Colin

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Projects

Raspberry Beret

      • IMPORTANT!!! Cover the bottom of the ADC and Encoder headers with electrical tape to avoid shorting them on the USB ports of the Pi!!!
This is a cape for the Raspberry Pi that contains helpful inputs for robotic systems control. It has a dual H-Bridge motor driver, dual encoder readers, and a 10-bit ADC.

Beret.png

PINS:
ADC (SPI0): 
  CS=26
  DI=19
  DO=21
  SCK=23
H-Bridge:
  IN_LOW1=16
  IN_LOW2=15
  IN_LOW3=13
  IN_LOW4=11
  PWM_LOW_A=33
  PWM_LOW_B=12
Encoder Readers (SPI1):
  MOSI=38
  MISO=35
  SCK=40
  CS1=36
  CS2=37

To enable SP1, go to boot/overlays.txt and add

   dtoverlay=spi1-2cs,cs0_pin=16,cs1_pin=26

This enables SPI1 with 2CS pins, and selects GPIO pins 16 and 26 as the CS pins. To enable SPI0, just

   sudo raspi-config 

go to interfacing and enable SPI

Code for ADC at http://raspberrypi-aa.github.io/session3/spi.html
Code for the motor driver and encoder readers can be found below in the robot code section


Analog Sound Board

The analog sound board, designed by Mauricio de Oliveira with PCB layout by Colin Zyskowski, consists of a preamp
with AC- or DC-coupled outputs, a signal summer and subtractor, an envelope detector, and a threshold detector. The center of the board contains a patching
section that allows any stage of the board to be routed to any other. The purpose of the board is to perform analog signal analysis and
to easily interface with digital micro-controllers.


  • Schematics
Preamp:

Preamp.png

Envelope Detector:

Env Det.png


    • PCB

SoundBoard.png

    • Documentation

Robot Code

  1. Robot Code
    • As of 03/16/16
The following code is the present state of programming for the sound-detecting robots.
The code consists of two main parts right now - a server and a client. The robot runs the
client code that sends information regarding it's position and physical/sonic environment
to the server. The server then creates a graphic map of that robot's environment. The
third bit of code is the module for the HMC5883l magnetometer that is being incorporated
into the odometry system for the robot. So far, everything runs in Python on a Beaglebone Black.
1. File:Robut1.py
2. File:Robot server3.py
3. File:Magnet.py

Robot Notes1.png