control_module

Robot Control Module under construction. The code was initially on beaglebone black and now runs on raspberry pi 2 with the following hardware:

• atmega24u4 encoder reader on i2c
• motor controller from Adafruit on i2c
• 10 DOH sensor from Adafruit on i2c
• raspberry pi 2 as master computer

The code is currently in POC/testing state. Incorporating a stereo camera module to be used in mapping/localization.

I2C Addresses

i2cdetect -y 1
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- 19 -- -- -- -- 1e -- 
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: 60 -- -- -- -- -- -- -- -- -- -- 6b -- -- -- -- 
70: 70 -- -- -- -- -- -- 77                         

where

	19 -> Accelator (LSM303)
	1e -> Magnetometer (LSM303)
	60 -> Motor Controller
	6b -> Gyro (L3GD20)
	70 -> RPI on board MUX
	77 -> Barometer (BMP085)

TODO for short term

• Move poller to the I/O thread and add a listener socket for vision module

• Read battery voltage levels from AtMega and safety shutdown the robot

• Remove any beaglebone black related code.

• Tests for components

References / Credits

• Madgwick's implementation of Mayhony's AHRS algorithm
• Adafruit for original Gyro/Accelator/Magnetometer/Barometer/Motor controller reading code
• Arduino-IDE sources for timer code