Latest revision as of 20:34, 12 April 2023

SpaceVacuum

Participants	Giorg10
Skills	Electronics, Robotics, ROS
Status	Active
Niche	Yes
Purpose	Clean and tidy HAAHAHA space
Tool	No
Location	Around the space
Cost	Not a lot
Tool category	Electronics

SpaceVacuum Property "Tool Image" (as page type) with input value "File:{{{Picture}}}" contains invalid characters or is incomplete and therefore can cause unexpected results during a query or annotation process. {{{Picture}}} {{#if:No | [[Tool Owner::{{{ProjectParticipants}}} | }} {{#if:No | [[Tool Cost::Not a lot | }}

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's IRC.

Plan

Reverse-engineer the robot's PCB
Replace the MCU with a custom controller
Set up a Pi with ROS + nav-stack
Write a ROS driver to link to said custom controller
Make an initial 2D map of the space
Write a ROS driver to act as a bot in the space's IRC

This should be enough to get some basic behaviour.

Extensions

Lost more could be done.

Add charging pads, make a charging station so it can charge itself
There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.
There is a horn, could be linked to a camera to horn at people that don't get out of the way.
A camera on the front of SpaceVacuum that streams live on YouTube/Twitch
Add your silly idea to this list

Progress

Currently busy with step 1, RE'ing the PCB.

Reverse-engineering

The robot's PCB is a very dense, and a 4-layer one... a bit of a PITA to RE, but it will slowly get done.

MCU: STM32F030C8
H-bridges: PT5126
Comparators: LM393 (function not known to this day)
Step-down DC-DC: A5268
Battery: 3S Lithium (originally 3x 18650 @ 2.2 Ah)
MOSFETs: STP4435

The bumper sensors are IR phototransistors (for durability, perhaps?) The motor encoders are also optical, and very high-precision (Hz / m: TBD)

MCU pin-out

Pin	Function	Description
A14	USART2 TX	Used to flash the chip
A15	USART2 RX	Used to flash the chip
B7	Left motor IN-A	To IN-A of H-bridge of left motor
A10	Left motor IN-B	To IN-B of H-bridge of left motor
A9	Right motor IN-B	To IN-B of H-bridge of right motor
B2	Right motor IN-A	To IN-A of H-bridge of right motor
B10	Right encoder	Optical encoder of right motor

@@ Line 11: / Line 11: @@
 }}
 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's IRC.
 = Plan =
@@ Line 28: / Line 27: @@
 Lost more could be done.
+* Add charging pads, make a charging station so it can charge itself
 * There are 3D cameras like the Kinect and D-Lite, these could be used to make/update a 3D map of the space.
 * There is a horn, could be linked to a camera to horn at people that don't get out of the way.
@@ Line 53: / Line 53: @@
 <gallery>
 PCB-vacuum-overlay.png
+PCB-vacuum-front.png
+PCB-vacuum-back.png
 </gallery>
@@ Line 60: / Line 62: @@
 |-
 ! Pin !! Function !! Description
+|-
+| A14 || USART2 TX || Used to flash the chip
+|-
+| A15 || USART2 RX || Used to flash the chip
 |-
 | B7 || Left motor IN-A || To IN-A of H-bridge of left motor
-<gallery>
+|-
-Example.jpg|Caption1
+| A10 || Left motor IN-B || To IN-B of H-bridge of left motor
-Example.jpg|Caption2
+|-
-</gallery>
+| A9 || Right motor IN-B || To IN-B of H-bridge of right motor
+|-
+| B2 || Right motor IN-A || To IN-A of H-bridge of right motor
+|-
+| B10 || Right encoder || Optical encoder of right motor
 |-
 |}