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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Let there be light, sound and color !

BEDinROSES (Ball-E Dead in ROSE Session)

Date and hour of birth: Monday 30th , 7 a.m. Since Sunday night we have been brainstorming for possible projects. Alexis and Sam adviced us to use Maestro’s modules. Some great ideas came up on Monday and we chose to work on three of them until Friday morning.

Monday the modules were able  to play music stored on their microSDs. Yesterday we worked on Zigbee communication by frame based  API and we synchronized the modules. Today we are working on Friday’s defense.

Otilia Anton

Tutobot: remote control

Today we solved our Zigbee problem, it was really silly: we were not waiting enough time before and after entering the Zigbee’s command mode. We had a loop to do this waiting that worked fine, but since we programmed the System Boot with a clock twice as fast as before, the loop was not long enough anymore.

Since we had both motors and zigbee working well, Helen wrote a basic program to control the motors with the keyboard, sending directions through Zigbee.

Gabriel is working on driving our OLED screen. He wrote a program following the example in the datasheet but it did not work. It is difficult to debug  because the bug can be either in software or in the pin assignment done in the Libero project (FPGA). We will re-check the pin assignment tomorrow. He also started working on a way to make it simpler to write the .dat file (the image to program the FPGA and the System Boot).

I wrote some code to use the encoders, and set the Libero project to set flags for the corresponding ADCs, so an interrupt would be generated when the measure in the ADC overcomes a certain threshold. For some reason I have not figured out yet, the interrupt routine is never called. For now I will leave the interrupt approach, and create a FreeRTOS task  to monitor the ADC samples.

 

Tutobot – Motors and Sensors

Hello,

Today we worked on the peripherals of our robot.

We debuged the motors and now they are working fine.

The encoders are returning values with good resolution, tomorrow we will work to assemble a control with motors+encoders.

The pins of the line sensors seems not responding really good, we tried to capture the signal with a logic analyzer and an oscilloscope. We could measure the response with the oscilloscope, but only once =/, using the same program and same osciloscope.

The proximity sensors are not giving us good resolution between closer objects and farther ones.

Leds with pwm are working really well, we can choose in a register to use the pwm mode or not.

Zigbee is still not working after we programmed the SysBoot with DirectC.

 

Tutobot’s team

Helen Fornazier