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Currently designed to act as programmable sentry.
🔹 control : RPI_0w using NodeJs server to access GPIO Python code
🔹 movement : 4 MG995 Servos, 2 subMicro Grippers & HS55 Servos, PCA9685 I2C Controller
🔹 sensing : RPI 2.1 Camera, Insiq Bluetooth Speaker, Microphone MI-305
🔹 travel : Tamiya Track, Double Gearbox, 2 F130 DC Motors, L293D
🔹 added : 10 mm color LED, USB mini microphone
🔹 power : rechargeable TL-PB 10400 & TL-PB 5200 mAh Powerbanks
Explores various inexpensive bare metal programming technologies. Future possibilities:
▶️ completion of the I2C servo operation
▶️ VAC (Voice Activated Commands) for more autonomous response
▶️ simple AI NLP for generalized communication
▶️ ESA AstroPi SenseHat for environment detection
The descriptions below show the most recent developments first.
Modular
- computer: RPi0WF 1.1 SOC with BCM2835 cpu
- camera: RPi Camera v2.1 with 8 Megapixel & 1080p resolution, PN: 2.1
- power: TPLink PowerBank 5200 mAh, PN: TP-PB5200 (for RPi)
- software control: Python & IDLE for DC motor PWM control
- software system: Raspbian, Bash, Putty, WinSCP, GitHub...
- software server: NodeJS, Express (JavaScript, HTML, CSS) for view
Articulation
- control: PCA9685 16 Channel 12-Bit PWM Servo Motor Driver
- servos: (4) Servo Motor, PN: MG995 (for shoulders, elbows)
- servos: (2) Hitec subMicro Servo motor, PN: HS55 (replaces HS300)
- grippers: (2) Actobotics subMicro Gripper Kit, PN: 637104 (replaces "A" Grippers)
- coupling: (2) 25 Tooth (3F/H25T) Spline to 0.250 inch (replaces Servo Flanges)
- shafting: (2) slotted set screw, 1/4" dia, 1" length (or M6 x 25mm+)
Transport
- control: SN754410NE Controller DriveShield (replaces L293D)
- gearbox: Tamiya Double Motorized Gearbox, PN: 70168 with (2) F130 DC Motors
- chassis: Tamiya Tracked Vehicle Chassis, PN: 70108-1500
- power: TPLink PowerBank 10400 mAh, PN: TP-PB10400 (replaces 4 AAs)
Peripherals
- speaker: USB Bluetooth, Insiq PN: 4326595940 (replaces BT3500SLV)
- ?microphone: USB mini microphone, PN: MI-305
- ?signal: TriColor LED, 10 mm
- ?lighting: High Power LED, 1W, Cool White Light
- ?pointing: Red Dot Diode Laser, 6mm, 5V x 5mW x 650nm
The SketchUp 3D drawing required only new Coupling & Gripper drawings.
All the other components were accessible online.
Originally, the Steppers were used because they had an optimal fit & flexibility.
However, they were not scalable; there were too many GPIO leads needed.
A RPI 40 pin J8 form factor required a different addressing solution.
Some websites suggest RPI timing is not reliable enough many protocol calls.
early attempts at steppers: (4) Stepper Motor 28BYJ48 (later removed)
early attempts at controls: (4) ULN2003 Driver Board (later removed)
early attempts at flanges: (2) Aluminum H25T gear, PN: ServoCity 525123 (later removed)
see: "\5Personal\Technology\raspberryPi\docs\projects_basics.txt"
- camera: RPi Camera v2.1 with 8 Megapixel & 1080p resolution, PN: 2.1
- peripherals: GearHead Bluetooth Speaker, PN: BT3500SLV
- peripherals: USB mini microphone, PN: MI-305
- peripherals: 10 mm color LED
- power: TPLink PowerBank 10400 mAh, PN: TP-PB10400 (upgrades 4 AA batteries)
- articulation: (2) Actobotics Horizontal Gripper Kit "A", PN: 637094
- articulation: (2) HiTec Servo motor, PN: HS300, with C24T or H25T spline
The Grippers and Speaker worked, but proved to be clunky.
The LibreCad 2D CAD representation with BOM.
- computer: RPi0WF 1.1 SOC with BCM2835 cpu
- control: L293D Controller DriveShield
- gearbox: Tamiya Double Motorized Gearbox, PN: 70168 with (2) F130 DC Motors
- chassis: Tamiya Tracked Vehicle Chassis, PN: 70108-1500
- power: TPLink PowerBank 5200 mAh, PN: TP-PB5200 (for RPi)
- power: (4) AA batteries in case (for DC motors)
The RPi operates the L293D thru GPIO ports using Python PWM code signaled by a NodeJS server.
os base: Raspbian, Bash, Putty, WinSCP, GitHub...
control: Python & IDLE for DC motor PWM control
server: NodeJS, Express, (JavaScript, HTML, CSS) for view
drawing: LibreCad 2D CAD, Sketchup 3D
The L293D Controller pinout diagram.
github image viewer
stackoverflow github html discussion
HTML5 text folding
CSS&JS folding
markdown guide
collapsible markdown
Copyright 2021, Martin George, Columbus Ohio