Tiny Tim
@ July 15, 2009
Scripted driving for testing and finetuning motor control
- Actuators / output devices: Lego Technic 8287 motors
- Control method: autonomous
- CPU: Atmel ATtiny26P
- Power source: 7.2 V LI-ION 1100 mAh battery
- Programming language: C
- Target environment: indoor, DTU RoboCup
This is my supposed entry for the 2010 DTU Robocup challenge. The body is made from LEGO Technic bricks from the Robotics Invention System (the old MINDSTORMS set) and from two 8287 Technic motors that are used in some of LEGO's R/C buggies. The electronics are homemade on a perforated board and basically consist of voltage regulation circuitry, two motor driver circuits and an ISP connection for programming the robot. Check out the schematic for more details.
The current video is where I test out how the robot drives - which it does kind of like Evil Knievel! This robot uses a new kind of skid-steering where the wheels fly right off the axles :-)
@ Sun, 2010-02-07 16:50
Hey, how about a ramp for
Hey, how about a ramp for this? I'd like to see some jumps!
http://letsmakerobots.com/node/16405
@ Mon, 2010-02-08 02:03
I'm sorry frits, revenge
@ Mon, 2009-08-03 00:46
man that thing is fast!!
@ Mon, 2009-08-03 12:40
I ain't scared of no ghost... erh... crash
@ Fri, 2009-07-17 09:22
wow! very fast little
wow! very fast little beast!!
Nice to see Lego Technics here ;)
@ Thu, 2009-07-16 17:15
Wow I think this is the
Wow I think this is the first robot I`ve seen that forcibly tries to disassemble itself. Maybe it had an itch it couldn`t reach!
I`m interested in the motor driver schematic. How does it work tying the gates together? I thought that would just short the battery?
@ Fri, 2009-07-17 11:40
Well I'm not a professor on
Well I'm not a professor on the subject of MOSFETs but I watched some video lectures from MIT's 6.002 electronics course where professor Agarwal pointed out that CMOS-logic works by tying the gates of the complementary MOSFETs together. I think maybe you'd have to make sure that the MOSFET threshold voltage and your supply voltage are within certain boundaries to avoid too much shoot-through (shorting the battery) but I'm really just guessing here.
Regarding the robot and the itch it succeeded in reaching it yesterday where it broke one of its wheels. The wheel hub broke when colliding with the leg of the couch :-).
@ Thu, 2009-07-16 20:49
Hey, that's a good
@ Fri, 2009-07-17 08:47
Here ya go
@ Thu, 2009-07-16 00:41
Fast fck!Looking forward to
Fast fck!
Looking forward to see it do line following at that speed!