapping mapping in a Robot Design in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Pavol Jusko, David Obdrzalek, Tomas Petrusek Petrusek Charles University, Prague Charles University, Prague
SLIDE 2
SLIDE 3
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Agenda
- Original design
- Hardware
- Software
- Pros and Cons
- New design
- Hardware changes
- Hardware modules
- Software changes
- Conclusion
SLIDE 4
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
First idea
- One MCU controlling all peripherals
- RS-232 –
Serial Port
- Packet oriented protocol
SLIDE 5
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Software design
- What we wanted
- universal software
- for universal robot
- with any kind of hardware
- Layered design
- Communication layer
- Hardware abstraction layer
- Smart layer
SLIDE 6
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
SLIDE 7
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Pros and Cons
- Pros
- Easy to create
- Worked well on two contests
- Eurobot
2007
- Robotour
2007
SLIDE 8
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Pros and Cons
- Cons
- “Hardcoded”
solution
- Packet handling is not maintainable
- Hard to extend
- MCU limitations
SLIDE 9
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Hardware changes
- Removed one-to-one concept
- Bus topology
- I2C high speed bus with SMBus
- USB to I2C bridge
- Independent modules on the bus
SLIDE 10
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
HBmotor board
- MCU (Atmel AVR)
- H-Bridge
- Encoders
- Switches
SLIDE 11
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Hardware comparison
SLIDE 12
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Other inputs (camera, user) Output to screen Group Brain
- Objectives
- Decisions
- Driving and
guiding the robot ...
...
Other modules
Group RangeFinder
- Moving average
- Value correction
Group Driver
- Motors
- LEDs
... Group Localizer
- Encoders
- Compass
- Calculate
position ...
...
Other modules
Group RangeFinder
- Request and
read distance Group Compass
- Heading
Group MotorLeft
- Motor 1
- Encoder 1
- Bumper 1
Group MotorRight
- Motor 2
- Encoder 2
- Bumper 2
Scheduler Files created by Linux Kernel modules for I2C devices
Device 1 Device 2
...
Device N
USB to I2C
Individual I2C modules
... 1 2 N
SLIDE 13
MART Robotic Team, http://mart.matfyz.cz, petrusek@gmail.com
Conclusion
- More universal design
- Better maintainability
- Better extendibility
- Easier changes
- More possibilities for the future
SLIDE 14
Thank you for your time Questions? Thank you for your time Questions?
Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague
http://mart.matfyz.cz, petrusek@gmail.com http://mart.matfyz.cz, petrusek@gmail.com