https://wiki.robojackets.org/api.php?action=feedcontributions&feedformat=atom&user=AlexTheGreatRoboJackets Wiki - User contributions [en]2026-05-19T22:44:10ZUser contributionsMediaWiki 1.32.0https://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5804Data Acquisition2007-11-05T02:18:24Z<p>AlexTheGreat: </p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
====Hardware====<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
====Software====<br />
The GPS is attached to COM2 (RS232, /dev/ttyS1, 19200 8N1) on the TS-7800.<br />
The GPS outputs a rising edge signal to allow precise time keeping,<br />
gpsd interfaces with ntpd and reads the DCD line on COM2 to provide time information via network interface.<br />
<br />
====Status====<br />
gpsd trys to automatically determine the baud rate for serial communication,<br />
needs to be recompiled so that the baud rate is fixed or a command line option.<br />
ntpd should be trivial to have running as soon as gpsd is working reliably.<br />
The default player NMEA driver may need to be modified to make use of the 5Hz update rate,<br />
and to be aware of the precision time signal.<br />
<br style="clear:both" /><br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25&cent;]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
[[Image:Main-PNI-V2Xe.jpg|thumb|Now in Green!]]<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 PNI Vector 2Xe Compass Module]<br />
*SPI Interface<br />
*Accuracy: Max: 2&deg; RMS; Typical: 1&deg; RMS<br />
*Power Requirement: 2mA @ 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoder to the back of the motor instead of near the wheel. There is a recessed shaft (under a cover) at the back of the motor that is hexagonal (~0.79" diameter x ~0.17" long). As for mounting, there are four screw holes (size 8-32) equally spaced around the outside of the motor (~3.5" apart longways) and two recessed screw holes (size 8-32) inline with the outer holes (~2.7" apart longways). The inner holes don't have very much clearance to the motor wall near the outside (~0.15").<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5803Data Acquisition2007-11-05T02:13:36Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
=Hardware:=<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
=Software:=<br />
The GPS is attached to COM2 (RS232, /dev/ttyS1, 19200 8N1) on the TS-7800.<br />
The GPS outputs a rising edge signal to allow precise time keeping,<br />
gpsd interfaces with ntpd and reads the DCD line on COM2 to provide time information via network interface.<br />
<br style="clear:both" /><br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25&cent;]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
[[Image:Main-PNI-V2Xe.jpg|thumb|Now in Green!]]<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 PNI Vector 2Xe Compass Module]<br />
*SPI Interface<br />
*Accuracy: Max: 2&deg; RMS; Typical: 1&deg; RMS<br />
*Power Requirement: 2mA @ 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoder to the back of the motor instead of near the wheel. There is a recessed shaft (under a cover) at the back of the motor that is hexagonal (~0.79" diameter x ~0.17" long). As for mounting, there are four screw holes (size 8-32) equally spaced around the outside of the motor (~3.5" apart longways) and two recessed screw holes (size 8-32) inline with the outer holes (~2.7" apart longways). The inner holes don't have very much clearance to the motor wall near the outside (~0.15").<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5802Data Acquisition2007-11-05T02:12:49Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
Hardware:<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
Software:<br />
The GPS is attached to COM2 (RS232, /dev/ttyS1, 19200 8N1) on the TS-7800.<br />
The GPS outputs a rising edge signal to allow precise time keeping,<br />
gpsd interfaces with ntpd and reads the DCD line on COM2 to provide time information via network interface.<br />
<br style="clear:both" /><br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25&cent;]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
[[Image:Main-PNI-V2Xe.jpg|thumb|Now in Green!]]<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 PNI Vector 2Xe Compass Module]<br />
*SPI Interface<br />
*Accuracy: Max: 2&deg; RMS; Typical: 1&deg; RMS<br />
*Power Requirement: 2mA @ 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoder to the back of the motor instead of near the wheel. There is a recessed shaft (under a cover) at the back of the motor that is hexagonal (~0.79" diameter x ~0.17" long). As for mounting, there are four screw holes (size 8-32) equally spaced around the outside of the motor (~3.5" apart longways) and two recessed screw holes (size 8-32) inline with the outer holes (~2.7" apart longways). The inner holes don't have very much clearance to the motor wall near the outside (~0.15").<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5801Data Acquisition2007-11-05T02:09:30Z<p>AlexTheGreat: </p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
