Difference between revisions of "Candi"

From RoboJackets Wiki
Jump to navigation Jump to search
(Electrical Issues & Improvements)
(Electrical Issues & Improvements)
Line 88: Line 88:
 
*****[http://downloads.openwrt.org/whiterussian/packages/ Official Packages]
 
*****[http://downloads.openwrt.org/whiterussian/packages/ Official Packages]
 
*****[http://wiki.openwrt.org/OpenWrtDocs/Packages#head-8acb9bfe9c2fea25b98492919a153847e6a985e3 3rd Party Packages]
 
*****[http://wiki.openwrt.org/OpenWrtDocs/Packages#head-8acb9bfe9c2fea25b98492919a153847e6a985e3 3rd Party Packages]
*[[Monitor]]
+
*Monitor
 
*[[Environmental Data Acquisition System]]
 
*[[Environmental Data Acquisition System]]
 
*[[Positioning System]]
 
*[[Positioning System]]

Revision as of 16:15, 30 June 2019

Candiii
[[]]
Year Of Creation 2006-2007
Versions
Current Version deprecated
Update Year 2007-2008, 2008-2009
Information and Statistics
Farthest Distance 235 feet
Fastest Time n/a
Highest Placement AutoNav 6th
Highest Placement Design 9th

Competitions

IGVC 2007

  • Bot Version: Candi
  • Results
    • Distance: 123 feet
    • Design Competition Placement: 9th (743 / 1100 points)
    • AutoNav Competition Placement: 7th

IGVC 2008

  • Bot Version: Candii
  • Results:
    • Distance: 185 feet
    • Design Competition Placement: 18th (778.33 / 1100 points)
    • AutoNav Competition Placement: 9th

IGVC 2009

  • Bot Version: Candiii
  • Results:
    • Distance: 235 feet
    • Design Competition Placement: 21st (476.67 / 1100 points)
    • AutoNav Competition Placement: 6th

Versions

Candi (V1.0)

At Competition

Mechanical Issues & Improvements

Current design of Candi Frame


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

A map of Candi's systems.

Software Issues & Improvements

PlayerStage

Candi's process diagram.

Code from Graduate Students - Restricted access (must be logged in to access)

Candii (V2.0)

At Competition

Mechanical Issues & Improvements

Electrical Issues & Improvements

Diagram showing the flow of data between the various robot controller components

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

Additional Information

Team Members

Gallery