<?xml version="1.0"?>
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	<id>https://nurdspace.nl/api.php?action=feedcontributions&amp;feedformat=atom&amp;user=Giorg10</id>
	<title>NURDspace - User contributions [en]</title>
	<link rel="self" type="application/atom+xml" href="https://nurdspace.nl/api.php?action=feedcontributions&amp;feedformat=atom&amp;user=Giorg10"/>
	<link rel="alternate" type="text/html" href="https://nurdspace.nl/Special:Contributions/Giorg10"/>
	<updated>2026-04-19T06:09:48Z</updated>
	<subtitle>User contributions</subtitle>
	<generator>MediaWiki 1.39.4</generator>
	<entry>
		<id>https://nurdspace.nl/index.php?title=Tool_Board&amp;diff=13829</id>
		<title>Tool Board</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=Tool_Board&amp;diff=13829"/>
		<updated>2024-01-17T19:13:18Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Update picture of toolbar in corridor; add picture to page body&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Tool&lt;br /&gt;
|Name=Tool Board&lt;br /&gt;
|Picture=Toolboard_corridor_2023.jpg&lt;br /&gt;
|Owner=Space&lt;br /&gt;
|Location=Tool Corner&lt;br /&gt;
|Category=Fabrication&lt;br /&gt;
}}&lt;br /&gt;
&lt;br /&gt;
[[File:Toolboard_2023.jpg|500px|thumb|left|Tools in Zaal 2]]&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=File:Toolboard_corridor_2023.jpg&amp;diff=13828</id>
		<title>File:Toolboard corridor 2023.jpg</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=File:Toolboard_corridor_2023.jpg&amp;diff=13828"/>
		<updated>2024-01-17T19:01:57Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Photo of the toolbar that hangs in the corridor just outside Zaal 2.&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;== Summary ==&lt;br /&gt;
Photo of the toolbar that hangs in the corridor just outside Zaal 2.&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=Wish_List&amp;diff=13791</id>
		<title>Wish List</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=Wish_List&amp;diff=13791"/>
		<updated>2023-12-09T21:17:18Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Remove outdated entries; this page seems rather unused...&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{outdated}}&lt;br /&gt;
&lt;br /&gt;
The space inventory is obviously never complete. Since we seem to be in the habit of making slightly more money than we pay in rent we can afford to buy things occasionally.&lt;br /&gt;
&lt;br /&gt;
= To buy =&lt;br /&gt;
Feel free to add your own suggestions. We&#039;ll find a way of deciding on what to buy at some point.&lt;br /&gt;
{| class=&amp;quot;wikitable sortable&amp;quot;&lt;br /&gt;
! What&lt;br /&gt;
! Why&lt;br /&gt;
! Cost&lt;br /&gt;
! Add-date&lt;br /&gt;
! By&lt;br /&gt;
|-&lt;br /&gt;
|}&lt;br /&gt;
&lt;br /&gt;
= Desired donations =&lt;br /&gt;
The following items we hope to obtain from donations:&lt;br /&gt;
&lt;br /&gt;
* AED (https://www.troostwijkauctions.com/nl/automated-external-defibrillator/03-16897-12044-1965549/)&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=Tool_Board&amp;diff=13790</id>
		<title>Tool Board</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=Tool_Board&amp;diff=13790"/>
		<updated>2023-12-09T21:10:09Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Remove {{outdated}} tag&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Tool&lt;br /&gt;
|Name=Tool Board&lt;br /&gt;
|Picture=Toolboard_2023.jpg&lt;br /&gt;
|Owner=Space&lt;br /&gt;
|Location=Tool Corner&lt;br /&gt;
|Category=Fabrication&lt;br /&gt;
}}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=Tool_Board&amp;diff=13789</id>
		<title>Tool Board</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=Tool_Board&amp;diff=13789"/>