<br />
The GPS is attached to COM2 (RS232 mode) on the TS-7800.<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25&cent;]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
[[Image:Main-PNI-V2Xe.jpg|thumb|Now in Green!]]<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 PNI Vector 2Xe Compass Module]<br />
*SPI Interface<br />
*Accuracy: Max: 2&deg; RMS; Typical: 1&deg; RMS<br />
*Power Requirement: 2mA @ 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoder to the back of the motor instead of near the wheel. There is a recessed shaft (under a cover) at the back of the motor that is hexagonal (~0.79" diameter x ~0.17" long). As for mounting, there are four screw holes (size 8-32) equally spaced around the outside of the motor (~3.5" apart longways) and two recessed screw holes (size 8-32) inline with the outer holes (~2.7" apart longways). The inner holes don't have very much clearance to the motor wall near the outside (~0.15").<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Candii_Robot_Guide&diff=5800Candii Robot Guide2007-11-05T02:00:25Z<p>AlexTheGreat: /* Devices */</p>
<hr />
<div>[[Image:GloriousCandi.jpg|thumb|right|An example of one hot robot.]]<br />
<br />
This Candii Robot Guide extends the [[Candi Robot Guide]]. Although Candi was designed for the 2007 IGVC, she will be used once again in 2008. However, she will have a sparkling new personality (electronics and software), so she is now Candii.<br />
<br />
__TOC__<br />
<br clear="all" /><br />
<br />
= Devices =<br />
<br />
Below is a diagram showing the flow of data between the various robot controller components.<br />
<br />
'''Needs correction: GPS communicates over COM2(/dev/ttyS1)'''<br />
'''Also, time sever (NTP) runs on the TS board reading the DCD line of COM2<br />
[[Image:Candii Component Diagram.png|left]]<br />
<br clear="all" /><br />
<br />
= Software =<br />
Our code for this year is stored in [[Subversion]] and is accessible at [https://svn.robojackets.org/igvc/2008 https://svn.robojackets.org/igvc/2008]. The laptop codebase will be written in C++.<br />
<br />
Contributers to the laptop codebase should ensure that they are following [[IGVC Coding Conventions|our coding conventions]].<br />
<br />
=== Player/Stage ===<br />
<br />
We are using the [[PlayerStage|Player/Stage]] robot server as the communication layer between our device drivers and our processing/controlling software modules.<br />
<br />
As we've used the Player server, occasionally we've needed to patch it to better suit our needs. Below are our custom patches:<br />
<br />
* [[Player Patch - WaitForNewImage]]<br />
<br />
= [[IGVC Divisions of Responsibility]] =<br />
These links will go to pages detailing each part of the design. Division leaders should start filling these in.<br />
=== General Services ===<br />
*[[Subversion|Version Control]]<br />
*[[IGVC Coding Conventions|Coding Conventions]]<br />
<br />
=== Hardware-Centric Divisions ===<br />
*[[Candii Power and Motor Drive Systems | Power and Motor Drive Systems]]<br />
*[[Data Acquisition]]<br />
*[[Integration and Telemetry Systems]]<br />
<br />
=== Intelligence-Centric Divisions ===<br />
*[[Environment Data Processing Systems]]<br />
*[[Data Filtering Systems]]<br />
*[[Path Planning Systems]]</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Candii_Robot_Guide&diff=5799Candii Robot Guide2007-11-05T01:58:56Z<p>AlexTheGreat: /* Devices */</p>
<hr />
<div>[[Image:GloriousCandi.jpg|thumb|right|An example of one hot robot.]]<br />
<br />
This Candii Robot Guide extends the [[Candi Robot Guide]]. Although Candi was designed for the 2007 IGVC, she will be used once again in 2008. However, she will have a sparkling new personality (electronics and software), so she is now Candii.<br />
<br />
__TOC__<br />
<br clear="all" /><br />
<br />
= Devices =<br />
<br />
Below is a diagram showing the flow of data between the various robot controller components.<br />
<br />
[[Image:Candii Component Diagram.png|left]]<br />
'''Needs correction: GPS communicates over COM2(/dev/ttyS1)'''<br />
<br clear="all" /><br />
<br />
= Software =<br />
Our code for this year is stored in [[Subversion]] and is accessible at [https://svn.robojackets.org/igvc/2008 https://svn.robojackets.org/igvc/2008]. The laptop codebase will be written in C++.<br />
<br />
Contributers to the laptop codebase should ensure that they are following [[IGVC Coding Conventions|our coding conventions]].<br />
<br />
=== Player/Stage ===<br />
<br />
We are using the [[PlayerStage|Player/Stage]] robot server as the communication layer between our device drivers and our processing/controlling software modules.<br />
<br />
As we've used the Player server, occasionally we've needed to patch it to better suit our needs. Below are our custom patches:<br />
