RoboJackets Wiki - User contributions [en]

IGVC

2008-10-01T22:46:38Z

ChrisM: /* 2009 Competition */ Add a new robot guide page

[[Image:OfficiialPic.jpg|thumb|400px|right|[[Candi Robot Guide|Candi]], our robot for the 2007 IGVC competition.]]

Welcome to the RoboJackets IGVC Wiki.

The [http://www.gatech.edu/ Georgia Tech] [http://www.robojackets.org/ RoboJackets] [http://www.igvc.org IGVC] team will compete for the fifth time in the intelligent ground vehicle competition. This year's competition will be held at Oakland University from May 30 - June 2, 2008.

==Meeting Times==

We meet in the Tin Building (Mechanical Engineering Research Building) and can be reached at 404-385-4067.

* '''IGVC Planning Day''' - Wednesday 6:00 pm to 7:00 pm
* '''IGVC Work Day''' - Saturday 1:00 pm to 5:00 pm

==Announcements==
''Please sign announcements with <tt><nowiki>-~~~~</nowiki></tt>.

* We have a new meeting time. -[[User:PaulV|PaulV]] 13:57, 1 September 2008 (EDT)

==Important Items==
=====2009 Competition=====
* [[Candiii Robot Guide|Robot Guide]]
* [[IGVC 2009 Meeting Notes|Meeting Notes]]
* [[IGVC 2009 TODO|TODO]]
* [https://lists.gatech.edu/sympa/info/robojackets-igvc IGVC Mailing List]

=====Reference=====
* [http://www.igvc.org/ Official IGVC Website]
* [[IGVC Rules]]
* [[IGVC Coding Conventions|Coding Conventions]]
* [[Resources for Learning]]
* [[IGVC Parts Sampling List]]

=====History=====
* [[Competitions]]
* [[Misc. IGVC Archives]] - needs to be moved somewhere else

[[Category: IGVC]]

Data Acquisition

2008-02-10T22:07:45Z

ChrisM:

==Mission==
Abstracting hardware sensors into quality data that can be accessed over a software interface

==Sensors==
===[[GPS]]===
====Hardware====
[[Image:Cf-md.jpg|right|thumb|A Hockey Puck]]
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the:
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200)

*Updates every 200ms
*Accurate to at least 3.5m, expected accuracy of ~1m
*12 parallel satellite tracking, [http://en.wikipedia.org/wiki/Wide_Area_Augmentation_System WAAS] enabled
*Does not require a subscription to any service
*Voltage Requirement: 4.0-5.5V

====Software====
The GPS is attached to COM2 (RS232, /dev/ttyS1, 19200 8N1) on the TS-7800.
The GPS outputs a rising edge signal to allow precise time keeping,
gpsd interfaces with ntpd and reads the DCD line on COM2 to provide time information via network interface.

====Status====
gpsd trys to automatically determine the baud rate for serial communication,
needs to be recompiled so that the baud rate is fixed or a command line option.
ntpd should be trivial to have running as soon as gpsd is working reliably.
The default player NMEA driver may need to be modified to make use of the 5Hz update rate,
and to be aware of the precision time signal.
 

===Gyro and Accelerometer===
[[Image:Main-IMU-v3-0.jpg|thumb|right|150px|25¢]]
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.

*[http://www.sparkfun.com/commerce/product_info.php?products_id=741 IMU 5 Degrees of Freedom]
*Voltage Requirement: 3.3V
 

===Compass===
[[Image:Main-PNI-V2Xe.jpg|thumb|Now in Green!]]
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 PNI Vector 2Xe Compass Module]
*SPI Interface
*Accuracy: Max: 2° RMS; Typical: 1° RMS
*Power Requirement: 2mA @ 3.3V
 

===Wheel Encoders===
Current Wheel Encoders: [http://www.photocraftencoders.com/PDF_files/SR12%20SPEC.PDF SR12 Absolute Shaft Encoder]

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").
 

===Laser Range Finder===
Current LIDAR: [http://www.acroname.com/robotics/parts/R283-HOKUYO-LASER1.html Hokuyo URG-04LX]
*Indoor model, not suitable to our needs

Next Semester LIDAR: SICK LMS
*Currently hoping to borrow one of these units from the Urban DARPA project
*Outdoor model, used by all serious competitors
 

===Camera===
Need to buy:
*AVT GUPPY F-036 COLOR CCD CAMERA [http://www.1stvision.com/cameras/AVT/avtg036.htm LINK]
* [http://www.goelectronic.com/Merchant2/merchant.mvc?Screen=PROD&Store_Code=GE&Product_Code=TAMRON+23FM65&Category_Code= wide angle 1/2" c mount lens]

File:ChrisMcClanahan.jpg

2008-01-22T21:01:00Z

ChrisM:

User:ChrisM

2008-01-20T19:33:57Z

ChrisM: created basic user page

[[Image:ChrisMcClanahan.jpg|thumb|left]]

'''Name:''' Chris McClanahan

'''E-mail:''' [mailto:c.mcclanahan@gatech.edu c.mcclanahan@gatech.edu]

'''Phone:''' 404-545-3571 (Cell)

'''Major:''' Computer Science

'''Position:''' [[IGVC]], Vision Specialist
 
__NOTOC__