andino_hardware

This package aims to provide the necessary information to the correct assembly of the robot.

Bill of Materials

When you gather all the parts, you should have the following (NOTE: the printed encoder wheels are no longer necessary, since the motors are equipped with an embedded encoder):

Tooling

Assembly Process

1. Screw the Motor Driver and the idler wheel to the lower chassis.

Here you have a front image of how the caster wheel are mounted to the chassis:

1. Screw the 3D printed parts for the Raspi Camera Module:

1. Add the Arduino Nano to the back of the lower part of the chassis. It should look like this:

1. Screw the Raspberry Pi and the DC-DC converter to the front of the lower part of the chassis:

1. Fix the powerbank to the back of the upper part of the chassis:

1. Add the RPLidar to the front of the upper part of the chassis:

1. Add the IMU (WIP)

1. Perform all the wiring following the Connections Diagram of both the upper and lower chassis. Note that some of the connections may need to be done by soldering the cables.

2. Join both chassis together, and complete the remaining wiring to have your robot ready:

Connection Diagram

Motor-Arduino

Some frequent errors:

• If one of the motors rotates in the opposite direction (think about the orientation of the motors in the chassis) probably the output(+ and -) of the L298N’s output should be toggled.
• When moving forward the encoder values should increase while moving backwards they should decrease. If it is happening the other way around probably the A and B encoder signals should be toggled.

Raspberry-Power

*NOTE: depending on the power bank maximum output current, the motors may need to be powered with a voltage value lower than 9V. While a higher voltage value (up to 9V) leads to smoother operation (better motor speed control), it also increases their open-loop speed, which is noticeable particularly during motion start and varies according to the power bank quality (output current capabilities). Therefore, adjusting the output voltage to lower values (around 7V) may be required so as to make the motors work as expected.

**NOTE: Ensure the ribbon cable is properly connected with the blue or silver side facing the USB ports.

Microcontroller Configuration

For uploading the microcontroller firmware please refer to andino_firmware package.

Single Board Computer (SBC)

The SBC used in this project is a Raspberry Pi 4b so the guidelines here will refer particularly to this family of on-board computers, however extending its use to other families is possible as well.

File truncated at 100 lines see the full file

Changelog for package andino_hardware

0.2.0 (2024-07-19)

• Camera info yaml (#231)
• Update andino_hardware README.md (#256)
• Update connections diagram (#252)
• Add new Arduino diagram (#249)
• Add a note about not updated diagram (#248)
• Update bill of materials (#241)
• Adds some clarifications about the installation process. (#199)
• Contributors: Agustin Alba Chicar, Franco Cipollone, Jesús Silva

0.1.0 (2023-10-09)

• Fixes USB port names (#143)
• Provides info about joy teleoperation. (#142)
• Adds package structures to firmware and hardware. (#133)
• Add STL models for the raspi camera mount (#75)
• Contributors: Franco Cipollone, Leo Neumarkt