		<updated>2023-12-09T21:09:48Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Updated picture&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Outdated}}&lt;br /&gt;
{{Tool&lt;br /&gt;
|Name=Tool Board&lt;br /&gt;
|Picture=Toolboard_2023.jpg&lt;br /&gt;
|Owner=Space&lt;br /&gt;
|Location=Tool Corner&lt;br /&gt;
|Category=Fabrication&lt;br /&gt;
}}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=File:Toolboard_2023.jpg&amp;diff=13788</id>
		<title>File:Toolboard 2023.jpg</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=File:Toolboard_2023.jpg&amp;diff=13788"/>
		<updated>2023-12-09T21:09:04Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Photograph of some of the tools (screwdrivers, handsaws, files, hammers, ...) available in zaal 2&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;== Summary ==&lt;br /&gt;
Photograph of some of the tools (screwdrivers, handsaws, files, hammers, ...) available in zaal 2&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=Lab_power_supply&amp;diff=13787</id>
		<title>Lab power supply</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=Lab_power_supply&amp;diff=13787"/>
		<updated>2023-12-09T21:05:03Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Remove {{outdated}} tag, the PSU is still there and working&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Tool&lt;br /&gt;
|Name=Lab power supply&lt;br /&gt;
|Picture=LabPowerSupply.jpg&lt;br /&gt;
|Owner=Zarya&lt;br /&gt;
|Location=Soldering Table&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=Keukentrap&amp;diff=13786</id>
		<title>Keukentrap</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=Keukentrap&amp;diff=13786"/>
		<updated>2023-12-09T20:37:04Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: It&amp;#039;s still a trap (remove {{outdated}} tag)&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Inventory&lt;br /&gt;
|Name=Keukentrap&lt;br /&gt;
|Owner=Space&lt;br /&gt;
|Status=Working&lt;br /&gt;
|Location=Drankhok&lt;br /&gt;
|Picture=Keukentrap_2023.jpg&lt;br /&gt;
|Tool=Yes&lt;br /&gt;
|Category=General&lt;br /&gt;
}}&lt;br /&gt;
We have a small kitchen ladder.&lt;br /&gt;
&lt;br /&gt;
It&#039;s a trap.&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=File:Keukentrap_2023.jpg&amp;diff=13785</id>
		<title>File:Keukentrap 2023.jpg</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=File:Keukentrap_2023.jpg&amp;diff=13785"/>
		<updated>2023-12-09T20:36:10Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Photograph of our kitchen ladder.

Supersedes 20140322_203329_Android.jpg&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;== Summary ==&lt;br /&gt;
Photograph of our kitchen ladder.&lt;br /&gt;
&lt;br /&gt;
Supersedes 20140322_203329_Android.jpg&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13221</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13221"/>
		<updated>2023-04-12T19:34:33Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Added more pins&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
= Plan =&lt;br /&gt;
&lt;br /&gt;
* Reverse-engineer the robot&#039;s PCB&lt;br /&gt;
* Replace the MCU with a custom controller&lt;br /&gt;
* Set up a Pi with ROS + nav-stack&lt;br /&gt;
* Write a ROS driver to link to said custom controller&lt;br /&gt;
* Make an initial 2D map of the space&lt;br /&gt;
* Write a ROS driver to act as a bot in the space&#039;s IRC&lt;br /&gt;
&lt;br /&gt;
This should be enough to get some basic behaviour.&lt;br /&gt;
&lt;br /&gt;
== Extensions ==&lt;br /&gt;
&lt;br /&gt;
Lost more could be done.&lt;br /&gt;
&lt;br /&gt;
* Add charging pads, make a charging station so it can charge itself&lt;br /&gt;
* There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.&lt;br /&gt;
