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YOZAKURA

京都大学メカトロニクス研究室メンバー SHINOBI遠隔班 夜桜

#Settings ##Contec
CONTEC access point (yozakura side) admin:pass
IP Address: 192.168.54.225
IEEE802.11n (2.4 GHz) 10 channels
コンパチブルインフラストラクチャ
ESSID SHINOBI_TELE_YOZAKURA_10ch
WPA2-PSK(AES)
1:8

CONTEC station (opstn side) blank
IP Address: 192.168.54.220
IEEE802.11n (2.4GHz)
コンパチブルインフラストラクチャ
ESSID SHINOBI_TELE_YOZAKURA_10ch
WPA2-PSK(AES)
1:8

##PC
Operator Station PC
IP Address: 192.168.54.200

Robot PC (Rasberry Pi)
IP Address: 192.168.54.210

##Camera Access point for Ai-Ball
IP Address: 192.168.54.150
SSID elecom2g-d3f474
WPA2-PSK(AES)
3582988152694

AI-Ball for Arm
IP Address: 192.168.54.160

AI-Ball for Front body
IP Address: 192.168.54.161

AI-Ball for Back body
IP Address: 192.168.54.162

AI-Ball for Overview
IP Address: 192.168.54.163

Others

URG(UST-10LX)
IP Address: 192.168.54.170
ref:
https://www.hokuyo-aut.co.jp/02sensor/07scanner/ust_10lx_20lx.html
https://www.hokuyo-aut.co.jp/02sensor/07scanner/download/ust-10lx_spec.pdf
http://www.hokuyo-aut.co.jp/02sensor/07scanner/download/pdf/UST_protocol_ja.pdf
http://www.hokuyo-aut.co.jp/02sensor/07scanner/download/data/UrgBenri_ja.htm

#Wiring ##Raspberry Pi

RPi B+ Pinout Diagram

Connection Pin # Pin # Connection
3.3V bus 1 2
SDA bus to I2C devices 3 4
SDC bus to I2C devices 5 6
Motor RST bus 7 8 Left motor FF1
Ground bus 9 10 Left motor FF2
Right motor FF1 11 12 Left motor current sensor AL
Right motor FF2 13 14
Right motor current sensor AL 15 16 Battery current sensor AL
17 18
Right flipper FF1 19 20
Right flipper FF2 21 22 Left flipper FF1
Right flipper current sensor AL 23 24 Left flipper FF2
25 26 Left flipper current sensor AL

##mbed mbedLPC1768 Pinout Diagram

  • p19: Left flipper position ADC
  • p20: Right flipper position ADC
  • p23: Right flipper PWM
  • p24: Left flipper PWM
  • p25: Right motor PWM
  • p26: Left motor PWM
  • p27: Left motor DIR
  • p28: Right motor DIR
  • p29: Left flipper DIR
  • p30: Right flipper DIR

#Raspbian Setup

  • Setup I2C
  • Install Python 3.4
  • pip install PySerial RPi.GPIO smbus-cffi
  • Install RTIMULib
  • Clone Yozakura
  • Setup static IP
  • If the Base Station is running, run sudo python3 -m rpi