<br />
* [[Player Patch - WaitForNewImage]]<br />
<br />
= [[IGVC Divisions of Responsibility]] =<br />
These links will go to pages detailing each part of the design. Division leaders should start filling these in.<br />
=== General Services ===<br />
*[[Subversion|Version Control]]<br />
*[[IGVC Coding Conventions|Coding Conventions]]<br />
<br />
=== Hardware-Centric Divisions ===<br />
*[[Candii Power and Motor Drive Systems | Power and Motor Drive Systems]]<br />
*[[Data Acquisition]]<br />
*[[Integration and Telemetry Systems]]<br />
<br />
=== Intelligence-Centric Divisions ===<br />
*[[Environment Data Processing Systems]]<br />
*[[Data Filtering Systems]]<br />
*[[Path Planning Systems]]</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5288Data Acquisition2007-09-24T20:05:13Z<p>AlexTheGreat: /* Compass */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25&cent;]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
[[Image:Main-PNI-V2Xe.jpg|thumb|Now in Green!]]<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 PNI Vector 2Xe Compass Module]<br />
*SPI Interface<br />
*Accuracy: Max: 2&deg; RMS; Typical: 1&deg; RMS<br />
*Power Requirement: 2mA @ 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5287Data Acquisition2007-09-24T19:54:05Z<p>AlexTheGreat: /* Compass */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25&cent;]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
[[Image:Main-PNI-V2Xe.jpg|thumb|Now in Green!]]<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 PNI Vector 2Xe Compass Module]<br />
*SPI Interface<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=File:Main-PNI-V2Xe.jpg&diff=5286File:Main-PNI-V2Xe.jpg2007-09-24T19:52:02Z<p>AlexTheGreat: Sparkfun Vector 2Xe</p>
<hr />
<div>Sparkfun Vector 2Xe</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5285Data Acquisition2007-09-24T19:47:30Z<p>AlexTheGreat: /* Gyro and Accelerometer */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25&cent;]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5284Data Acquisition2007-09-24T19:46:31Z<p>AlexTheGreat: /* Gyro and Accelerometer */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|5 Degrees of Tiny Freedom]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5283Data Acquisition2007-09-24T19:45:31Z<p>AlexTheGreat: /* Gyro and Accelerometer */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|50px|5 Degrees of Tiny Freedom]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5282Data Acquisition2007-09-24T19:45:13Z<p>AlexTheGreat: /* Gyro and Accelerometer */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|30px|5 Degrees of Tiny Freedom]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5281Data Acquisition2007-09-24T19:44:45Z<p>AlexTheGreat: /* Sensors */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|5 Degrees of Tiny Freedom]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5280Data Acquisition2007-09-24T19:44:13Z<p>AlexTheGreat: /* Sensors */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
<br />
===Gyro and Accelerometer===[[Image:Main-IMU-v3-0.jpg|thumb|right|5 Degrees of Tiny Freedom]]<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br style="clear:both" /><br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors<br />
<br style="clear:both" /></div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5279Data Acquisition2007-09-24T19:43:07Z<p>AlexTheGreat: /* Sensors */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]]<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br style="clear:both" /><br />
<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|5 Degrees of Tiny Freedom]]<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br style="clear:both" /><br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5278Data Acquisition2007-09-24T19:38:01Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]]<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
[[Image:Main-IMU-v3-0.jpg|thumb|right|5 Degrees of Tiny Freedom]]<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5277Data Acquisition2007-09-24T19:37:37Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]]<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
[[Image:Main-IMU-v3-0.jpg|thumb|center|5 Degrees of Tiny Freedom]]<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5276Data Acquisition2007-09-24T19:36:51Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]]<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
[[Image:Main-IMU-v3-0.jpg|thumb|5 Degrees of Tiny Freedom]]<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5275Data Acquisition2007-09-24T19:36:23Z<p>AlexTheGreat: /* Gyro and Accelerometer */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
[[Image:Main-IMU-v3-0.jpg|thumb|5 Degrees of Tiny Freedom]]<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=File:Main-IMU-v3-0.jpg&diff=5274File:Main-IMU-v3-0.jpg2007-09-24T19:34:49Z<p>AlexTheGreat: IMU 5 Degrees of Freedom</p>
