Robot Hardware Components and Programming - Versionsgeschichte

Ajay Paul am 9. Januar 2023 um 22:45 Uhr

2023-01-09T22:45:39Z

← Nächstältere Version		Version vom 10. Januar 2023, 00:45 Uhr
Zeile 1:		Zeile 1:
	The AplphBot is modified with a RPLidar is used for this project. Raspberry pi 4 is used as a computer with Odometer sensor and motor driver L298P is used.<br>		The AplphBot is modified with a RPLidar is used for this project. Raspberry pi 4 is used as a computer with Odometer sensor and motor driver L298P is used.<br>
	<br>		<br>
	[[Datei:AlphaBot mounted with Lidar.jpg\|~~mini~~]]		[[Datei:AlphaBot mounted with Lidar.jpg\|\|400px\|AlphaBot mounted with RPLidar]]

	Raspberry Pi 4 is installed with Linux server and established a SSH connection with the robot and PC.		Raspberry Pi 4 is installed with Linux server and established a SSH connection with the robot and PC.

Ajay Paul am 9. Januar 2023 um 22:43 Uhr

2023-01-09T22:43:26Z

← Nächstältere Version		Version vom 10. Januar 2023, 00:43 Uhr
Zeile 1:		Zeile 1:
	The AplphBot is modified with a RPLidar is used for this project. Raspberry pi 4 is used as a computer with Odometer sensor and motor driver L298P is used.<br>		The AplphBot is modified with a RPLidar is used for this project. Raspberry pi 4 is used as a computer with Odometer sensor and motor driver L298P is used.<br>
	<br>		<br>
	~~IMG~~ AlphaBot~~<br>~~		[[Datei:AlphaBot mounted with Lidar.jpg\|mini]]

	Raspberry Pi 4 is installed with Linux server and established a SSH connection with the robot and PC.		Raspberry Pi 4 is installed with Linux server and established a SSH connection with the robot and PC.

Ajay Paul: /* Setting up Odometry Sensor and Programming */

2023-01-06T16:56:14Z

Setting up Odometry Sensor and Programming

← Nächstältere Version		Version vom 6. Januar 2023, 18:56 Uhr
Zeile 56:		Zeile 56:
	ros2 topic pub /cmd_vel std_msgs/msg/String "data: forward"		ros2 topic pub /cmd_vel std_msgs/msg/String "data: forward"

	==== Setting up Odometry Sensor and Programming ====		==== <big>Setting up Odometry Sensor and Programming</big> ====
	A lm393/F249 photoelectric sensor and a coded disc are both parts of the speed testing module. Both an infrared transmitter and a receiver are present in the lm393/F249 photoelectric sensor. The sensor will produce a high level voltage if the infrared receiver is blocked from seeing infrared light. The high level voltage transforms into a low level voltage after passing the inverting schmitt trigger. The relative indication turns on at this stage. DOUT will generate a succession of high level pulses and low level pulses when the coded disc is running. You can determine the speed of the intelligent robot by counting how many pluses are added during one cycle. We employ the Schmitt trigger in this situation because it produces a reliable output signal with a clean, jitter-free waveform.		A lm393/F249 photoelectric sensor and a coded disc are both parts of the speed testing module. Both an infrared transmitter and a receiver are present in the lm393/F249 photoelectric sensor. The sensor will produce a high level voltage if the infrared receiver is blocked from seeing infrared light. The high level voltage transforms into a low level voltage after passing the inverting schmitt trigger. The relative indication turns on at this stage. DOUT will generate a succession of high level pulses and low level pulses when the coded disc is running. You can determine the speed of the intelligent robot by counting how many pluses are added during one cycle. We employ the Schmitt trigger in this situation because it produces a reliable output signal with a clean, jitter-free waveform.

Ajay Paul: /* Setting up Motor Driver and Programming */

2023-01-06T16:55:29Z

Setting up Motor Driver and Programming

← Nächstältere Version		Version vom 6. Januar 2023, 18:55 Uhr
Zeile 30:		Zeile 30:
	Now, LaserScan messages ought to be being published by the driver node. We can once again utilize RViz to verify this. We'll need to manually define the fixed frame by typing in laser_frame if robot_state_publisher isn't functioning.		Now, LaserScan messages ought to be being published by the driver node. We can once again utilize RViz to verify this. We'll need to manually define the fixed frame by typing in laser_frame if robot_state_publisher isn't functioning.

	==== Setting up Motor Driver and Programming ====		==== <big>Setting up Motor Driver and Programming</big> ====

	One of the crucial components of the intelligent robot is the motor driver module. The motor driver chip used by AlphaBot is the ST L298P driver chip, which has a high voltage and large current.<br>		One of the crucial components of the intelligent robot is the motor driver module. The motor driver chip used by AlphaBot is the ST L298P driver chip, which has a high voltage and large current.<br>

Ajay Paul: /* RPLidar Integration */

2023-01-06T16:55:19Z

RPLidar Integration

← Nächstältere Version		Version vom 6. Januar 2023, 18:55 Uhr
Zeile 9:		Zeile 9:
	Then ROS2 is installed in raspberry pi through SSH		Then ROS2 is installed in raspberry pi through SSH

	==== RPLidar Integration ====		==== <big>RPLidar Integration</big> ====

	Now that we have the driver software, we can post a LaserScan topic and communicate with the laser. Actually, there are a few distinct versions of the driver available. We are utilizing the package repository version in this instance.		Now that we have the driver software, we can post a LaserScan topic and communicate with the laser. Actually, there are a few distinct versions of the driver available. We are utilizing the package repository version in this instance.

