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Control System Layout (Arm and Drivetrain)

Control System Layout (Arm and Drivetrain)

May 28, 2021

Drivetrain

Requirements

  • 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 wheel torques (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