RoboNova 1

Hardware Capabilities

MR-3024C Microcontroller 24 servo / PWM output

interfaces 8 8-bit A/D channels TTL serial @ 115200 baud Onboard piezo speaker for

tone generation

HMI 8598 Servos (6V) 300 deg/s max speed 7.4 kgf-cm @ 1.2A Digital interface

RoboBasic Programming

Strengths Simple syntax & structure Servo control & timing Canned routines for stock sensors

Limitations Slow instruction execution (.5-2ms) Move command does not accept

variables Limited compound arithmetic

External Command Interface

Interactive motor positioning

Bluetooth / serial interface

IR remote control

Stock Sensors

Rate Gyros ~6 bit resolution ~70Hz update

IR Distance 3cm-15cm

Touch sensor Contact (digital)

Sound Sensor >80dB detection

Expansion & Upgrades

Additional Analog Sensors Connect directly to A/D port Up to 7 sensors 8 bit resolution

Camera & Vision Insufficient processing power

for native implementation Compatible with CMU Cam’s

serial interface Music & Sound Detection

External device can be triggered by serial or digital IO

Feedback Control

Requirements & Delays Read sensor data (~1.5 ms

per sensor) Read servo position (~1 ms

per) Control algorithm on PC (.1-

1ms) Transmit & set motor positions

(~1.5ms per) Total time = 33 ms -> 30Hz

update

PC

Bluetooth/SPP

User Hacks

Replace processor to use C Successfully transplanted

virgin ATMega chip No libraries for servo control

18 DOF upgrade Allows hip rotation Improves turning

Grippers Allows grasping with

individual hands