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A bit of a change to Primus

It seems I made a bit of a mistake in how I thought the dsPIC could drive its PWM module. Consequently, there will have to be some changes.First, what can’t change is the need to use T1CK and T2CK as external inputs to count motor pulses. There are no other choices on the dsPIC30F4011 without using interrupts. Since I anticipate pulse rates of up to 100,000 Hz per wheel, life will be a lot easier not having to service that interrupt rate, even with a fast processor and a very efficient ISR. (more…)

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Robosavvy bipeds at ROBOtic’07

The guys from Robosavvy forum have confirmed that they will yet again be demonstrating their bipedal wares at ROBOtic'07, and are intending to run several competitions.The bipeds were very well received at UK Micromouse 2007, and a promised demonstration of stair climbing could mean that they reach even greater heights…

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A little bit of test code

Once the main board is assembled, it can be tested without waiting for the sensor or motor driver boards to be ready. In time honoured fashion, we start with a little program to flash the LEDs.With any new microcontroller project, it is a good idea to start with some simple code that will allow you to test your ability to create a project in the chosen development environment, compile the program, transfer it to the microcontroller and run it. While you are at it, you get to test the simplest part of the system hardware. (more…)

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A new mouse is born

I finally have a primus mouse built and ready to test. All the bits are there and the processor runs up and can be programmed. Here are a few pictures to get you in the mood.By placing the components on three separate boards, each is relatively simple to build and…

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Primus pin functions

The Primus micromouse will use the dsPIC30F4011 processor from microchip. It has plenty of power and resources for just about any micromouse and is relatively easy to get and use. Here is a list of the proposed functions for each processor pin on the controller board dsPIC30F4011 Pin Functions for…

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Primus Chassis

Now the motors are here and the brackets cut, it is time to assemble the bare boards to see what the mouse will look like.Primus is intentionally simple and consequently a bit chunky. Two large and two small boards are needed. These are conveniently cut from pieces of perforated prototyping…

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Sensor Data Analysis

Micromouse sensors are subject to several sources of error and interference. Capturing a set of data samples lets you do some simple analysis of the effects of those errors.The test rig was set up with a section of wall placed at about 50mm from the sensors. This gives a large…

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