This is the wiki page for a project TP is working on.
LVL1 in Louisville challenged Hive13 to join them in a Mini SumoBot competition (link needed), and from what I hear, the folks on the House Bot team put in quite a showing! This has inspired me to try to build a bot to 'play' with the House Bot. By play, I of course mean "provide as much competition as I can."
I really do intended to put some Mini Sumo background info here (really). I think the House Bot page has links to some background stuff.
For now, I'll just note that
- bot must be no larger than 10cm square
- bot must weigh no more than 500 grams
- bot must look cool
- bot must win (often)
(I added the last two for my own purposes - sue me)
- 2 Sharp 10-80cm IR range finders
- 4 Sharp 4cm IR proximity sensors
- 3 IR reflectance sensors
- 1 momentary push button (Start)
(8 digital, 2 analog)
Basically, two DC motors in a gear box driven with H-bridges. Each motor will require 3 outputs (A,B,pulse).
- Motors: Brushed DC Motor: 130-Size, 6V, 11.5kRPM, 800mA Stall
- Driver: TB6612FNG Dual Motor Driver Carrier
- Gearbox: Tamiya 70097 Twin-Motor Gearbox Kit
- Wheels: Tamiya 70111 Sports Tires
I saw somewhere that the tires and gearbox drive shafts will need to be modified to get it to fit within the 10cm bounding box. I am just going to believe that is true and hope I can manage it - shouldn't be too big of a deal.
Also, yes I know that the gearbox comes with a set of motors, but they need to be replaced to match up with the driver.
For my controller, as usual, I will be using a PIC16F688. "But wait, TP! That thing only has 12 I/O pins!" (10 sensor inputs + 6 motor outputs + ? feedback LEDs >> 12) Huh. Well, that's what they make shift registers for. I just love these little PICs too much. Irony Not Missed: adding the shift registers will take up more space that using a larger PIC with sufficient I/O pins.
Current Status - Active
- Parts ordered - prototyping of control system continues
Nov 8, 2010
I have actually been rolling this around in my head since the announcement of the LVL1 competition in Louisville. Finally got started with breadboarding the control system over the weekend. I have a box full of parts picked out on www.pololu.com that I plan to order some time late next week. Hopeful I can get this bot into the ring before the year is out.
Jan 23, 2011
So much for the plan back from November!
- Basic shift I/O of the control system functional
- Parts have been ordered and should arrive mid week!
I have been kicking around ideas for wrapping the bot with a fiberglass shell. Still a thought in progress...
- Did I forgot how to use the ADC in these PICs? It sure feels like it...
- Complete control system prototype
- Order parts
- Begin assembly
- Solder perf-board version of control system
- Ring test down at the Hive
- Tweak decision rountines
- Consider, then completely abandon, possibility of soldering a REAL circuit board
- Build chassis cover
- Kick butt in sumo ring