hazelnusse/robot.bicycle

Robotic Bicycle code for data collection and control

robot.bicycle

Hardware

The following is a list of the electrical hardware used on the bicycle:

• Steer Motor Controller: Accelnet Panel ADP-090-36
• Rear hub motor Controller: Accelnet Micro Panel ACJ-055-18
• Steer motor: Teknic M-3441
• Rear hub motor: Amped Bikes Rear Direct Drive
• Wheel Encoders: US Digital H5-50-N-D
• Inertial Measurement Unit:
  • Invensense MPU-6050
  • Sparkfun Electronics Triple Axis Accelerometer & Gyro Breakout - MPU-6050
• Microcontroller:
  • Olimex STM32 H-407
  • STM32F407ZG Product page
  • STM32F407ZG Datasheet
  • STM32F407ZG Reference Manual
• Quadruple Differential Line Receivers: TI AM26C32IN
• JTAG Cable: Olimex ARM-USB-TINY-H
• Wireless Radio: XBee-PRO 802.15.4 extended-range module w/ RPSMA connector
• USB to RS232 Cable: FTDI US232R-10
• USB to Xbee board XBee Explorer Dongle

Wiring Notes

All connections between various components of the robot bicycle are documented in a Google Drive spreadsheet.

Resources

• Debugging and flashing software OpenOCD
• Real time operating system ChibiOS/RT

GNU Toolchain

To compile the code that runs on the microcontroller, I've been using two GCC Arm toolchains to build the firmware. One is the GNU Tools for ARM Embedded Processors, which is maintained by ARM. The other is the Linaro toolchain, which is updated more frequently but not necessarily customized for embedded chips. I maintain a simple script to download and build the tools in the Linaro toolchain and it seems to work well.

Build System

To compile the firmware which runs on the bicycle, type:

$ cd firmware
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_TOOLCHAIN_FILE=../toolchain-arm-none-eabi.cmake
$ make

You will need to modify the CMake toolchain file to point to your toolchain path. You can view and change build options using ccmake instead of cmake.

To build the dataprocessing code, ensure you have CMake installed, then type:

$ mkdir build
$ cd build
$ cmake ..
$ make

Acknowledgements

This project has been supported in part by NSF Award #0928339. I am grateful for the help of Derek Pell, Kenny Koller, Oliver Lee, Kenny Lyons, and the rest of my lab mates: Bo Fu, Colin Smith, Andrew Kickertz, Jason Moore, Ziqi Yin, and Gilbert Gede.

robot.bicycle's Issues

robot.bicycle/design/pi_gains.mat missing from repo

I can't generate the controller gains files. It looks like you didn't commit robot.bicycle/design/pi_gains.mat.