I've finally decided to get serious about updating the brain of my Rug Warrior Pro robot. There used to be hundreds of Rug Warrior and Rug Warrior Pro (RWP) robots scurrying about for university research, hobbyists, and education. My RWP robot is 15 years old now, and really needs to catch up to 2015 technology.
This is my bot "Pogo" photo album on Flickr: https://flic.kr/s/aHskgYejWe
(At the moment my Raspberry Pi B+ is playing OSMC attached to the living room television, and I am learning python via ssh.)
I started out thinking I would totally replace the RugWarriorPro brain board with a pi-plates dacplate, motorplate, and protoplate, but that seems too drastic. I'm now thinking to just remove the HC6811 processor and the character display, and just add level shifters and a MCP3008 DAC chip.
This would allow reuse of:
- 7.2v 5000mah rechargeable C-cells
- L/R motors (0.67f/s = 0.2m/s at 400mA)
- 5v regulator (only 500ma so only useful on the rugwarrior board)
- Motor Driver (two digital out and two pwm)
- L/R Wheel Encoders (two digital in)
- L/R Photoresistors (two analog in)
- Bumper resister array
(gives 1 analog input for 6 virtual bump directions)
- L/R IR proximity sensors/oscillator/ir_detector
(1 analog input for three directons)
- Piezo Buzzer (digital out - annoying singing, beeps, siren sounds)
- Mic/LM386 amp (analog in - never found use for it)
- Sharp 10-80cm distance (1 analog input)
- Temperature resistor (1 analog)
- Pyro sensor (1 analog)
- IR Remote Control (1 digital)
The RugWarriorPro code library had assembly language PID motor control routines, so I am hoping to find that someone has written a Pi PID routine I can use from Python.
The RugWarriorPro only has about 32kbytes of usable program and data memory, but offers multi-tasking, static (global) variables for interprocess communication, and a good robotics function library. I have to investigate what Python robotics libraries exist, (after I finish UCS Python for Programmers.)
I'm hoping to get 6-8 hours compute time from my 3000mah rechargeable USB battery pack running the PI B+, and about 6 hours driving time. It probably won't be enough to leave the bot running while I go to work.
So that's the current plan for a brain update for my "Pogo". All pointers, comments and questions welcome.