Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles...
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Transcript of Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles...
![Page 1: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/1.jpg)
Software-Hardware mapping
in a Robot Design
Software-Hardware mapping
in a Robot DesignPavol Jusko, David Obdrzalek, Tomas Petrusek
Charles University, PraguePavol Jusko, David Obdrzalek, Tomas Petrusek
Charles University, Prague
![Page 2: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/2.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Introduction
• MART Robotic Team
• How we improved the design and the implementation of our robot
• Built from scratch, then improved
• PC based
• Software - Hardware mapping
![Page 3: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/3.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Agenda
• Original design• Hardware• Software• Pros and Cons
• New design• Hardware changes• Hardware modules• Software changes
• Conclusion
![Page 4: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/4.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
First idea
• One MCU controlling all peripherals
• RS-232 – Serial Port
• Packet oriented protocol
![Page 5: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/5.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Software design
• What we wanted
• universal software
• for universal robot
• with any kind of hardware
• Layered design
• Communication layer
• Hardware abstraction layer
• Smart layer
![Page 6: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/6.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Com
mun
icat
ion
laye
r
Group“Bios”
- Packets- Bridge between HW and SW...
Sm
art l
ayer
Other inputs(camera, user)
Output to screen
GroupBrain
- Objectives- Decisions- Driving and guiding the robot...
HW
abs
trac
tion
laye
rGroupDriver
- Motors- LEDs...
GroupLocalizer
- Encoders- Compass- Calculate position...
Rea
l har
dwar
e
a11
a223
a34
a4
b1b2b3b4
5678
a11
a223
a34
a4
b1b2b3b4
5678
RS-232
![Page 7: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/7.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Pros and Cons• Pros
• Easy to create
• Worked well on two contests
• Eurobot 2007
• Robotour 2007
![Page 8: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/8.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Pros and Cons
• Cons
• “Hardcoded” solution
• Packet handling is not maintainable
• Hard to extend
• MCU limitations
RS-232
MCU 1
Motor 1
SW Panel
Motor 2
Encoder 1
MCU 2
Encoder 2
I2C - Compass
A/D - Battery meter
LED Panel
Splitter
Computer(with COM port)
![Page 9: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/9.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Hardware changes
• Removed one-to-one concept
• Bus topology
• I2C high speed bus with SMBus
• USB to I2C bridge
• Independent modules on the bus
USB I2C bus
Motor 1Encoder 1
Control panelButtons & LEDs
Motor 2Encoder 2
CompassMotor 3
...USB to I2Cbridge
New modulesComputer
(with USB port)
![Page 10: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/10.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
HBmotor board
• MCU (Atmel AVR)
• H-Bridge
• Encoders
• Switches
![Page 12: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/12.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Sm
art l
ayer
Other inputs(camera, user)
Output to screen
GroupBrain
- Objectives- Decisions- Driving and guiding the robot...
HW
abs
trac
tion
laye
r
...Other modules
GroupRangeFinder
- Moving average- Value correction
GroupDriver
- Motors- LEDs...
GroupLocalizer
- Encoders- Compass- Calculate position...
Com
mun
icat
ion
laye
r
...Other modulesGroupRangeFinder
- Request and read distance
GroupCompass
- Heading
GroupMotorLeft
- Motor 1- Encoder 1- Bumper 1
GroupMotorRight
- Motor 2- Encoder 2- Bumper 2
Scheduler
Ker
nel
Files created by Linux Kernel modules for I2C devices
Device 1 Device 2 ... Device N
Rea
l har
dwar
e USB to I2C
Individual I2C modules
...1 2 N
![Page 13: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/13.jpg)
MART Robotic Team, http://mart.matfyz.cz, [email protected]
Conclusion
• More universal design
• Better maintainability
• Better extendibility
• Easier changes
• More possibilities for the future
![Page 14: Software-Hardware mapping in a Robot Design Pavol Jusko, David Obdrzalek, Tomas Petrusek Charles University, Prague Pavol Jusko, David Obdrzalek, Tomas.](https://reader033.fdocuments.in/reader033/viewer/2022051314/5517820b5503463e368b5203/html5/thumbnails/14.jpg)
Thank you for your timeQuestions?
Thank you for your timeQuestions?
Pavol Jusko, David Obdrzalek, Tomas PetrusekCharles University, Prague
Pavol Jusko, David Obdrzalek, Tomas PetrusekCharles University, Prague
http://mart.matfyz.cz, [email protected]://mart.matfyz.cz, [email protected]