My first programmable robot "WSTR1.3" [and videos]

[Windt H.J.]

Hello again!
Thanks for the interest!
I’ll try to answer the questions the best I can.

@PicNick
Versions 1.0 to 1.2 did use the GP2D12 sensor but the beam of this sensor is really narrow which means that scanning an area takes a lot of time (the robot must move slowly or the scan could miss a object).
I was hoping to speedup the time needed for scanning by using the SRF08, which it did.
The SRF08 has a really wide field of view (~ 65° @ ~26,5cm) which can be adjusted to give a narrower field of view (~39° @ ~26,5cm).
The narrower field of view gives a much better scan resolution but also means that objects close to the ground are missed.
Maybe by lowering the head and or adding a 2nd SRF08 aimed at an angle will solve this problem.

@tobimc
One motor running at full speed on a flat surface will pull about 1 amp but can peak to about 3 amps depending on the conditions (surface/ turning/ climbing).
This is still within the 5 amps that the MD22 can handle.
The MD22 has also an I2C interface which I really like, I love the I2C protocol! \/

The robot is not really for outdoor use because the electronics are exposed, maybe on a nice dry and sunny day I could test it outside.

@Florian
The angle of rotation is 360° in steps of 1.8°.
A full turn of 360° without scanning takes about 1,4 sec.
I only use the sensor tower to look around but I might need to add a sensor due to a problem explained above.
I have also mounted a CMPS03 on top of the head, this to keep it as far away from any magnetic fields from the drive motors ex. as possible.
The vertical angle is fixed.
I wanted to keep the head and tower as clean and simple as possible but still be interesting.

Greetings,
H.J. Windt

[Florian]

Hello H.J. Windt!
Thank you for these very interesting information! :o)

[tobimc]

HI!

Ah - Oh. Okay.

My problem whith these steppers is, that they can be turned when they are switched off.
Do you have a stop to callibrate the stepper?
Or how was your solution of the Problem?

Why do you turn the CMP whith the SRF?

best regards,
Tobi

[Windt H.J.]

Hello tobimc,

My problem whith these steppers is, that they can be turned when they are switched off.
Do you have a stop to callibrate the stepper?
Or how was your solution of the Problem?

Why do you turn the CMP whith the SRF?

You are correct; I use a micro-switch for calibrating the stepper.
The CMPS03 was placed on top because this is the highest point on the robot and also the middle of the bot and to keep it away from the drive motors.
The CMPS03 is only used for turning the bot.
Greetings/ Grüße,
H.J. Windt

[Dirk]

Hallo H.J.,

tolles Teil, dein Roboter!

Das wäre genau die Art von Roboter, den ich mir als Nachfolger des CCRP5, das war bei mir der Einstieg, vorstellen könnte.
Für mich käme dann der Umstieg von C-Control auf das RNBFRA Board in Frage. Ich werde wohl bald zum AVR wechseln. Nicht, weil der uC prinzipielle Vorteile gegenüber z.B. der CC2 hätte, sondern weil die Entwicklung eines ähnlichen Boards auf C-Control-Basis von CONRAD verschlafen wurde. Stattdessen gibt's da halbherzige (und teure) andere Roboter-Bausätze.

Also noch einmal: Tolle Leistung! Für mich sicher ein Vorbild für eine eigene Lösung.

Gruss Dirk

[raoul4]

hehe
ich bezweifle, dass dich Windt H.J. verstehen kann.....
mfg

[Windt H.J.]

Hello,
I can read some of the German language and I also use a translation website for Words that I don’t recognize.
Someday Conrad will probably stop with the C-Control system altogether and I will have to step over to something else I guess.
Here is also another picture of the “inside” showing the position of the drives and drive batteries.
Thanks for all the interest, comments and suggestions!
Greetings,
H.J. Windt
Glückliches neues Jahr zu jeder!

[sulu]

Hi,
this robot looks really good.
One question:
What kind of batteries did you use?

Thanks

[tobimc]

Hi!

Ah yes I see!
Is the switch exact enough to callibrate it exactly?
I'm a bit sceptic about these switchens...

Did you use any kind of tranceiver in your bot?

I think you used lead-acid batteries (is that the correct word?)?
I'm just trying Lithium Polymaer-Batteries. I bought one for 18€. It has 1200mAh, and is much smaller and lighter than my equivalent lead-acid battery.
The major disadvantage of this types of battery is, that you have to controll them all the time. But if the programm is written once (it is simple), they're fun.

best regards and a happy new year
Tobi

[Windt H.J.]

I’m using 2X 6V 3,0Ah Sonnenschein dryfit A300 lead-acid batteries connected for 12V.
I had these batteries lying around in my “laboratory”.
The motors can take 6V normal 9V max and I have a software restriction in place to prevent using the motors above 9 volts.

The micro switch is exact enough to calibrate the Stepper but I must mention that I am using the Stepper with full steps (no half steps or micro stepping).

I’m not using a transponder (have no need for it yet) but maybe in the future.

Until next time, Greetings,
H.J. Windt