Controller
IFI Mini Robot Controller:
- Microchip 18F8520 PICmicro microcontroller: rated at 10 MIPS
- The digital input sampling frequency is 100KHz
- Analog input access time is 10mSec
- 16 digital/analog I/O pins
- 8 PWM outputs (2mSec - 17mSec)
C/C++ with Microchip's MPLab compiler
- RS232 serial port for programming (115kb)
- Memory space is 32K with
- Variable space of 1800 bytes
- 1024 bytes EE2
Sensors
- One digital infrared reflective sensor
- Can detect banner tape up to 12 feet away
- Two short range digital infrared sensor (B/W)
- Can detect high contrast color at short distances.
- Two infrared distance sensors
- Two wheel encoders
- One digital compass
Human Interface
TU STORM robots have other inputs for human interface. There are three digital switches used to set parameters for the autonomous program. A potentiometer designed for calibrating the sensors and trimming the R/C servos.
Motion
- Two dense foam wheels
- Powered by modified heavy duty R/C servos
- The PWM outputs from the controller are used to drive the R/C servos
- A plastic ball skid as a third point of contact to the terrain
- The robot can turn with a zero degree radius
Arms & Tools
The robot arm and pan and tilt