Commit 68dc888f authored by minihausted1994 undefined's avatar minihausted1994 undefined Committed by node
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Update on Overleaf.

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### Changes made to the Desktop Robotti V.2 due to incompatible components.
- Steering motors changed due to not producing enough torque to turn front wheels
- New steering motors was incompatible with old shaft couplers, therefore new ones added
- MCU changed due to being pin incompatible with the Motor Driver Shield
- Motor Shield changed due to not being rated for high enough current for the new motors (OBS: Søren bought the wrong motors on accident, these are actually rated for high enough current)
- New MCU uses usb mini instead of USB B (Not needed explicitly, one could route uart directly instead)
- Wiring scheme changed, wires used from labs at AU
Number of new parts
Old Equipment: New Equipment: available / needed New Stuff Buy Link:
- Arduino UNO Wifi - STM32F446RE Nucleo 3 / 2 https://www.conradelektronik.dk/p/stmicroelectronics-udviklingsboard-nucleo-f446re-stm32-f4-series-1416934
- HS-422 Servo Motor - Sävox SC1256TG 2 / 4 https://www.conradelektronik.dk/p/savoex-standard-servo-sc-1256tg-digital-servo-453588
- Servo Shaft Coupler - Servo shaft coupler Futaba standard to 1/4″ 2 / 4 https://www.electrokit.com/en/product/servo-shaft-coupler-futaba-standard-to-1-4/
- Arduino Motor Shield V.3 - Pololu Dual VNH5019 2 / 2 https://www.tme.eu/gb/details/pololu-2507/motor-control-modules/pololu/
- USB-A to angled USB-B cable - USB-A to angled USB-Mini cable <TBD>
- Wires (multiple sizes) - Wires (multiple sizes) Elektronik Værkstedet @ Katrinebjerg
Desktop Robotti V.2 did not come equipped with sensors, besides wheel encoders:
- Environment sensing to be performed by a Lidar (same model as on DRobotti V.1)
- Robot orientation measured by IMU (same model as DRobotti V.1)
- Robot position measured using an off-the-shelf indoor positioning system by Marvelmind
Number of parts
Sensors: available / needed Buy Link:
- RPLIDAR A1 1 / 2 https://let-elektronik.dk/shop/1450-lys--kamera/601125-rplidar-a1m8-r6---360-degree-laser-scanner-development-kit/
- Bosch BNO055 Adafruit Brakeoutboard 3 / 2 https://www.elfadistrelec.dk/da/dof-absolute-orientation-imu-fusion-breakout-3v-adafruit-2472/p/30091187
- Marvelmind Indoor Positioning Starter Set-MP-3D 1 / 1 https://marvelmind.com/product/starter-set-super-mp-3d/
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