* There is a horn, could be linked to a camera to horn at people that don&#039;t get out of the way.&lt;br /&gt;
* A camera on the front of SpaceVacuum that streams live on YouTube/Twitch&lt;br /&gt;
* Add your silly idea to this list&lt;br /&gt;
&lt;br /&gt;
= Progress =&lt;br /&gt;
&lt;br /&gt;
Currently busy with step 1, RE&#039;ing the PCB. &lt;br /&gt;
&lt;br /&gt;
== Reverse-engineering ==&lt;br /&gt;
&lt;br /&gt;
The robot&#039;s PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.&lt;br /&gt;
&lt;br /&gt;
* MCU: STM32F030C8&lt;br /&gt;
* H-bridges: PT5126&lt;br /&gt;
* Comparators: LM393 (function not known to this day)&lt;br /&gt;
* Step-down DC-DC: A5268&lt;br /&gt;
* Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)&lt;br /&gt;
* MOSFETs: STP4435&lt;br /&gt;
&lt;br /&gt;
The bumper sensors are IR phototransistors (for durability, perhaps?)&lt;br /&gt;
The motor encoders are also optical, and very high-precision (Hz / m: TBD)&lt;br /&gt;
&lt;br /&gt;
&amp;lt;gallery&amp;gt;&lt;br /&gt;
PCB-vacuum-overlay.png&lt;br /&gt;
PCB-vacuum-front.png&lt;br /&gt;
PCB-vacuum-back.png&lt;br /&gt;
&amp;lt;/gallery&amp;gt;&lt;br /&gt;
&lt;br /&gt;
=== MCU pin-out ===&lt;br /&gt;
&lt;br /&gt;
{| class=wikitable&lt;br /&gt;
|-&lt;br /&gt;
! Pin !! Function !! Description &lt;br /&gt;
|-&lt;br /&gt;
| A14 || USART2 TX || Used to flash the chip&lt;br /&gt;
|-&lt;br /&gt;
| A15 || USART2 RX || Used to flash the chip&lt;br /&gt;
|-&lt;br /&gt;
| B7 || Left motor IN-A || To IN-A of H-bridge of left motor&lt;br /&gt;
|-&lt;br /&gt;
| A10 || Left motor IN-B || To IN-B of H-bridge of left motor&lt;br /&gt;
|-&lt;br /&gt;
| A9 || Right motor IN-B || To IN-B of H-bridge of right motor&lt;br /&gt;
|-&lt;br /&gt;
| B2 || Right motor IN-A || To IN-A of H-bridge of right motor&lt;br /&gt;
|-&lt;br /&gt;
| B10 || Right encoder || Optical encoder of right motor&lt;br /&gt;
|-&lt;br /&gt;
|}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=User:Giorg10&amp;diff=13204</id>
		<title>User:Giorg10</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=User:Giorg10&amp;diff=13204"/>
		<updated>2023-04-10T19:19:20Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Added SpaceVacuum to my projects&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Members&lt;br /&gt;
|Nickname=Gio&lt;br /&gt;
|Memberstatus=member&lt;br /&gt;
|CallSign=ZER0_G&lt;br /&gt;
|Project=SpaceVacuum&lt;br /&gt;
}}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=File:SpaceVacuum.jpg&amp;diff=13203</id>
		<title>File:SpaceVacuum.jpg</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=File:SpaceVacuum.jpg&amp;diff=13203"/>
		<updated>2023-04-10T19:17:57Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Picture of Vileda vacuum-cleaner robot&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;Picture of Vileda vacuum-cleaner robot&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13202</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13202"/>
		<updated>2023-04-10T19:15:35Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: &lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
= Plan =&lt;br /&gt;
&lt;br /&gt;
* Reverse-engineer the robot&#039;s PCB&lt;br /&gt;
* Replace the MCU with a custom controller&lt;br /&gt;
* Set up a Pi with ROS + nav-stack&lt;br /&gt;
* Write a ROS driver to link to said custom controller&lt;br /&gt;
* Make an initial 2D map of the space&lt;br /&gt;
* Write a ROS driver to act as a bot in the space&#039;s IRC&lt;br /&gt;
&lt;br /&gt;
This should be enough to get some basic behaviour.&lt;br /&gt;
&lt;br /&gt;
== Extensions ==&lt;br /&gt;
&lt;br /&gt;
Lost more could be done.&lt;br /&gt;
&lt;br /&gt;
