Hybrid Robot

This project has the tools to work on a balancing robot.

It has a simple simulation world and the tools to control the prototype robot.

Prerequisites

The whole project is though and designed to be used with ROS, it also uses Eigen3.4 to run the controller and Gazebo for the simulation.

• ROS
• Eigen3.4
• Gazebo
• Setup a Catkin environment.

It is important to at least install the velocity controllers for ROS to be able to use the package.

# Install all the controllers for the ROS-noetic version
sudo apt install ros-noetic-controller*

Used hardware

The hardware used on this project is the following:

• Nema 17 stepper motor: the motors that power the Hybrid Robot.
• UstepperS: the control board for the stepper motor.
• MG90s servo: the servo that controls the brakes.
• Raspberry Pi 4 (RPI): the onboard computer that controls everything.
• Arduino UNO: the board that controls the servos.
• GY-91: the IMU used.

Usage

To be able to use it, it is important to have built the catkin environment.

cd /path/to/catkin/workspace

# ROS noetic
catkin_make

Simulation

To simulate the robot, it is just a matter of running the launch file:

roslaunch hybrid_robot hybrid_robot.launch

It can be changed the nodes to run and run other nodes individually through the terminal or any other IDE.

The needed nodes to run the simulation are:

• The Vel_node as it has a way to control the wheels when it receives a message on the topic "_/HJC/Vel_robot/Setvelocity".
• The IMU_node which will provide the needed information from the simulated IMU.
• The controller that it is needed.

Real world

To be able to run the prototype it is needed to upload the following scripts into the robot:

• IMU_robot-1.py into the RPI.
• mpu9250.py into the RPI (it is needed for the IMU).
• registers.py into the RPI (it is needed for the IMU).
• wheel_robot.py into the RPI.
• wheel_HC_new.ino into both UstepperS.
• breakmodeteensy.ino into the Arduino UNO.

Diagrams

ROS node communication

Electronic schematic