<hr />
<div>IMU 5 Degrees of Freedom</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5273Data Acquisition2007-09-24T19:31:39Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5272Data Acquisition2007-09-24T19:29:12Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
[[Image:Cf-md.jpg|right|thumb]]<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=File:Cf-md.jpg&diff=5271File:Cf-md.jpg2007-09-24T19:27:54Z<p>AlexTheGreat: Garmin GPS 18 5Hz</p>
<hr />
<div>Garmin GPS 18 5Hz</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5164Data Acquisition2007-09-19T16:19:28Z<p>AlexTheGreat: </p>
<hr />
<div>==Mission==<br />
Abstracting hardware sensors into quality data that can be accessed over a software interface<br />
<br />
==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
<br />
===Laser Range Finder===<br />
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]<br />
*Indoor model, not suitable to our needs<br />
<br />
Next Semester LIDAR: SICK LMS<br />
*Currently hoping to borrow one of these units from the Urban DARPA project<br />
*Outdoor model, used by all serious competitors</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5153Data Acquisition2007-09-19T03:30:03Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
*Voltage Requirement: 4.0-5.5V<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5152Data Acquisition2007-09-19T03:27:39Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
*Updates every 200ms<br />
*Accurate to at least 3.5m, expected accuracy of ~1m<br />
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled<br />
*Does not require a subscription to any service<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5151Data Acquisition2007-09-19T03:24:39Z<p>AlexTheGreat: /* Gyro and Accelerometer */</p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
It gives us our GPS position every 200ms with an accuracy of at least 3.5m,<br><br />
and with an expected accuracy of within a meter using [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS].<br><br />
It does not require a subscription to any service.<br />
<br />
===Gyro and Accelerometer===<br />
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5150Data Acquisition2007-09-19T03:23:54Z<p>AlexTheGreat: </p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
It gives us our GPS position every 200ms with an accuracy of at least 3.5m,<br><br />
and with an expected accuracy of within a meter using [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS].<br><br />
It does not require a subscription to any service.<br />
<br />
===Gyro and Accelerometer===<br />
<br />
The gyro and acclerometer are a combo system created by SparkFun. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.<br />
<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Compass===<br />
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board]<br />
*Voltage Requirement: 3.3V<br />
<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5149Data Acquisition2007-09-19T03:10:52Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
It gives us our GPS position every 200ms with an accuracy of at least 3.5m,<br><br />
and with an expected accuracy of within a meter using [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS].<br><br />
It does not require a subscription to any service.<br />
<br />
===Compass===<br />
===Accelerometer===<br />
===Gyro===<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5148Data Acquisition2007-09-19T03:10:21Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
It gives us our GPS position every 200ms with an accuracy of at least 3.5m,<br><br />
and with an expected accuracy of within a meter using [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS].<br><br />
It does not require a subscription to any service.<br />
<br />
===Compass===<br />
===Accelerometer===<br />
===Gyro===<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5147Data Acquisition2007-09-19T03:09:48Z<p>AlexTheGreat: /* GPS */</p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:<br />
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)<br />
<br />
It gives us our GPS position every 200ms with an accuracy of at least 3.5m,<br><br />
and with an expected accuracy of within a meter using [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS].<br><br />
It does not require a subscription to any service.<br />
<br />
===Compass===<br />
===Accelerometer===<br />
===Gyro===<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreathttps://wiki.robojackets.org/index.php?title=Data_Acquisition&diff=5146Data Acquisition2007-09-19T02:59:56Z<p>AlexTheGreat: /* Sensors */</p>
<hr />
<div>==Sensors==<br />
===[[GPS]]===<br />
===Compass===<br />
===Accelerometer===<br />
===Gyro===<br />
===Wheel Encoders===<br />
===Cameras===<br />
===Laser Range Finder===</div>AlexTheGreat