zhangzq71/motoko_uprising

Motoko Uprising

line following robot with neural network predictor

Advanced line following robot, using custom deep neural network for curve shape prediction. Robot can recognize straight line and speed up.

Video of woking robot motoko video.

Hardware

• CPU is ARM Cortex M4F, stm32f303, 73MHz
  • with simd instructions, good to have for deep learning
• gyroscope : lsm303
  • (or something like THAT - yeah, they are changing it more often then socks)
• motors : pololu HP 1:30, micro metal gear, with magnetic encoders
• motor driver : TI DRV8834
• line sensors : phototransitors for visible light (not IR)
  • Iam using white leds, so the line can be colored - not only black
• obstacle detection :
  • common IR leds, and laser (still not working as I wish - too slow, but high range)
• accu : LiPol 2S, 150mAh, from dualsky

Some photos from mounting this devilry device :

• PCB design are in pcb, ready to send to your favorite manufactor

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• Chassis, there are little of 3D printed parts 3d print

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Software

Debug app

TODO - this will be long journey