SRS Logo

Welcome to the Seattle Robotics Society Weblog

This page will be updated from time to time with commentaries about the club, robots, member projects, and other topics. I hope these commentaries stimulate discussions here and at the meetings. I have recently included meeting notes from many previous year's meetings that I've been meaning to put on the website. Finally there will (should) be periodic updates on my Omicron robot so check back now and then. If you are interested in contributing an article to this blog, contact the SRS at SeattleRoboticsSociety(at)gmail.com. Also, consider writing for the Encoder.

Page last updated: 6/9/18

The meeting notes have been rearranged into reverse chronological order so the latest will be at the top. Notes prior to 2016 are combined into PDF files by year. When you are done reading one, use the browser back button to return to this index. The rest of the notes are web pages. YTV=YouTube Videos that have been uploaded by SRS members.

Omicron4 Development Details and Progress Information

Some questions that I am pondering:

    1) Can I make the robot track in a relatively straight line using a digital compass for feedback? YES.

    2) How can I get clean feedback signals from the drive motors? Use Schmitt Triggers on the optical sensors? YES.

    3) Feed Schmitt triggers to F/V converters then amplify for analog inputs? YES.

    4) Can I write a program that can control and read a bunch of PINGs without timers and still be responsive to all the other sensors? YES.

Here are some ideas and plans that I have been working on. (12/6/17; pages 1-6)

    Pg1: Main Drive Controls - This diagram shows the general concept for the main drive system control logic (1/16/18).

    Pg2: I2C Bus Devices for Robot - This diagram shows the I2C Bus devices that I'd like to include on the robot.

    Pg3: Bit Sensor Inputs for Robot - This list summarizes the digital sensors (bit inputs) that I am planning to add.

    Pg4: I/O Summary List for Robot - This list summarizes the I/O of the robot.

    Pg5: Left Motor Controls for Robot - This schematic shows the left motor control relay hookup.

    Pg6: Right Motor Controls for Robot - This schematic shows the right motor control relay hookup.

    Here is the battery power charging and distribution system. (12/6/17)

    Here is the logic circuitry for cutting off the motors if a bump sensor trips. (12/30/17)

    Here is the program pseudo-code. (1/16/18)

    Here is the "Omicron" program (1/23/18) such as it is. I haven't tested it yet but have been incorporating things I've learned from simpler programs that focus on the robots subsystems. The main emphasis has been integrating the motor controls and bump sensor logic into basic bump-and-avoid behavior. There is a mix of real and pseudo-code in the program. Eventually it will all be real and I hope actually work!