From ARVP
This project is responsible for returning Kodiak to an operable state. Control either through Remote Control (RC) or joystick to Roboteq.
Project Members:
- Marcin Misiewicz
- Chris Woloschuk
- Navid Madjidifar
- Darrel Ross
Background:
Kodiak is a previous generation robot from ARVP. Once we rescue it, it can be used for outreach programs.
Notes:
Kodiak is now working and can be moved via through remote control. - DarrelRoss 07:50, 21 September 2008 (MDT)
Although a chair can be added to Kodiak, please do not operate Kodiak while sitting on it. Doing so causes excessive stress and wear on the electric motors and could significantly reduce their lifespan. - DarrelRoss 07:50, 21 September 2008 (MDT)
The proper connectors have been made and preliminary trials are successful. Kodiak is moving again!! Right tread may need realignment.
Control Configuration:
To get the robot to function properly we had to switch the yaw control to rudder control. So you don't push up and down to operate the motors. Left motor is controlled by left joystick: pushing 'in' goes forward and 'out' operates the track in reverse. Same thing goes for the right motor operated by the right joystick: push 'in' to go forward and 'out' to go backward.
The controller operation has changed. The RC now works as the right control operates both the forward/reverse functions as well as left and right. Also, the same RC is being used for both Ursa Minor & Kodiak. If the control needs to be changed, the receiver connections are labeled on Ursa and Kodiak has a diagram. This team should look into a) a new remote and b) finishing the connectors for the receiver pins. Remember, descriptive labeling is important for ease of use.
-Brodi 11/29/07
Throttle Controls
The next step in the project will be to adapt two serial type joysticks to manually control Kodiak. Operation will be similar to driving a tank where left and right joysticks will independently control the left and right treads respectively. Both joysticks also have a number of buttons which could be adapted for future actions (i.e. turning on LEDS, generating sound effects, etc.). If there are any suggestions, post below.
The previous plan to adapt a joystick via the RC mode has been put on hold for now in favour of a simpler plan. The joysticks can be directly attached to the Robotech but need some modifications for it to work. Anyone interested in working on it should talk to either Darrel or Marcin. - DarrelRoss 07:50, 21 September 2008 (MDT)
[Deprecated] A tentative plan for adapting the joysticks has been worked out. The joysticks can be connected directly to a PIC18F2220 Microcontroller with a built-in A/D converter. The necessary conversions and programming should therefor all take place in the PIC18, with the only other necessary component being a MAX232 chip to convert the PIC18 output from TTL to RS232.
-Darrel 02/03/08
Future Concerns:
Battery connection
The connectors between the battery can come loose. This can be easily solved by tightening the bolts. As well the connectors from the battery to the rest of the electrical system are old, and if they fail will need an entire overhaul.
Tread issues
When turning Kodiak in tight circles the right tread tends to slip off its tracks. To solve this problem try driving the robot in a way that will put the tread back on, or you may need to jack it up, and slowly drive the motor forward as you pull the tread back onto the track. Warning! watch your fingers!!!!
Roboteq Settings:
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