This is the public repo for UAF's NASA Robot Mining Contest team, Aurora Robotics. This is the firmware for UAF's entry in the NASA Robot Mining Competition. Public access: git clone http://projects.cs.uaf.edu/robotmining Ask Dr. Lawlor to get write access! Laptop battery power check: cat /sys/class/power_supply/BATX/charge_* The first two are charge values for full; the last is current charge. ------------- As-built storage bucket dimensions: 17.75 inch * 17 inch * 3.5 inch = 17.3 liters -> 17Kg at 1 Kg/L density (fluffed) ---------- New 2014-05 board: Power plug: tx1 via opto-isolator: orange/white a8: orange, not connected (avoid noise on opto line) a9: blue, mine voltage a10: green, spare input a11: brown, 24v bus brown/white: motor side ground Front plug: 53/A15: blue, front wheel right encoder 52: orange, (5v) encoder supply 51: spare button input 50/A14: green, front wheel left encoder (optional) White: all grounds Back/bucket plug: 49: orange, (5v) encoder supply 48: orange/white, spare input 47: green, back right button 46/A13: blue back bucket 45: brown/white, spare 44: brown & blue/white, back left button 43: spare input Infrared board: pink RJ45 wires A5 A1 orange/white: read side of mining detector 5 orange: 5V feed for ALL ir detectors (soft power for both) A6 A2 green/white: ir detector, bin-full 3 A4 green: LED, bin-full 4 7 blue: LED, bin-half-full A7 A3 blue/white: ir detector, bin-half-full hardwired brown/white: LED ground (COMMON ground, hardwired) 2 6 brown: LED for mining encoder Wiring hookup: mining: brown brown/white LED orange orange/white detector full: green brown/white LED orange green/white detector half: blue brown/white LED orange blue/white detector Actuator Ecoder wires: Yellow: High White: GND Purple: Signal Linear actuator to RJ45 wiring: yellow: 5V for potentiometer position encoder, orange on RJ-45. white: ground for potentiometer, white/blue on RJ-45. purple: potentiometer output, blue or green on RJ-45. red: motor+, either brown (front) or separate wires (bucket) black: motor-, either white/brown or separate wires # Add backend and viewer directories to path AURORA=/home/robot/robotmining/autonomy PATH="$AURORA/aruco/viewer:$AURORA/backend:$PATH" export PATH ------------- OLD 2014-03 board: OLD: Internal voltage monitoring: 2014-03 board (OLD) A8: orange battery 12V bus A9: battery ground (drive sabertooth) A10: brown battery 24V bus Weirdly, it reads about 3VDC lower than reality, possibly due to some sort of current backfeed in the voltage divider. Battery sags by about 15DN under a 10A load. A11: battery ground (mine sabertooth) A12: green mining motor voltage Typical run voltage is 10-13DN less than battery. Stall voltage is 20-22DN less than battery. Firmware calls it "stalled" with >18DN difference. Swaping to a CAT5 cable, still about 10DN run, but 30+DN stall. OLD: External switches: 44- left bumper switch (brown & white/green ground) 47- right bumper switch (green & white/green ground) OLD: Dump actuator potentiometer hookup: 49-orange (5V) & white/blue (gnd) 46 - blue - analog out for dump potentiometer (jumpered to A0 for now)