2017-05-26 21:26:46 +02:00
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date = "2017-05-15T13:16:02+02:00"
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title = "spdbt"
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summary = "A fast indoor mousebot"
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<michaelh@juju.net.nz> 2017-05-15 <https://juju.net.nz/michaelh/project/spdbt/>
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## Overview
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A fast indoor mousebot for playing with rover control and navigation.
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## Background
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Context that led to this project.
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## Requirements
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What the project must fufill.
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## Implementation
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spdbt is made from parts I already have which are:
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* Raspberry Pi Zero W
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* Picon Zero I/O board
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* C270 USB camera
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* FIT0441 12 V 159 RPM motor
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* HC-450 3S LiPo (~30x55x18) with XT connectors (similar to [this](https://hobbyking.com/en_us/turnigy-500mah-3s-20c-lipo-pack.html))
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* Pololu 5V regulator D24V22F5
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* ST7735 1.8" 160x128 LCD
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## Deliverables
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The deliverables are:
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* OpenSCAD models for the mechanicals
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* Ansible rules for configuring the rover
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* Firmware for the rover
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* If needed, updated firmware for the Picon Zero
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* Photos showing the assembly
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## Milestones
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Chunky steps along the way
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Milestone | Week | Result
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--------- | ---- | ------
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M1 | W1 | All foos have bars barred
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M2 | W3 | All bazs are frobbed
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## Risks and mitigations
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What are the risks, likelyhood, impact, and ways of handling them?
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## Alternatives considered
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Do nothing...
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## Appendix
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2017-05-26 21:42:39 +02:00
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### FIT0411 pinout
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* Blue (left most): PWM. Take to GND for full speed.
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* Black: GND / Supply negative
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* Yellow: Direction
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* Green: encoder output. ~680 Hz at full speed
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* Red (right most): 12V
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2017-06-27 22:10:27 +02:00
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### Picon Zero pinout
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2017-05-26 21:42:39 +02:00
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Source: https://github.com/4tronix/PiconZero
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Protocol: http://heeed.net/a-few-notes-on-i2c/
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TODO(michaelh): uses software PWM using a `delay()`. Check the
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accuracy especially during transfers.
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Pins are {6, 7, 8, 11}, {9, 10, 2, 3, 4, 5}. Good news with software
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PWM is any pin can do any function.
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2017-06-27 22:10:27 +02:00
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On the Arduino, 3, 5, 6, 9, 10, and 11 can be hardware PWM. So 3, 5,
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9, and 10 are available on the servo headers. 4, 5 are T0 and T1 to
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the counter unit so keep these free.
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### D24V22F5 pinout
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Corner of board:
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* PG (power good)
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* EN (enable, enabled by default)
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* VIN
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* GND
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* VOUT
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