ELECINF344/381

Interactive web site of Télécom ParisTech's ELECINF344/ELECINF381 Robotics and Embedded Systems classes (a.k.a. ROSE, 2012 session).

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Wi-fi, Ball-E’s structure and real tests

Two days ago, we finally managed to flash the Gainspan Wi-fi module’s firmware and we can now talk to the module through the SPI interface and I managed to make it connect on a router which was in the room. I am now working on the driver to make it work completely.

As I had finished coding the PD algorithm, Pierre-Hugues worked in order to enable us making real tests of balance with Ball-E. Therefore, I build a system to put the robot on the ball while hanging in the air so that it couldn’t fall on the floor (you may see it on the pictures). We made some tests with several balls and it appeared that we needed to have a center of gravity higher. That’s why you can now see  Ball-E with a tall structure. Today we are going to buy a bigger ball to make new tests, it should be easier for the robot to keep its balance with this one.

We hope that in a few days, we will post videos of Ball-E standing up and not falling !

 

Matthieu Tardivon

New planning defined for Tutobot

Hello all,

Today we did a presentation to show the status of the project and to show how the last part of the project will be done. We defined a more detailed planning for the Tutobot since now we have the architecture of the PCB closed, so we can think about how to program everything. Our deadlines are long since we don’t know the arrival of the first unit. The following table show the attributed responsibilities and deadlines for each task:

Task Deadline Responsible
eNVM using OpenOCD 17/04 Helen
Libero project (IOMUX) 18/04 Thalita
FPGA fabric programming 18/04 Gabriel
FTDI configuration 23/04 Thalita
App libraries – Motor/Encoder 26/04 Gabriel
App libraries – FreeRTOS/Zigbee 26/04 Helen
App libraries – Sensors 26/04 Thalita
App libraries – LCD/Buzzer 29/04 Gabriel
App : Tutogrid 03/05 Helen
App : Tutobrush 03/05 Thalita

The two last tasks, Tutogrid and Tutobrush, are the development of two applications that will show some of the potential of the Tutobot.

Tutogrid is an application that discover the path from one predefined point to another over a grided floor filled with obstacles. The reactions are to be shown by the LCD and the buzzer. This app will show the usage of the line and collision sensors.

Tutobrush is an application that, using a pencil attached under the Tutobot, will draw over a paper a predefined picture and draw it in the LCD on the fly. The picture will be streamed by the Zigbee. This app shows the precision of the encoder

Gabriel Teixeira