Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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36 Chapter 3. Mechanical Construction ized that the boards were configured to work at 8 V. This forced us to make the decision of buying new batteries or new control circuits. Evaluating the prices, we ended up buying new control circuits that are rated for 5 V. MC33887 motor driver integrated circuit is an easy solution to connect a brushed DC motor running from 5 to 28 V and drawing up to 5 A (peak). The board incorporates all the components of the typical application, plus motor-direction LEDs and a FET for reverse battery protection. A microcontroller or other control circuit is necessary to turn the H-Bridge on and off. The power connections are made on one end of the board, and the control connections (5V logic) are made on the other end. The enable (EN) pin does not have a pull-up resistor, so it be must pulled to +5 V in order to wake the chip from sleep mode. The fault-status (FS, active low) output pin may be left disconnected if it is not needed to monitor the fault conditions of the motor driver; if it is connected, it must use an external pull-up resistor to pull the line high. IN1 and IN2 control the direction of the motor, and D2 can be PWMed to control the motor’s speed. D2 is the ”not disabled“ line: it disables the motor driver when it is driven low (another way to think of it is that, it enables the motor driver when driven high). Whenever D1 or D2 disable the motor driver, the FS pin will be driven low. The feedback (FB) pin outputs a voltage proportional to the H-Bridge high-side current, providing approximately 0.59 volts per amp of output current. Voltage Divider and Voltage Regulator Circuit Batteries are never at a constant voltage. For our case 7.2 V battery will be at around 8.4 V when fully charged, and can drop to 5 V when drained. In order to power microcontroller (and especially sensors) which are sensitive to the input voltage, and rated to 5 V, we need a voltage regulator circuit to output always 5 V. The design of the circuit that will be used in voltage regulation merged with the voltage divider circuit that will be used for battery charge monitor shown in Figure 3.16. To operate voltage divider circuit, the following equation is used to determine the appropriate resistor values. Vi Vo = ∗R2 R1 +R2 Vi is the input voltage, R1 and R2 are the resistors, and Vo is the output voltage.
3.7. Hardware Architecture 37 With the appropriate selection of resistor R1 and R2 based on the above information, Vo will be suitable for the analog port on microcontroller. The divider is used to input to the microcontroller a signal proportional to the voltage provided by the battery, so to check its charge. Note that a fully charged battery can often be up to 20% more of its rated value and a fully discharged battery 20% below its rated value. For example, a 7.2 V battery fully charged can be 8.4 V, and fully discharged 5 V. The voltage divider circuit allows to read the battery level from the microcontroller pinsdirectly, that will be used in order to monitor battery charging level changes. Figure 3.16: The schematics of voltage divider and voltage regulator circuit From the Figure 3.16, the pin V out is used in order to monitor the battery life, which is placed on the left side of schematics. The divided voltage is read from the analog input of the microcontroller. The voltage regulator circuit which is placed on the right part of the schematics is used to power the STLCam board with 5 V through the USB port. It can be also used in order to make the connection with the PC, to transmit some data, which we use for debug purposes.
Page 1: POLITECNICO DI MILANO Corso di Laur
Page 5: To my family...
Page 9: Summary Aim of this project is the
Page 13 and 14: Contents Sommario I Summary III Tha
Page 15 and 16: List of Figures 2.1 The standard wh
Page 17 and 18: Chapter 1 Introduction 1.1 Goals Th
Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
Page 21 and 22: Chapter 2 State of the Art Advances
Page 23 and 24: 2.1. Locomotion 7 provides low resi
Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
Page 31 and 32: 2.4. Games and Interaction 15 a 2.5
Page 33 and 34: 2.4. Games and Interaction 17 We in
Page 35 and 36: 2.4. Games and Interaction 19 lot o
Page 37 and 38: Chapter 3 Mechanical Construction W
Page 39 and 40: 3.2. Motors 23 The initial design o
Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49 and 50: 3.7. Hardware Architecture 33 In sh
Page 51: 3.7. Hardware Architecture 35 The s
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
Page 69 and 70: 5.1. Camera Calibration 53 the prin
Page 71 and 72: 5.1. Camera Calibration 55 Figure 5
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
Page 83 and 84: Chapter 6 Game The robot will be us
Page 85 and 86: • Initialize sensors • Initiali
Page 87 and 88: If the camera is set to SERVO MID,
Page 89 and 90: Chapter 7 Conclusions and Future Wo
Page 91 and 92: ior, which will be useful in the re
Page 93 and 94: Bibliography [1] Battle bots-http:/
Page 95 and 96: BIBLIOGRAPHY 79 [25] Han et al. A n
Page 97 and 98: Appendix A Documentation of the pro
Page 99 and 100: Figure A.2: The flow diagram of the
Page 101 and 102: Appendix B Documentation of the pro
Page 103 and 104:
B.1. Microprocessor Code 87 /* Conf
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B.1. Microprocessor Code 89 #ifdef
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B.1. Microprocessor Code 91 Set_Spe
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B.1. Microprocessor Code 93 TIM_DeI
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B.1. Microprocessor Code 95 /* Expo
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B.1. Microprocessor Code 97 RGBCube
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B.1. Microprocessor Code 99 /* Incl
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B.1. Microprocessor Code 101 #endif
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B.1. Microprocessor Code 103 } void
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B.1. Microprocessor Code 105 GPIO_I
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B.1. Microprocessor Code 107 /* Sta
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B.1. Microprocessor Code 109 } Inve
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B.1. Microprocessor Code 111 #inclu
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B.1. Microprocessor Code 113 /* * M
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B.1. Microprocessor Code 115 b[1] =
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B.1. Microprocessor Code 117 } * (B
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B.1. Microprocessor Code 119 #defin
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B.2. Color Histogram Calculator 121
Page 139 and 140:
B.3. Object’s Position Calculator
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B.3. Object’s Position Calculator
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B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
Page 155 and 156:
C.2. Setting up the environment (Qt
Page 157 and 158:
C.3. Main Software - Game software
Page 159 and 160:
Appendix D Datasheet The pin mappin
Page 161 and 162:
Figure D.2: The schematics for the
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