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hmartiro / project-thesis

xJüs, the hexapodal robot with a passive-backbone to improve behavior over harsh terrain.
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Get our EduBot running #13

Closed hmartiro closed 11 years ago

hmartiro commented 11 years ago

There are lots of advantages to getting the EduBot running.

Waiting on Hal to give us code and CAD files, as well as the Ubuntu login/password.

PayneTrain commented 11 years ago

We need to get in touch with the grad student who worked on it, he has the code On Oct 5, 2012 1:50 PM, "Hayk Martirosyan" notifications@github.com wrote:

There are lots of advantages to getting the EduBot running.

Waiting on Hal to give us code and CAD files, as well as the Ubuntu login/password.

— Reply to this email directly or view it on GitHubhttps://github.com/hmartiro/project-thesis/issues/13.

PayneTrain commented 11 years ago

@Hughzie @boleary134 @towlett @hmartiro
When are we getting in touch with this grad student, i think at least some of use should meet up this Friday and play around with it some

hmartiro commented 11 years ago

I just took apart the edubot's electronics to see what all that stuff inside was. It looks something like this:

14.8V 2000mAh Lithium-Polymer battery connected to a battery circuit. That circuit supplies power to a really big and heavy power supply module, the HE104 from Tri-M. The HE104 is the base of the electronic stack on the EduBot. That power supply module presumably changes the voltage and does some safety stuff, and inputs power into the next board on the stack, which seems to be some sort of custom low-level control. This board has outputs to all of the motor modules, which presumably do PID control of whatever trajectories they get from it.

The control board has a massive 104 pin connection to the CPU, which is next on the stack. The CPU is an AMD Geode, which is an ancient piece of crap from 2001, but probably cost ~1500$. For a hard drive, it has a 4GB Transcend CompactFlash, which has Ubuntu 9.04 installed. Inserted into the PCI slot is a Broadcom wireless card BCM94318MPG .

The last board on the stack is a breakout board for the CPU. All of the CPU's ports like USB, S-Video, VGA, HDMI are connected to the breakout board, which in turn connects with the port plugins on the back of the robot. The Broadcom wireless card is connected to the antenna slot of the breakout board.

hmartiro commented 11 years ago

Also the way the motors are attached and the way the legs are attached is pretty nifty, so I would recommend disassembling a leg and looking at the way the parts fit before designing our own method

hmartiro commented 11 years ago

At this point we still have no idea how to access the EduBot. Ask Holmes again in the next meeting.

hmartiro commented 11 years ago

give up