Hi Mark, > The PARTS (http://www.portlandrobotics.org/) folks are kibitzing around > doing a robo-Magellan http://www.robothon.org/robothon/robo-magellan.php > kit. The design that folks are gravitating toward is to put together a > platform that has a 6DOF IMU + 3 Axis Magnitometer + the typical robot > related GPIO's and peripherals interfaced to a micro controller type of > processor which is then interfaced via USB (full speed bulk) to a user > provided USB host (laptop, Eee, OLPC, PC104, NSLU2...) > > I'm thinking we could join forces.
This is, as always, a great idea and we'd love to do it. But usually, our avionics system ends up begin a little to do weird for use with a on-land robotics system. Flying robots with rocket engines and wheeled robots just end up having very different electrical systems :) Our "generic" LPC2148 node was designed a year ago or so by a capstone team. They did a great job, and the complete EAGLE schematics along with documentation: http://psas.pdx.edu/CapstoneLV2bProjectReport/ Since then we've written some peripheral libraries for the LPC2148, but unfortunately we haven't laid out the board yet. That's also on the books for the next few months. I think there's a lot to be shared with sensor design: - Whatever GPS we end up using can certainly be shared, although it might end up being too expensive for most robot use. - The 3D magnetometer sensor can certainly be re-used. - The IMU sensor design might be good thing to share as well. But our dynamic range and bandwidth is WAY bigger than what most robots will need. But, there are differences: - We have a very specially power distribution system. Instead of using the standard USB 5V supply, we directly distribute a 14.4V Li Ion (probably polymer) battery pack, and have switching supplies on each board. For justification for that, see the Capstone report. - We're very concerned about volume and weight, which means small, packed, four layer boards. Since we have some free use of Screaming Circuits' facilities, we'll probably end up using > 2 layer boards with enthusiast-inappropriate chip packages like uBGAs and such. > What is the status of the LPC based IMU design and firmware? Where is > it documented on the PSAS pages? The IMU in the planning stages right now. We'll probably pick the sensors in the next two weeks (see http://psas.pdx.edu/SensorComparison/ ), and begin the design shortly thereafter. All of the LPC nodes are essentially vaporware right now, and we plan to fix that this winter :) If PARTS picks the LPC2148, then I think there's *lots* to be shared back and forth. It probably won't be board design, but I bet we could share sensor design and a lot of low-level firmware. I'm not sure what the PARTS timeline is like, but we hope to be done with the generic node this spring and be working on sensor design throughout the summer and have a complete package sometime later in 2008. If PARTS is in more of a rush than that, then we may be borrowing designs from you, rather than vice versa :) But hopefully this is something we can collaborate on! Andrew -- ------------------------------------------------------- Andrew Greenberg Portland State Aerospace Society (http://psas.pdx.edu/) [EMAIL PROTECTED] P: 503.788.1343 C: 503.708.7711 ------------------------------------------------------- _______________________________________________ psas-software mailing list email@example.com http://lists.psas.pdx.edu/mailman/listinfo/psas-software