/Carl

Robot Carl based on Dexter Industries GoPiGo3

Primary LanguageRoff

Carl

Robot Carl based on Dexter Industries GoPiGo3

Carl The GoPiGo3 Based Robot

Carl Specs:

  • Platform: GoPiGo3 from DexterIndustries.com

  • Processor: Raspberry Pi 3 B

    • 1.2 GHz Max
    • Four Cores
    • 1GB Memory
    • Onboard WiFi

  • OS: Raspbian For Robots

    • version: 17 Oct 2020 (beta) PiOS based

  • Control Interfaces:

    • ssh over WiFi
    • TightVNC (Mac Remote Desktop)
    • apache2 VNC in browser
    • apache2 console

  • Sensors (GoPiGo3 Intrinsic)

    • Battery_Voltage (GoPiGo3 intrinsic)
    • Regulated_5v_Voltage (GoPiGo3 intrinsic)
    • Magnetic Wheel Encoders 720 cnt/rev (GoPiGo3 intrinsic)

  • Sensors (Raspberry Pi Intrinsic)

    • Processor Temperature
    • Processor Low Voltage Throttling Active / Latched
    • Processor Temperature Throttling Active / Latched

  • Sensors (Added):

    • DI Distance Sensor (VL53L0X Infrared Time-Of-Flight) 25 deg beam width, About 4% accuracy to 7.5 feet (2.3m) Mounted on Tilt/Pan
    • Pi-Camera v1.3
    • USB Microphone
    • DI Inertial Measurement Unit (BNO055 9DOF Fusion IMU) also provides ambient temperature

  • Actuators/Effectors (GoPiGo3 Intrinsic)

    • Wheel Motors
    • Multi-color programmable LED (x3)
    • Program controlled Red LED (x2)
    • Tri-color Battery Voltage Indicator

  • Actuators/Effectors

    • Two Servo Tilt/Pan Assembly
    • MonkMakes 2.5W Audio Speaker (draws 9.5mA 5v at idle)
    • [USB WiFi Dongle draws additonal 100mA at 5v]

  • Available GoPiGo3 Ports

    • I2C: Distance Sensor
    • I2C: Unused
    • Grove Analog/Digital I/O AD1: Unused
    • Grove Analog/Digital I/O AD2: Unused (pwr/gnd for speaker)
    • SERVO1: Pan Servo
    • SERVO2: Tilt Servo

  • Power Source: 8x 2000mAH NiMH AA cells (Eneloop)

    • Cliff at 7.4v (0.925 volts / cell)
    • Cycling to 8.1v allows two missed docking before safety shutdown
    • cycleConditioning to 7.9v four times to treat NiMH battery memory when play-time drops off 10%
    • Charging at 0.9A for 4 hours ( 92degF max battery temp )
    • Provides around 8 hours "playtime"

  • Run Time: 8 to 8.5 hours max

    • "Thinking" 8 hours using 8.1v "need to dock" limit
    • "Wandering" 2-4 hours to 8.1v recharge point
    • About 9 hours to 7.4v voltage cliff

  • Recharger:

    • Tenergy 1005 7.2-12v Delta-Minus-V Peaking Charger
    • Set at 0.9A (Selectable 0.9A or 1.8A max rate) (1.8A rate causes 130degF max battery temp!)

  • Physical:

    • 41.5 Ounces Total
    • 6" wide x 9" Long x 12" High

  • First "Life": August 2018