This is the public repo for UAF's NASA Robot Mining Contest team,
Aurora Robotics.
This is the firmware and control stack for UAF's entry in the NASA Robot Mining Competition.

Public access:
	git clone https://github.com/UAFRMC/2017

Ask Mike or Dr. Lawlor to get write access!




2017 Competition
KSCCOMM-GUEST wifi: 1632061632051282171927740A




------------- 2015 notes:
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)


---------- 2014 notes:
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)