Talk:RunBot: a Robogame Robot

Requirements

The robot should have:

• a dimension of about 25cm of radius, 20 cm height
• a speed of about 1 m/sec
• omnidirectional movement (Kamro wheels)
• sensors to avoid obstacles (sonars)
• a camera that can be moved up and down (and eventually left and right)
• wireless connection to a computer (Wi-fi)
• Bluetooth connection
• have power enough to move and transmit for at least 2 hours without recharging
• Have the possibility to recharge autonomously

The robot should cost as less as possible

TO DO

• Select HW

 ** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)
 ** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)
 ** batteries (above, or standard A, AA or AAA type)
 ** Camera (ST smart cameras, with Ethernet wired link)
 ** Sonar (already available (see ROBOWII2.0))
 ** Blue tooth and WI-FI

• Design body (structure and appearance), sensor placement, eventual movements of the camera
• Implement the robot
• test the robot with a simple game (e.g. RoboWII2.0)

This is the processor comparison table, the cells without entry is left blank

	Name	Clock Speed	Ram	Storage	Onboard Devices	Power Consumption	Price	OS	Source Page
1	ESOM270	PXA270@520MHz	128 MB SDRAM	32 MB FLASH PMIC	USB device,Camera interface(QCI),USB host	0.8 W @ Full running Mode,100mW @ Deep Sleep mode	76 €	Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2	http://www.e-consystems.com/esom270.asp
2	IGEPv2 BOARD	OMAP3530@720 Mhz	512MB RAM	512MB ONENAND-FLASH	Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host		145 €	IGEPv2 running Ubuntu 9.04	http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55
3	Em-x270	Intel's XScale PXA270 CPU, up to 520 MHz	128 Mbyte SDRAM	512 Mbyte Flash Disk	WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port	0.2 - 2 W	76 $	ce OR linux	http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm
4	S3C2440 Core Board II	Samsung S3C2440A based on ARM920T, 400MHz	64MB SDRAM	64MB NAND Flash	2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling)		110$	Windows CE4.2/5.0, 6.0 and Linux2.6	http://www.embedinfo.com/en/list.asp?id=64
5	Overo™ Air COM [GUM3503A]	OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz	256MB RAM	256MB Flash	802.11(g) and Bluetooth®,USB OTG signals, USB HS Host		199$	Linux 2.6.31 or higher OpenEmbedded	http://www.gumstix.com/store/catalog/product_info.php?products_id=226
6	MX31 TurboG5 Module	Freescale i.MX31 @ 532MHz	128 MB of Mobile DDR	32 MB of Flash	Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port			Windows CE 5.0 and 6.0 Linux	http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp

Motion Control

Angle between V1 and X-axis is 30° Angle between V2 and X-axis is 150° Angle between V3 and X-axis is 270°

V1 = F3-F1 V2= F1-F2 V3= F2-F3

Vt= c1*V1 + c3*V3 (region 3) Vt= c1*V1 + c2*V2 (region 2) Vt= c2*V2 + c3*V3 (region 1)

If Vt is between V1 and V3 then region 3 V1 and V2 region 1 V2 and V3 region 2