* Add charging pads, make a charging station so it can charge itself&lt;br /&gt;
* There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.&lt;br /&gt;
* There is a horn, could be linked to a camera to horn at people that don&#039;t get out of the way.&lt;br /&gt;
* A camera on the front of SpaceVacuum that streams live on YouTube/Twitch&lt;br /&gt;
* Add your silly idea to this list&lt;br /&gt;
&lt;br /&gt;
= Progress =&lt;br /&gt;
&lt;br /&gt;
Currently busy with step 1, RE&#039;ing the PCB. &lt;br /&gt;
&lt;br /&gt;
== Reverse-engineering ==&lt;br /&gt;
&lt;br /&gt;
The robot&#039;s PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.&lt;br /&gt;
&lt;br /&gt;
* MCU: STM32F030C8&lt;br /&gt;
* H-bridges: PT5126&lt;br /&gt;
* Comparators: LM393 (function not known to this day)&lt;br /&gt;
* Step-down DC-DC: A5268&lt;br /&gt;
* Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)&lt;br /&gt;
* MOSFETs: STP4435&lt;br /&gt;
&lt;br /&gt;
The bumper sensors are IR phototransistors (for durability, perhaps?)&lt;br /&gt;
The motor encoders are also optical, and very high-precision (Hz / m: TBD)&lt;br /&gt;
&lt;br /&gt;
&amp;lt;gallery&amp;gt;&lt;br /&gt;
PCB-vacuum-overlay.png&lt;br /&gt;
PCB-vacuum-front.png&lt;br /&gt;
PCB-vacuum-back.png&lt;br /&gt;
&amp;lt;/gallery&amp;gt;&lt;br /&gt;
&lt;br /&gt;
=== MCU pin-out ===&lt;br /&gt;
&lt;br /&gt;
{| class=wikitable&lt;br /&gt;
|-&lt;br /&gt;
! Pin !! Function !! Description &lt;br /&gt;
|-&lt;br /&gt;
| B7 || Left motor IN-A || To IN-A of H-bridge of left motor&lt;br /&gt;
|-&lt;br /&gt;
| A10 || Left motor IN-B || To IN-B of H-bridge of left motor&lt;br /&gt;
|-&lt;br /&gt;
| A9 || Right motor IN-B || To IN-B of H-bridge of right motor&lt;br /&gt;
|-&lt;br /&gt;
| B2 || Left motor IN-A || To IN-A of H-bridge of left motor&lt;br /&gt;
|-&lt;br /&gt;
|}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=File:PCB-vacuum-back.png&amp;diff=13201</id>
		<title>File:PCB-vacuum-back.png</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=File:PCB-vacuum-back.png&amp;diff=13201"/>
		<updated>2023-04-10T19:10:31Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Vacuum-cleaning robot&amp;#039;s PCB, bottom-side.&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;Vacuum-cleaning robot&#039;s PCB, bottom-side.&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13200</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13200"/>
		<updated>2023-04-10T19:09:57Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Added more pics of the PCB&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
= Plan =&lt;br /&gt;
&lt;br /&gt;
* Reverse-engineer the robot&#039;s PCB&lt;br /&gt;
* Replace the MCU with a custom controller&lt;br /&gt;
* Set up a Pi with ROS + nav-stack&lt;br /&gt;
* Write a ROS driver to link to said custom controller&lt;br /&gt;
* Make an initial 2D map of the space&lt;br /&gt;
* Write a ROS driver to act as a bot in the space&#039;s IRC&lt;br /&gt;
&lt;br /&gt;
This should be enough to get some basic behaviour.&lt;br /&gt;
&lt;br /&gt;
== Extensions ==&lt;br /&gt;
&lt;br /&gt;
Lost more could be done.&lt;br /&gt;
&lt;br /&gt;
* There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.&lt;br /&gt;
* There is a horn, could be linked to a camera to horn at people that don&#039;t get out of the way.&lt;br /&gt;
* A camera on the front of SpaceVacuum that streams live on YouTube/Twitch&lt;br /&gt;
* Add your silly idea to this list&lt;br /&gt;
&lt;br /&gt;
= Progress =&lt;br /&gt;
&lt;br /&gt;
Currently busy with step 1, RE&#039;ing the PCB. &lt;br /&gt;
&lt;br /&gt;
== Reverse-engineering ==&lt;br /&gt;
&lt;br /&gt;
The robot&#039;s PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.&lt;br /&gt;
&lt;br /&gt;
