Schlagwort-Archive: Hardware

RAT: Update

Trotz des tollen Wetters habe ich mich dazu durchgerungen, einen lange fälligen Schritt zur Vollendung zu bringen. Seit heute gibt es das neue Chassis mit Ladebuchsen und Ausbaumöglichkeiten für eine weitere Etage. Zusätzlich ist jetzt die USB Cam auf den PanTilt-Turm montiert. Die Software befindet sich noch im Prototyp-Stadium. Siehe Foto.

IMG_0142.JPG (2)

Projekt RAT: Zwischenerfolg

Nach einer kurzen depressiven Phase geht es jetzt wieder aufwärts. Ich hatte mich irgendwie in den Tiefen des Codes verlaufen und zwei parallele Threads auf die Sensorauslesung losgelassen, was zu recht komischen Ergebnissen führte. Zunächst glaubte ich dabei an an Synchronisationsproblem und habe versucht, entsprechend zu optimieren. Der wahre Grund wurde mir leider erst nach einer kleinen Denkpause (lohnt sich immer) klar.
Lange Rede kurzer Sinn: Ich schaue stolz auf eine Versuchreihe zurück, bei der der RAT stets kurz vor einem Hindernis angehalten hat (…nicht wurde!). Neuer Maßnahmeplan ab heute:

  • Funktion des Kompass herstellen, um kontrollierte Drehungen auszuführen.
  • Umrüstung auf LiPo Akku. Der Blei-Akku stellt doch kein günstiges Gewicht/Kapazitäts-Verhältnis dar. Die Kröte: LiPo ist ein wenig teurer. Daraus folgend wahrscheinlich Chassis-Umbau, weil keine Aussparung für den Akku mehr nötig wird.
  • Software-Entwurf für Autonomie-Modus.
  • Distanz-Scanner: ist eigentlich ein weiterer Ultraschall-Sensor, der allerdings auf einem Servo montiert ist und einen definierten Winkel kontrolliert ausmessen kann, ohne dass der RAT selbst sich bewegen muss. „Wo ist die Lücke?“
  • Bordspannung messen.

Projekt RAT: Es wird ernst


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img_7111Nach einer längeren Phase „auf dem Trockenen“ mit Versuchsanordnungen der Sensoren und dem Schreiben der Meß-Algorithmen sind nun alle Komponenten im RAT verbaut. Und shon tauchen erste Probleme auf! Der Kompass (HMC 5883 L) misst plötzlich nicht mehr richtig. Die vermutete Ursache ist das relativ starke Magnetfeld der Antriebsmotoren, die die Ergebnisse nicht wenig beeinflussen. Die Lösung wird darin liegen, den Sensor so weit entfernt wie möglich von dieser Störquelle anzuordnen.

Als nächstes stehen Fahrversuche an, in denen es zunächst nur darum gehen wird, vor einem Hindernis anzuhalten.


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Projekt RAT: Sinne

IMG_0239
Die untere Ebene mit dem Hochstrom-Teil
IMG_0240
Die Ultraschall-Sensoren

Die Ultraschall-Sensoren sind da und haben eine kleine Testreihe hinter sich. Gleichzeitig habe ich die Software ein wenig erweitert. Das Hardware-Layout musste ich zwangsläufig anpassen. Jetzt sind die Stromversorgung und Motorregler in der unteren Etage angeordnet. Auf dem Oberdeck werden Raspberry und Arduino ihren Platz finden.

Projekt RAT: Multithreading

Die Serverkomponente wächst und gedeiht. In Abwesenheit von Sensoren habe ich ein paar Experimente zum Multithreading gemacht. Ich und Python, wir beide fremdeln noch ein wenig. Allerdings ist die Multithreading-Unterstützung unter Python offenbar  ganz gut gelungen. Alles hat irgendwie auf Anhieb funktioniert. Damit wächst der Reiz, jetzt mit Sensoren zu arbeiten. Fraglich ist lediglich die Reihenfolge. Erst den Kompass und dann die Näherungs-Sensoren, oder umgekehrt? Oder beides gleichzeitig?

Ganz nebenbei hat die Ratte nun auch einen amtlichen Hauptschalter und Ladeanschlüsse bekommen.