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Version vom 15. Mai 2012, 13:14 Uhr

Hallo und willkommen auf meiner Seite!!!1!1!11

Was ich so mache

  • Ich bastele gelegentlich an Robotern, siehe unten
  • Ich programmiere manchmal Animationen für die Borgs
  • Alle farbigen Borgs haben Plasmaeffekte von mir :-)
  • Ich habe an der rfm12lib, dem rfm12usb und dem rfm12 Bootloader mitgebastelt..
    ausserdem benutze ich rfm12s in meinen Projekten
  • Ich bringe Design in das Wiki!
  • Ich habe schon mal ein Kind gelötet...
  • Manchmal helfe ich bei der Labortage Orga
  • Ich pflege die Sourcecodes des CAN-Gateway und des Cand
  • Ich habe eine experimentelle Steuerung für die Lernroboterarme im Labor gebaut..
    .. aber nirgends dokumentiert, keinen source hochgeladen und die Platine mit handschriftlichem Schaltplan zuhause.. shame on me ^^
  • .. äh, das gleiche gillt für einen Tschibo Staubsaugerroboter... damnit, I see a pattern here...


Spannende Links


Brainstorming


Mein(e) Robo(s)

Hansis Roboter

Rechts sieht man mein aktuelles Roboterprojekt, den Shr0dBot.

Vielen Dank an Mati für das Foto!


Kunst im Lab

Das habe ich mal gemalt, als ich die bunte Kreide fand.

Tafel


VacuBot

==== MOTORCTRL ATMEGA8 PIN CONFIGURATION ====

Names in () are or were planned.
Pins marked with [in] are inputs, whilst the ones marked with [out] are outputs.
All other pins make use of their respective special function(s).


** GENERIC
XTAL1,2	- 16MHZ, no capacitors
VCC,
AVCC    - +5V, 100nF
GND	- COMMON GROUND


** PORT B
0 - VACCUUM CLEANER DRIVE ON/OFF [out]
1 - PWM MOTOR 1 [OC1A]
2 - ISP [SPI SS], PWM MOTOR 2 [OC1B]
3 - ISP [SPI MOSI], WHEEL/MOTOR 1 LIFTOFF DETECTOR [in, int. pullup]
4 - ISP [SPI MISO], WHEEL/MOTOR 2 LIFTOFF DETECTOR [in, int. pullup]
5 - ISP [SPI SCK], FRONT LIFTOFF DETECTOR [in, int. pullup]
6 - XTAL1
7 - XTAL2

** PORT C
0 - BATTERY POWER DIVIDER (1nF load) [ADC0]
1 - MOTOR 1 CURRENT MEASUREMENT (capacitive load?) [ADC1]
2 - MOTOR 2 CURRENT MEASUREMENT (capacitive load?) [ADC2]
3 - ACCU LOADER ON/OFF [out]
4 - TWI SLAVE [SDA]
5 - TWI SLAVE [SCL]
6 - RESET


** PORT D
0 - MOTOR 2 FORWARD [out]
1 - MOTOR 2 REVERSE [out]
2 - ENCODER A [in]
3 - ENCODER B [in]
4 - MOTOR 1 FORWARD [out]
5 - MOTOR 1 REVERSE [out]
6 - BRUSH DRIVE 1 ON/OFF [out]
7 - BRUSH DRIVE 2 ON/OFF [out]


** FREE
PD6, PD7


==== MOTORCTRL MISC STUFF ====

* Encoder IR-Diodes 1k ?? (re-evaluate)
* How to connect phototransistors? I can remeber they had 1k resistors on em. (See on orig. board)
* Use 1/8th Voltage divider (14.4 / 8 = 1.6V -> 12 cells * 1.5V max = 18V -> 18/8 = 2,25V)
* Use logic level fets for vacuum and brush motor turnon/off
* Reverse engineer loader circuit, reuse relais if it could cut loader power
* Use L6202 motor driver ICs
* Motor current:
** Blocked motor draws max. ~800mA
** Normal operation ~350mA
** 0.1 ohm current sense resistors
** Max ~80mV sense voltage
** ~35mV in normal operation
** 25 times amplification to use with adc @ 2.56V internal reference
** Use lm358 opamp
* What do the two diodes @ current sense / gnd do?
* atmega input with pullup -> encoder phototransistors -> 4,7k -> gnd

They used:
* L289 for motor control
* 14.4V motor power
* LM2565T switching power supply for logic
* IR-led + phototransistor for encoders
** 14.4V+1K for leds
** ~2.3V / 11mA for leds 
** Try 220ohm @ 5V (should be around 12-13mA)
** Phototransistors are pulled up by 10k or something (one has 10k, one has something else)

==== MAINBOARD SPECS ====

* Use the fat 128k flash / 16k ram 40pin DIP Atmega
* Probably use a switched power supply -> ask peter for that chip
* Think of creative use for the big fat atmel
* Use rfm12


Hansinator's MotorCTRL Board

  • Both L6202 are correctly connected to motor and atmega
    • Need a solution for current sensing

svn notizen

someday this needs to be patched to use crc and stuff, as in trunk
./src-atmel/automatization2.0/cand/branch/usb_support/

ask sören about branch -> delete
./src-host/src/cand-ucspi_tcp/config.h:8:#define UART_HOST

ask peter which source is for moodbar (src-atmel/theke or src-atmel/moodbar)
-> one is crap, the other doesn't work...

ask peter about ruby lapd

bash the sources


# grep for stuff
grep -Hirn UART_HOST . | grep config | grep -v svn > uarthost.txt

# print all files in uarthost.txt (grep output)
for i in $( gawk -F : '{ print $1 }' uarthost.txt ); do echo $i; done

# remove all occurences of uart host define in files
for i in $( gawk -F : '{ print $1 }' uarthost.txt ); do sed -e '/#define UART_HOST/d' < $i > $i.new; done
for i in $( gawk -F : '{ print $1 }' uarthost.txt ); do mv $i.new $i; done

# revert files...
for i in $( gawk -F : '{ print $1 }' uarthost.txt ); do svn revert $i; done

reichelt temp

 Name           Bestellnummer                  Bauteil                  E-Preis     Anzahl    G-Preis
 ----------------------------------------------------------------------------------------------------
 Hansi         LM 75 SMD                      Sensor                     1.45€        4        5.80 €
 Hansi         SHS A5                         Sensor                     7,30€        1        7,30 €
 Hansi         TSIC 206 TO92                  Sensor                     4,20€        1        4,20 €
 Hansi         A 906013                       Widerstand                 0,95€        4        3,80 €
 Hansi         BA 282                         Diode                      0,06         5        0,29 €
 Hansi         BAX 16                         Diode                      0,05         5        0,25 €
 Hansi         BAY 93                         Diode                      0,05         5        0,25 €

1µH, 10µH, 50µH, 470µH, 10mH