* MCU: STM32F030C8&lt;br /&gt;
* H-bridges: PT5126&lt;br /&gt;
* Comparators: LM393 (function not known to this day)&lt;br /&gt;
* Step-down DC-DC: A5268&lt;br /&gt;
* Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)&lt;br /&gt;
* MOSFETs: STP4435&lt;br /&gt;
&lt;br /&gt;
The bumper sensors are IR phototransistors (for durability, perhaps?)&lt;br /&gt;
The motor encoders are also optical, and very high-precision (Hz / m: TBD)&lt;br /&gt;
&lt;br /&gt;
&amp;lt;gallery&amp;gt;&lt;br /&gt;
PCB-vacuum-overlay.png&lt;br /&gt;
PCB-vacuum-front.png&lt;br /&gt;
PCB-vacuum-back.png&lt;br /&gt;
&amp;lt;/gallery&amp;gt;&lt;br /&gt;
&lt;br /&gt;
=== MCU pin-out ===&lt;br /&gt;
&lt;br /&gt;
{| class=wikitable&lt;br /&gt;
|-&lt;br /&gt;
! Pin !! Function !! Description &lt;br /&gt;
|-&lt;br /&gt;
| B7 || Left motor IN-A || To IN-A of H-bridge of left motor&lt;br /&gt;
|-&lt;br /&gt;
|}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=File:PCB-vacuum-front.png&amp;diff=13199</id>
		<title>File:PCB-vacuum-front.png</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=File:PCB-vacuum-front.png&amp;diff=13199"/>
		<updated>2023-04-10T19:09:00Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Vacuum-cleaning robot&amp;#039;s PCB, top-side.&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;Vacuum-cleaning robot&#039;s PCB, top-side.&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=File:PCB-vacuum-overlay.png&amp;diff=13198</id>
		<title>File:PCB-vacuum-overlay.png</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=File:PCB-vacuum-overlay.png&amp;diff=13198"/>
		<updated>2023-04-10T19:06:03Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Vacuum-cleaning robot&amp;#039;s PCB, overlay of back and front&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;Vacuum-cleaning robot&#039;s PCB, overlay of back and front&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13197</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13197"/>
		<updated>2023-04-10T19:02:28Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: &lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
= Plan =&lt;br /&gt;
&lt;br /&gt;
* Reverse-engineer the robot&#039;s PCB&lt;br /&gt;
* Replace the MCU with a custom controller&lt;br /&gt;
* Set up a Pi with ROS + nav-stack&lt;br /&gt;
* Write a ROS driver to link to said custom controller&lt;br /&gt;
* Make an initial 2D map of the space&lt;br /&gt;
* Write a ROS driver to act as a bot in the space&#039;s IRC&lt;br /&gt;
&lt;br /&gt;
This should be enough to get some basic behaviour.&lt;br /&gt;
&lt;br /&gt;
== Extensions ==&lt;br /&gt;
&lt;br /&gt;
Lost more could be done.&lt;br /&gt;
&lt;br /&gt;
* There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.&lt;br /&gt;
* There is a horn, could be linked to a camera to horn at people that don&#039;t get out of the way.&lt;br /&gt;
* A camera on the front of SpaceVacuum that streams live on YouTube/Twitch&lt;br /&gt;
* Add your silly idea to this list&lt;br /&gt;
&lt;br /&gt;
= Progress =&lt;br /&gt;
&lt;br /&gt;
Currently busy with step 1, RE&#039;ing the PCB. &lt;br /&gt;
&lt;br /&gt;
== Reverse-engineering ==&lt;br /&gt;
&lt;br /&gt;
The robot&#039;s PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.&lt;br /&gt;
&lt;br /&gt;
* MCU: STM32F030C8&lt;br /&gt;
* H-bridges: PT5126&lt;br /&gt;
* Comparators: LM393 (function not known to this day)&lt;br /&gt;
* Step-down DC-DC: A5268&lt;br /&gt;
* Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)&lt;br /&gt;
* MOSFETs: STP4435&lt;br /&gt;
&lt;br /&gt;
The bumper sensors are IR phototransistors (for durability, perhaps?)&lt;br /&gt;
The motor encoders are also optical, and very high-precision (Hz / m: TBD)&lt;br /&gt;
