RoboNova 1
Jan 14, 2016
RoboNova 1
Hardware Capabilities
MR-3024C Microcontroller 24 servo / PWM output
interfaces 8 8-bit A/D channels TTL serial @ 115200 baud Onboard piezo speaker for
tone generation
HMI 8598 Servos (6V) 300 deg/s max speed 7.4 kgf-cm @ 1.2A Digital interface
RoboBasic Programming
Strengths Simple syntax & structure Servo control & timing Canned routines for stock sensors
Limitations Slow instruction execution (.5-2ms) Move command does not accept
variables Limited compound arithmetic
External Command Interface
Interactive motor positioning
Bluetooth / serial interface
IR remote control
Stock Sensors
Rate Gyros ~6 bit resolution ~70Hz update
IR Distance 3cm-15cm
Touch sensor Contact (digital)
Sound Sensor >80dB detection
Expansion & Upgrades
Additional Analog Sensors Connect directly to A/D port Up to 7 sensors 8 bit resolution
Camera & Vision Insufficient processing power
for native implementation Compatible with CMU Cam’s
serial interface Music & Sound Detection
External device can be triggered by serial or digital IO
Feedback Control
Requirements & Delays Read sensor data (~1.5 ms
per sensor) Read servo position (~1 ms
per) Control algorithm on PC (.1-
1ms) Transmit & set motor positions
(~1.5ms per) Total time = 33 ms -> 30Hz
update
PC
Bluetooth/SPP
User Hacks
Replace processor to use C Successfully transplanted
virgin ATMega chip No libraries for servo control
18 DOF upgrade Allows hip rotation Improves turning
Grippers Allows grasping with
individual hands