From 73e7cf580b77357ee0c87dc7004658a6da040701 Mon Sep 17 00:00:00 2001 From: Gab_S Date: Sat, 25 Jan 2020 18:56:46 +0000 Subject: [PATCH] Delete 'SLAM_ROBOT/index.adoc' --- SLAM_ROBOT/index.adoc | 72 ------------------------------------------- 1 file changed, 72 deletions(-) delete mode 100644 SLAM_ROBOT/index.adoc diff --git a/SLAM_ROBOT/index.adoc b/SLAM_ROBOT/index.adoc deleted file mode 100644 index 2750685..0000000 --- a/SLAM_ROBOT/index.adoc +++ /dev/null @@ -1,72 +0,0 @@ -= Project i wanna die plis - -== Project Description - This was but a sad attempt at making a "budget" [Slam] - (Simultaneous localization and mapping) robot-vehicle, with a time of flight - Lazer sensor.It uses the esp32 as it's brains (tons of io pins, 2 core, wifi & - bluetooth on chip,low consumption,etc.) and a arduino nano that acts as a slave - controling the drive tracks by taking commands from the esp32. - -== Working principal - The working principal behind the robot is based on dead reckoning meaning we - create the map as we go assuming we've started from position 0,0.Using the tof - sensor we get measurments from all directions (360 degrees) this happens using - the stepper motor along with the hall effect sensors so we the degree of each - measurment great so now we can bind these values (distnace,angle) to the - robot's postion.The problem with our particular platform was space limitations - and the fact that the tracks are moved by dc motors some solutions on these - problems would be if possible driving the tracks by stepper motors directly or - otherwise so we know exactly how many steps each track has made therefore - deducing the robots position or using photo encoders in the small dc motors - producing the same effect.(problems with bad are also very real and can throw - off our measurments but hey we're not supposed to send this robot on mars ) - Being able to determine our traveled distance and having 360 "accurate" - measurments of the space traversed would enable us to construct an algorithm - which by using these data could find a way to traverse the space creating a - map along the way. - - -== Parts -- Esp32 -- Arduino Nano -- 28BYJ-48 Stepper -- ULN2003 Stepper Motor Driver -- I2C Logic Level Converter -- VL53L1X -- Hall Sensor -- Slip ring -- 2x18650 Batteries -- Battery Protection Board -- Toy truck -- L298N Motor Driver - -image:./pics/esp32.jpg[200,200] -image:./pics/nano.jpg[200,200] -image:./pics/stepper&driver.jpg[200,200] -image:./pics/logic_level.jpg[200,200] -image:./pics/sensor.jpg[200,200] -image:./pics/hall.jpg[200,200] -image:./pics/slipdisc.png[200,200] -image:./pics/bat.jpeg[200,200] -image:./pics/bms.jpg[200,200] -image:./pics/truck.png[200,200] -image:./pics/L298N.jpg[200,200] - -image:./pics/diagram.png[1000,1000] - -== Difficulties & things to consider -- Acquiring location position in a room -- Getting accurate data from budget sensors with low resolution -- Calculating travel distance based on Dc motors -- Maintaning electrical connections between the two rotating parts - -== Problems that managed to get solved -=== - Getting angle of measurment - Solution: Using a Hall sensor and a magnet to find 0 degree spot & using a - stepper motor with known gear ratio so we know the step angle -=== - Power consumption - Solution: Used 2xcells 18650 batteries because simple alkaline batteries - wheren't up to the task - -=== helpful links: -link:https://www.youtube.com/watch?v=fQ2iB7qkrUg[youtube homemade lidar]