&lt;br /&gt;
&amp;lt;gallery&amp;gt;&lt;br /&gt;
PCB-vacuum-overlay.png&lt;br /&gt;
&amp;lt;/gallery&amp;gt;&lt;br /&gt;
&lt;br /&gt;
=== MCU pin-out ===&lt;br /&gt;
&lt;br /&gt;
{| class=wikitable&lt;br /&gt;
|-&lt;br /&gt;
! Pin !! Function !! Description &lt;br /&gt;
|-&lt;br /&gt;
| B7 || Left motor IN-A || To IN-A of H-bridge of left motor&lt;br /&gt;
|-&lt;br /&gt;
|}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13195</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13195"/>
		<updated>2023-04-10T18:58:59Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: &lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
&lt;br /&gt;
= Plan =&lt;br /&gt;
&lt;br /&gt;
* Reverse-engineer the robot&#039;s PCB&lt;br /&gt;
* Replace the MCU with a custom controller&lt;br /&gt;
* Set up a Pi with ROS + nav-stack&lt;br /&gt;
* Write a ROS driver to link to said custom controller&lt;br /&gt;
* Make an initial 2D map of the space&lt;br /&gt;
* Write a ROS driver to act as a bot in the space&#039;s IRC&lt;br /&gt;
&lt;br /&gt;
This should be enough to get some basic behaviour.&lt;br /&gt;
&lt;br /&gt;
== Extensions ==&lt;br /&gt;
&lt;br /&gt;
Lost more could be done.&lt;br /&gt;
&lt;br /&gt;
* There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.&lt;br /&gt;
* There is a horn, could be linked to a camera to horn at people that don&#039;t get out of the way.&lt;br /&gt;
* Add your silly idea to this list&lt;br /&gt;
&lt;br /&gt;
= Progress =&lt;br /&gt;
&lt;br /&gt;
Currently busy with step 1, RE&#039;ing the PCB. &lt;br /&gt;
&lt;br /&gt;
== Reverse-engineering ==&lt;br /&gt;
&lt;br /&gt;
The robot&#039;s PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.&lt;br /&gt;
&lt;br /&gt;
* MCU: STM32F030C8&lt;br /&gt;
* H-bridges: PT5126&lt;br /&gt;
* Comparators: LM393 (function not known to this day)&lt;br /&gt;
* Step-down DC-DC: A5268&lt;br /&gt;
* Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)&lt;br /&gt;
* MOSFETs: STP4435&lt;br /&gt;
&lt;br /&gt;
The bumper sensors are IR phototransistors (for durability, perhaps?)&lt;br /&gt;
The motor encoders are also optical, and very high-precision (Hz / m: TBD)&lt;br /&gt;
&lt;br /&gt;
&amp;lt;gallery&amp;gt;&lt;br /&gt;
PCB-vacuum-overlay.png&lt;br /&gt;
&amp;lt;/gallery&amp;gt;&lt;br /&gt;
&lt;br /&gt;
=== MCU pin-out ===&lt;br /&gt;
&lt;br /&gt;
{| class=wikitable&lt;br /&gt;
|-&lt;br /&gt;
! Pin !! Function !! Description &lt;br /&gt;
|-&lt;br /&gt;
| B7 || Left motor IN-A || To IN-A of H-bridge of left motor&lt;br /&gt;
&amp;lt;gallery&amp;gt;&lt;br /&gt;
Example.jpg|Caption1&lt;br /&gt;
Example.jpg|Caption2&lt;br /&gt;
&amp;lt;/gallery&amp;gt;&lt;br /&gt;
  &lt;br /&gt;
|-&lt;br /&gt;
|}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13194</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13194"/>
		<updated>2023-04-10T18:50:30Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Added PCB details&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
&lt;br /&gt;
= Plan =&lt;br /&gt;
&lt;br /&gt;
* Reverse-engineer the robot&#039;s PCB&lt;br /&gt;
* Replace the MCU with a custom controller&lt;br /&gt;
* Set up a Pi with ROS + nav-stack&lt;br /&gt;
* Write a ROS driver to link to said custom controller&lt;br /&gt;
* Make an initial 2D map of the space&lt;br /&gt;
* Write a ROS driver to act as a bot in the space&#039;s IRC&lt;br /&gt;
&lt;br /&gt;
This should be enough to get some basic behaviour.&lt;br /&gt;
&lt;br /&gt;
== Extensions ==&lt;br /&gt;
&lt;br /&gt;
Lost more could be done.&lt;br /&gt;
&lt;br /&gt;
* There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.&lt;br /&gt;
* There is a horn, could be linked to a camera to horn at people that don&#039;t get out of the way.&lt;br /&gt;
