A webcam was present in the initial prototype but was removed as few industry representatives found appeal in a livestream of the robot’s path.
These two components are functional but are not used in the current prototype. The inertial measurement unit ( IMU) measures acceleration, angular velocity, and magnetic fields, which can be used to determine the robot’s relative motion. There are two optical encoders on each wheel for a total of four sensors, which measure the speed and direction of rotation of the wheels. All hardware except the switching regulator is fully assembled. The LCD displays basic status information such as the IP address assigned to the robot.
Netgear n150 wireless usb adapter wna1100 version 1.4 driver#
The motor driver controls the speed and direction of the motors. The WiFi adapter is connected to the BeagleBone Black through a USB hub to maximize the available power to the adapter. This will be the case in many, but not all, environments. The connection to the user’s computer is over standard WiFi, and thus requires a WiFi network to be set up. The connection protocol used for each device is also shown. A power LED indicates whether the robot is powered on. The current prototype uses a linear regulator a switching regulator is also present but is not fully operational. There are two batteries for increased battery life. All the electronics are powered by a 2-cell 7.4V Lithium Ion battery, either directly, through a 5V regulator, or through a 3.3V regulator internal to the BBB. The first version of this board was on a prototyping board, which contains all hardware shown in the diagram with the exception of the switching regulator.Ī BeagleBone Black ( BBB) running Ubuntu is the main computer, and connects directly to all the hardware. Dotted lines indicate a component is not in use in the current works-like prototype. In this diagram the red lines indicate power flow and black lines indicate data flow. A block diagram of this board is shown below. All hardware on the robot connects to the BeagleBone Black through a custom circuit board. The image below shows a block diagram of the hardware on the robot. are taken from the linked product datasheet unless otherwise noted.
All specifications on communication protocols, voltages, etc. This section lists all mechanical and electronic parts on the prototype.Īll images are from the linked product page unless otherwise noted.