{"id":539,"date":"2015-12-17T20:26:46","date_gmt":"2015-12-18T01:26:46","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/?page_id=539"},"modified":"2016-04-01T11:05:08","modified_gmt":"2016-04-01T15:05:08","slug":"actuator-control-board","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/actuator-control-board\/","title":{"rendered":"Actuator Control Board"},"content":{"rendered":"

The MALG takes in serial data from the Oculus Prime server node based on a fixed protocol. \u00a0Depending upon the data received, the MALG can carry out the following functions:<\/span><\/p>\n

    \n
  1. Move the platform by a given distance.<\/span><\/li>\n
  2. Turn on\/off lights, speakers etc.\u00a0\u00a0<\/span><\/li>\n
  3. Fuse data from encoders and gyro to relay accurate odometry data.<\/span><\/li>\n<\/ol>\n
    \"\"

    MALG PCB<\/p><\/div>\n

     <\/p>\n

    There were a couple of problems with the MALG that required a custom board to be made. \u00a0The first problem arose from a functional requirement (MF.11) that of the platform to be non-holonomic in nature. \u00a0The default firmware is such that the platform can execute only one-dimensional motions and thus reach different positions only by turning on its axis. \u00a0The firmware was modified to include \u201carc-turns,\u201d which better simulate the turning of a car. \u00a0However, the minimum turning radius that can be achieved by these stock motors is about 0.6m.<\/span><\/p>\n

     <\/p>\n

    \"Selection_017\"<\/a>

    Motor Driver<\/p><\/div>\n

    \"Selection_016\"

    Back of Custom-Made Board<\/p><\/div>\n

    \"Selection_015\"<\/a>

    Front of Custom-Made Board<\/p><\/div>\n

    The second problem arose when one of the USB hubs malfunctioned and took out the MALG connected to its USB port. The MALG, being an ATMega 328 based board, was replaced by a custom-made board and a motor driver, which mimic the functionality of the MALG, barring the external gyroscope. This problem has been resolved in the Spring semester.\u00a0New MALG PCBs were procured which are now integrated with both functional platforms.<\/p>\n

     <\/p>\n

     <\/p>\n","protected":false},"excerpt":{"rendered":"

    The MALG takes in serial data from the Oculus Prime server node based on a fixed protocol. \u00a0Depending upon the data received, the MALG can carry out the following functions: Move the platform by a given distance. Turn on\/off lights, speakers etc.\u00a0\u00a0 Fuse data from encoders and gyro to relay accurate odometry data.   There
    + Read More<\/a><\/p>\n","protected":false},"author":8,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"template_parts\/page-fullwidth_template.php","meta":{"footnotes":""},"class_list":["post-539","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/pages\/539","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/comments?post=539"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/pages\/539\/revisions"}],"predecessor-version":[{"id":791,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/pages\/539\/revisions\/791"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teami\/wp-json\/wp\/v2\/media?parent=539"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}