Thursday 6 August 2015

Biped Robot Construction (V0.50) (3)

Finally completed the debugging and writing the drivers routines for the various systems on the robot.  Figure 1 shows the PCBs on the robot, these consist of the dsPIC33E core, the G15 motor interface board (with on-board buck converter to regulate the 11.1V battery voltage to 5V for the dsPIC33E core), and a Freescale 9-axis sensor toolbox development board (FRDM-STBC-AGM01).  The Freescale board contains a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis e-compass (magnetometer).  Figure 2 is another view from the top, with the dsPIC33E core flipped over, exposing the Freescale sensor board.  At the moment I am only using the accelerometer and magnetometer from the Freescale sensor board.  I am also adding a pair of arms, as evident by the normal servo motors on both sides of the robot.

     Figure 1 - Top view


     Figure 2 - Another view from the top, showing the Freescale 9-axis sensor board.