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R.A.D.A.R, Hexapod
23/07/06
Well my birthday has just passed, and I am now the proud owner of an oopic II + mirocontroller, as well as an infrared communications module to interface with it. The oopic use the I2c bus which can interface with many different modules.
I have also ordered a dremmel style multitool for cutting and sanding my new robot parts.
29/09/06
Its been a while since I last updated.... I was doing a lot of DIY and other stuff over the holidays so had to put the project down for a while.
I am now back at Uni and officially into the project allocation time (many people are only just choosing their project!!). My next move will be to start a bit more research into other Recon robots. I shall also try and get all of the legs built soon.
04/02/07
No I haven't abandoned this project! I have been working so hard on it that I haven't had anytime for updates really. So whats been happening?
- Redesigned the legs for optimum lift and load dispersion
- Purchased the sensors and a PIC18F2420 to read the sesnors - why? well really the OOPic was overkill for this project, I wanted more of a challenge
- Been working on the circuit, with the help of Jo Charles, and now am happy enough to create PCB's
- Downloaded a PCB design program, WinQCad, its free for a limited version and seems excellent for my purpose
- Created PCB's for the motor drivers and the main circuit
- Learnt to program the PIC using a PICStart PLUS programmer and the C18 compiler with MPLAB
- Created a program which reads an electronic compass (CMPS03) and a thermal array (TPA81), both sensors utilise the I2C bus
So all in all, I have been very busy! I have not yet finished the chassis of the robot as my materials supplier didn't have what I needed in stock, and it has been very difficult to source the materials since.
I now have the materials on their way to me, so I can finish the chassis. Once the chassis is built, I shall finalise the resistor values for the main walking circuit.
Interfacing the PIC and walking circuit will be very easy, this is the beauty of a BEAM robot, it walks without processor control, but can be stopped, turned, and backed up with very simply PIC outputs!
I shall eventually post all the specifics here, circuits, PCB foils, and PIC code etc... they will all feature in my final thesis which shall also be posted here in PDF.
08/03/07
I have changed the design of the legs altogether. I have now made them in aluminium to reduce power requirements. I have completed the full chassis and added springs for natural centering as well as to ensure that RADAR stands up fine when not powered.
  
  
28/03/07
The build is complete.... well almost!
 
Ok so I am having a few minor problems with the motor drivers... I know the problem and will correct soon. At the moment the head is fully functional, when powered the robot will display choices on the LCD screen, you then use an IR remote (from a TV) to choose the functions. The robot currently will seek heat, light, compass bearings and detect obstacles.
The operation is simple... power the robot on and get some options. You can enter auto mode, or choose it to seek out light, heat, or to follow a compass bearing. RADAR will walk using BEAM principles and the PIC will only intervene to avoid obstacles, turn, or reverse. Heres some LCD screen shots:
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Hopefully I will get a chance to fix the PCB's this week, so some videos should be soon to follow!
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