* Add your silly idea to this list&lt;br /&gt;
&lt;br /&gt;
= Progress =&lt;br /&gt;
&lt;br /&gt;
Currently busy with step 1, RE&#039;ing the PCB. &lt;br /&gt;
&lt;br /&gt;
== Reverse-engineering ==&lt;br /&gt;
&lt;br /&gt;
The robot&#039;s PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.&lt;br /&gt;
&lt;br /&gt;
* MCU: STM32F030C8&lt;br /&gt;
* H-bridges: PT5126&lt;br /&gt;
* Comparators: LM393 (function not known to this day)&lt;br /&gt;
* Step-down DC-DC: A5268&lt;br /&gt;
* Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)&lt;br /&gt;
* MOSFETs: STP4435&lt;br /&gt;
&lt;br /&gt;
&amp;lt;gallery&amp;gt;&lt;br /&gt;
PCB-vacuum-overlay.png&lt;br /&gt;
&amp;lt;/gallery&amp;gt;&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13193</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13193"/>
		<updated>2023-04-10T18:38:17Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Added initial plan&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
This page is just a stub and will get expanded soon.&lt;br /&gt;
&lt;br /&gt;
&lt;br /&gt;
= Plan =&lt;br /&gt;
&lt;br /&gt;
* Reverse-engineer the robot&#039;s PCB&lt;br /&gt;
* Replace the MCU with a custom controller&lt;br /&gt;
* Set up a Pi with ROS + nav-stack&lt;br /&gt;
* Write a ROS driver to link to said custom controller&lt;br /&gt;
* Make an initial 2D map of the space&lt;br /&gt;
* Write a ROS driver to act as a bot in the space&#039;s IRC&lt;br /&gt;
&lt;br /&gt;
This should be enough to get some basic behaviour.&lt;br /&gt;
&lt;br /&gt;
= Extensions =&lt;br /&gt;
&lt;br /&gt;
Lost more could be done.&lt;br /&gt;
&lt;br /&gt;
* There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.&lt;br /&gt;
* There is a horn, could be linked to a camera to horn at people that don&#039;t get out of the way.&lt;br /&gt;
* Add your silly idea to this list&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13192</id>
		<title>SpaceVacuum</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=SpaceVacuum&amp;diff=13192"/>
		<updated>2023-04-10T18:28:44Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: The purpose of this project is to give more intelligence to one of the robot vacuum cleaners found at the space, connect it to the space&amp;#039;s IRC, possibly using it for funny things as well.&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Project&lt;br /&gt;
|Name=SpaceVacuum&lt;br /&gt;
|Skills=Electronics, Robotics, ROS,&lt;br /&gt;
|Status=Active&lt;br /&gt;
|Niche=Yes&lt;br /&gt;
|Purpose=Clean and tidy HAAHAHA space&lt;br /&gt;
|Tool=No&lt;br /&gt;
|Location=Around the space&lt;br /&gt;
|Cost=Not a lot&lt;br /&gt;
|Category=Electronics&lt;br /&gt;
}}&lt;br /&gt;
In the (false) hope that this will help keep the space cleaner, this project aims at performing a brain-transplant to one of the robot vacuum cleaners at the space to improve its ability to navigate and connect it to the space&#039;s IRC.&lt;br /&gt;
&lt;br /&gt;
This page is just a stub and will get expanded soon.&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
	<entry>
		<id>https://nurdspace.nl/index.php?title=User:Giorg10&amp;diff=13152</id>
		<title>User:Giorg10</title>
		<link rel="alternate" type="text/html" href="https://nurdspace.nl/index.php?title=User:Giorg10&amp;diff=13152"/>
		<updated>2023-04-01T15:29:47Z</updated>

		<summary type="html">&lt;p&gt;Giorg10: Created page with &amp;quot;{{Members |Nickname=Gio |Memberstatus=member |CallSign=ZER0_G }}&amp;quot;&lt;/p&gt;
&lt;hr /&gt;
&lt;div&gt;{{Members&lt;br /&gt;
|Nickname=Gio&lt;br /&gt;
|Memberstatus=member&lt;br /&gt;
|CallSign=ZER0_G&lt;br /&gt;
}}&lt;/div&gt;</summary>
		<author><name>Giorg10</name></author>
	</entry>
</feed>