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README.txt
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README.txt
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This is the public repo for UAF's NASA Robot Mining Contest team,
Aurora Robotics.
This is the firmware for UAF's entry in the NASA Robot Mining Competition.
Public access:
git clone http://projects.cs.uaf.edu/robotmining
Ask Dr. Lawlor to get write access!
Laptop battery power check:
cat /sys/class/power_supply/BATX/charge_*
The first two are charge values for full; the last is current charge.
-------------
As-built storage bucket dimensions:
17.75 inch * 17 inch * 3.5 inch = 17.3 liters -> 17Kg at 1 Kg/L density (fluffed)
----------
New 2014-05 board:
Power plug:
tx1 via opto-isolator: orange/white
a8: orange, not connected (avoid noise on opto line)
a9: blue, mine voltage
a10: green, spare input
a11: brown, 24v bus
brown/white: motor side ground
Front plug:
53/A15: blue, front wheel right encoder
52: orange, (5v) encoder supply
51: spare button input
50/A14: green, front wheel left encoder (optional)
White: all grounds
Back/bucket plug:
49: orange, (5v) encoder supply
48: orange/white, spare input
47: green, back right button
46/A13: blue back bucket
45: brown/white, spare
44: brown & blue/white, back left button
43: spare input
Infrared board: pink RJ45 wires
A5 A1 orange/white: read side of mining detector
5 orange: 5V feed for ALL ir detectors (soft power for both)
A6 A2 green/white: ir detector, bin-full
3 A4 green: LED, bin-full
4 7 blue: LED, bin-half-full
A7 A3 blue/white: ir detector, bin-half-full
hardwired brown/white: LED ground (COMMON ground, hardwired)
2 6 brown: LED for mining encoder
Wiring hookup:
mining: brown brown/white LED orange orange/white detector
full: green brown/white LED orange green/white detector
half: blue brown/white LED orange blue/white detector
Actuator Ecoder wires:
Yellow: High
White: GND
Purple: Signal
Linear actuator to RJ45 wiring:
yellow: 5V for potentiometer position encoder, orange on RJ-45.
white: ground for potentiometer, white/blue on RJ-45.
purple: potentiometer output, blue or green on RJ-45.
red: motor+, either brown (front) or separate wires (bucket)
black: motor-, either white/brown or separate wires
# Add backend and viewer directories to path
AURORA=/home/robot/robotmining/autonomy
PATH="$AURORA/aruco/viewer:$AURORA/backend:$PATH"
export PATH
-------------
OLD 2014-03 board:
OLD: Internal voltage monitoring: 2014-03 board (OLD)
A8: orange battery 12V bus
A9: battery ground (drive sabertooth)
A10: brown battery 24V bus
Weirdly, it reads about 3VDC lower than reality, possibly due to some sort of current backfeed in the voltage divider.
Battery sags by about 15DN under a 10A load.
A11: battery ground (mine sabertooth)
A12: green mining motor voltage
Typical run voltage is 10-13DN less than battery.
Stall voltage is 20-22DN less than battery.
Firmware calls it "stalled" with >18DN difference.
Swaping to a CAT5 cable, still about 10DN run, but 30+DN stall.
OLD: External switches:
44- left bumper switch (brown & white/green ground)
47- right bumper switch (green & white/green ground)
OLD: Dump actuator potentiometer hookup:
49-orange (5V) & white/blue (gnd)
46 - blue - analog out for dump potentiometer (jumpered to A0 for now)