Difference between revisions of "Candi"
m (→Electrical Issues & Improvements) |
(→Mechanical Issues & Improvements) |
||
| Line 64: | Line 64: | ||
=== Mechanical Issues & Improvements === | === Mechanical Issues & Improvements === | ||
| − | [[Image:Candi.jpg| | + | [[Image:Candi.jpg| 400px | Current design of Candi]] |
| − | [[Image:Candiframe.JPG| | + | [[Image:Candiframe.JPG| 400 px | Frame]] |
| Line 72: | Line 72: | ||
New body will have front suspension and a giant ball caster in the rear. | New body will have front suspension and a giant ball caster in the rear. | ||
| − | + | === Electrical Issues & Improvements === | |
[[Image:CandiElectronicsMap.png| 400px | A map of Candi's systems.]] | [[Image:CandiElectronicsMap.png| 400px | A map of Candi's systems.]] | ||
| Line 84: | Line 84: | ||
*[[Emergency Stop System]] | *[[Emergency Stop System]] | ||
| − | + | === Software Issues & Improvements === | |
| + | [[PlayerStage]] | ||
| + | [[Image:CandiProcess.png| 400px | Candi's process diagram.]] | ||
| + | [[Code from Graduate Students]] - Restricted access (must be logged in to access) | ||
== Candii (V2.0) == | == Candii (V2.0) == | ||
Revision as of 11:32, 27 June 2019
| Candiii | |
|---|---|
| [[]] | |
| Year Of Creation | 2006-2007 |
| Versions | |
| Current Version | deprecated |
| Update Year | 2007-2008, 2008-2009 |
| Information and Statistics | |
| Farthest Distance | |
| Fastest Time | |
| Highest Placement AutoNav | |
| Highest Placement Design | |
Contents
Competitions
IGVC 2007
- Bot Version: Candi
- Results
- Distance:
- Design Competition Placement:
- AutoNav Competition Placement:
IGVC 2008
- Bot Version: Candii
- Results:
- Time:
- Design Competition Placement:
- AutoNav Competition Placement:
IGVC 2009
- Bot Version: Candiii
- Results:
- Time:
- Design Competition Placement:
- AutoNav Competition Placement:
Versions
Candi (V1.0)
At Competition
Mechanical Issues & Improvements
Old BattleBots motors.
A new frame is currently being fabricated from 1" square tubing.
New body will have front suspension and a giant ball caster in the rear.
Electrical Issues & Improvements
- Router
- Monitor
- Environmental Data Acquisition System
- Positioning System
- Mapping and Path-finding System
- Power System
- Motor System
- Emergency Stop System
Software Issues & Improvements
PlayerStage
Code from Graduate Students - Restricted access (must be logged in to access)
Candii (V2.0)
At Competition
Mechanical Issues & Improvements
Electrical Issues & Improvements
Needs correction:
- GPS communicates over COM2(/dev/ttyS1)
- Time server (NTP) runs on the TS board reading the Data Carrier Detect (DCD) line of COM2
- Add: TS Board is running an NTP server to define robot time
- Software modules should be included
- Rename "Arduino" -> "Motor Arduino"
- Add "Power Arduino"
- Fix: Wheel Encoders will be communicating over SPI
Software Issues & Improvements
Our code for this year is stored in Subversion and is accessible at https://svn.robojackets.org/igvc/2008. The laptop codebase will be written in C++.
Contributers to the laptop codebase should ensure that they are following our coding conventions.
Player/Stage:
We are using the Player/Stage robot server as the communication layer between our device drivers and our processing/controlling software modules.
As we've used the Player server, occasionally we've needed to patch it to better suit our needs. Below are our custom patches:
Candiii (V3.0)
At Competition
Mechanical Issues & Improvements
Candiii's body has remained essentially the same for the last 2 years.
Electrical Issues & Improvements
Candiii has two isolated power systems: one for the motors and one for the other electronics.
Other Electronics:
- Camera
- LIDAR
- IMU
- GPS
- Compass
- Motor encoders
- Motor currents
Software Issues & Improvements
Localization and Mapping:
Controls:
- PI-Lead control(?)
- Joystick