Ajay Paul: /* Setting up Odometry Sensor and Programming */

2023-01-06T16:54:31Z

Setting up Odometry Sensor and Programming

← Nächstältere Version		Version vom 6. Januar 2023, 18:54 Uhr
Zeile 69:		Zeile 69:
	'''Odometry Estimation ROS2 Package'''		'''Odometry Estimation ROS2 Package'''

	Odometry estimation is a ROS2 module that estimates odometry based on a selected model and accepts odometry sensor inputs (wheel rpm). Only a differential drive model has been used so far, and forward kinematics are determined using information from the wheel encoders.		Odometry estimation is a ROS2 module that estimates odometry based on a selected model and accepts odometry sensor inputs (wheel rpm). Only a differential drive model has been used so far, and forward kinematics are determined using information from the wheel encoders. Once it calculates the odometry, it publish to the /odom topic

Ajay Paul: /* Setting up Odometry Sensor and Programming */

2023-01-06T16:51:43Z

Setting up Odometry Sensor and Programming

← Nächstältere Version		Version vom 6. Januar 2023, 18:51 Uhr
Zeile 68:		Zeile 68:
	<br>		<br>
	'''Odometry Estimation ROS2 Package'''		'''Odometry Estimation ROS2 Package'''

			Odometry estimation is a ROS2 module that estimates odometry based on a selected model and accepts odometry sensor inputs (wheel rpm). Only a differential drive model has been used so far, and forward kinematics are determined using information from the wheel encoders.

Ajay Paul: /* Setting up Odometry Sensor and Programming */

2023-01-06T16:42:11Z

Setting up Odometry Sensor and Programming

← Nächstältere Version		Version vom 6. Januar 2023, 18:42 Uhr
Zeile 57:		Zeile 57:

	==== Setting up Odometry Sensor and Programming ====		==== Setting up Odometry Sensor and Programming ====
	A ~~WYC-H206~~ photoelectric sensor and a coded disc are both parts of the speed testing module. Both an infrared transmitter and a receiver are present in the lm393 photoelectric sensor. The sensor will produce a high level voltage if the infrared receiver is blocked from seeing infrared light. The high level voltage transforms into a low level voltage after passing the inverting schmitt trigger. The relative indication turns on at this stage. DOUT will generate a succession of high level pulses and low level pulses when the coded disc is running. You can determine the speed of the intelligent robot by counting how many pluses are added during one cycle. We employ the Schmitt trigger in this situation because it produces a reliable output signal with a clean, jitter-free waveform.		A lm393/F249 photoelectric sensor and a coded disc are both parts of the speed testing module. Both an infrared transmitter and a receiver are present in the lm393/F249 photoelectric sensor. The sensor will produce a high level voltage if the infrared receiver is blocked from seeing infrared light. The high level voltage transforms into a low level voltage after passing the inverting schmitt trigger. The relative indication turns on at this stage. DOUT will generate a succession of high level pulses and low level pulses when the coded disc is running. You can determine the speed of the intelligent robot by counting how many pluses are added during one cycle. We employ the Schmitt trigger in this situation because it produces a reliable output signal with a clean, jitter-free waveform.

	Then a package called ros2_f249_driver is created for calculating the RPM of the wheels. This package communicates with the GPIOs on the Raspberry Pi to accumulate the ticks produced by an lm393 (F249) sensor and determine the RPM. The sensor is unable to determine the direction of rotation on its own. In any scenario, it will add up the total number of ticks for both rotation directions and then determine the RPM using that information.		Then a package called ros2_f249_driver is created for calculating the RPM of the wheels. This package communicates with the GPIOs on the Raspberry Pi to accumulate the ticks produced by an lm393 (F249) sensor and determine the RPM. The sensor is unable to determine the direction of rotation on its own. In any scenario, it will add up the total number of ticks for both rotation directions and then determine the RPM using that information.

Ajay Paul: /* Setting up Odometry Sensor and Programming */

2023-01-06T16:41:08Z

Setting up Odometry Sensor and Programming

← Nächstältere Version		Version vom 6. Januar 2023, 18:41 Uhr
Zeile 65:		Zeile 65:
	* Sensor attached to GPIO Pin		* Sensor attached to GPIO Pin
	* Minimum interval between two postings		* Minimum interval between two postings
	* Number of Encoder wheel slots		* Number of Encoder wheel slots<br>
			<br>
			'''Odometry Estimation ROS2 Package'''

Ajay Paul: /* Setting up Odometry Sensor and Programming */

2023-01-06T16:40:11Z

Setting up Odometry Sensor and Programming

← Nächstältere Version		Version vom 6. Januar 2023, 18:40 Uhr
Zeile 60:		Zeile 60:

	Then a package called ros2_f249_driver is created for calculating the RPM of the wheels. This package communicates with the GPIOs on the Raspberry Pi to accumulate the ticks produced by an lm393 (F249) sensor and determine the RPM. The sensor is unable to determine the direction of rotation on its own. In any scenario, it will add up the total number of ticks for both rotation directions and then determine the RPM using that information.		Then a package called ros2_f249_driver is created for calculating the RPM of the wheels. This package communicates with the GPIOs on the Raspberry Pi to accumulate the ticks produced by an lm393 (F249) sensor and determine the RPM. The sensor is unable to determine the direction of rotation on its own. In any scenario, it will add up the total number of ticks for both rotation directions and then determine the RPM using that information.

			Make sure the f249driver.h configuration parameters are set in accordance with your setup. Those that can be customized are:

			* Sensor attached to GPIO Pin
			* Minimum interval between two postings
			* Number of Encoder wheel slots