Drivetrain

Requirements

Remote:

• Wireless
• Easy to use
• xbox controller?

...

• Wireless
• Control 6 motors → lump each side into one control signal
• Implement current sensors
• Controlled using Xbox

Control system

• Controller → Base station
  • Base station interfaces with the Xbox controller code
  • Show log of
  joint
  • wheel torques (
  current logging and speed logging)
• Show log of joint speeds
• Just a regular laptop

Controller:

• Able to read off of 6 encoders (live speed readings)
• Potentially need to read 6 current sensors (2 pins each)
• Open loop
• Arduino Mega?
• Raspberry Pi?
• FRC Controller?
• STM32?

Motor Driver:

• Cytrons?

Motors:

• TBD

Encoders:

• TBD

Misc.

• Emergency stop (maybe physical?)

• • derived from current sensor data)
• Base station → Pi Web Server
  • Pi Web Server interprets the controller's commands and broadcasts it to the Python's wifi
• Pi Web Server → Control thread → Motors
  • Python executes the commands to control the motors

To do - Drivetrain

•  Develop wiring plan for drivetrain → Mathieu
•  Create base station code (Python) → Sahil
•  Create Pi Web Server code → Emily
•  Create control thread code to run the motors → Mathieu

...

Arm

Requirements

• Implement current sensors
• Control 6 motors independently
• Controlled using Xbox

Control system

• Controller → Base station
  • Base station interfaces with the Xbox controller code
  • Show log of joint torques (current logging)
• Base station → Arduino MEGA → Motors
  
  • Arduino MEGA interprets the controller commands and executes them to run the motors

To do - Arm