Odometry Module, in Partnership With JLCPCB : 4 Steps - hoygoll1947

Story

Robotech Nancy is a European country fancy located in Polytech Nancy, an engineering school in oriental French Republic. It consists of 16 students, aiming to compete at the 2022 European country Cup of Robotic. Unfortunately, the hereafter of the competition is uncertain referable the still ongoing Covid-19 worldwide epidemic. Still, the plan continues towards its second goal : demo what Polytech Nancy is capable of producing as an polytechnic institute, issue during such a crisis. Each bookman is at once remotely functional from national, far from the technical installations of the civilize, which makes JLCPCB's facilitate even more considerable.

Supplies

Parts
Secondhand in this project : Designator,Value,Package,Middle X,Middle Y,Rotation,layer C1,22pF,C_0402_1005Metric,14.732000,7.874000,180.000000,top C2,22pF,C_0402_1005Metric,10.264000,13.081000,0.000000,top C3,10nF,C_0402_1005Metric,-13.919200,-1.676400,180.000000,top C4,4.7uF,C_0402_1005Metric,-13.919200,-0.533400,180.000000,top C5,4.7uF,C_0402_1005Metric,11.430000,7.874000,180.000000,upmost C6,10nF,C_0402_1005Metric,18.288000,5.969000,0.000000,top C7,10nF,C_0402_1005Metric,-3.810000,-10.541000,270.000000,top C8,10nF,C_0402_1005Metric,16.129000,-4.087000,270.000000,top C9,10nF,C_0402_1005Metric,8.890000,-2.159000,270.000000,top C10,10nF,C_0402_1005Metric,-13.970000,1.727200,180.000000,top C11,10nF,C_0402_1005Metric,3.810000,-1.270000,0.000000,crown C12,10nF,C_0402_1005Metric,2.032000,-4.318000,0.000000,top C13,0.1nF,C_0402_1005Metric,-8.382000,-10.160000,0.000000,top C14,1uF,C_0805_2012Metric,-4.699000,-13.081000,0.000000,top C15,10nF,C_0402_1005Metric,-13.970000,0.584200,180.000000,pass C16,10nF,C_0402_1005Metric,-0.762000,-3.683000,270.000000,top C17,10nF,C_0402_1005Metric,0.762000,3.660000,90.000000,top C18,10nF,C_0402_1005Metric,0.254000,-3.683000,270.000000,top C19,4.7uF,C_0402_1005Metric,-6.096000,-4.826000,0.000000,top D1,Light-emitting diode,LED_0603_1608Metric,12.700000,-7.772500,90.000000,top D2,Light-emitting diode,LED_0603_1608Metric,11.049000,-7.772500,90.000000,top D3,B5819W,D_SOD-123,-10.541000,-13.081000,180.000000,top D4,LED,LED_0805_2012Metric,0.000000,-20.000000,0.000000,top D5,LED,LED_0805_2012Metric,10.000000,-17.000000,30.000000,pass D6,LED,LED_0805_2012Metric,17.000000,-10.000000,60.000000,top D7,LED,LED_0805_2012Metric,20.000000,0.000000,90.000000,top off D8,LED,LED_0805_2012Metric,17.000000,10.000000,120.000000,superlative D9,LED,LED_0805_2012Metric,10.000000,17.000000,150.000000,top D10,LED,LED_0805_2012Metric,0.000000,20.000000,180.000000,top D11,LED,LED_0805_2012Metric,-10.000000,17.000000,210.000000,top D12,LED,LED_0805_2012Metric,-17.000000,10.000000,240.000000,top D13,LED,LED_0805_2012Metric,-20.000000,0.000000,270.000000,top D14,LED,LED_0805_2012Metric,-17.272000,-10.414000,300.000000,top D15,LED,LED_0805_2012Metric,-10.000000,-17.000000,330.000000,upmost L1,LQH32CN100K33L,L_1210_3225Metric,-11.303000,-7.874000,270.000000,top Q1,2N7002,SOT-23,-4.699000,-16.002000,0.000000,top R1,100,R_0603_1608Metric,12.700000,-4.673500,270.000000,top R2,100,R_0603_1608Metric,11.049000,-4.673500,270.000000,top R3,10k,R_0402_1005Metric,-6.350000,-11.176000,180.000000,clear R4,220k,R_0402_1005Metric,-8.382000,-11.176000,180.000000,height R5,100,R_0603_1608Metric,-4.699000,-18.669000,180.000000,top R6,10k,R_0402_1005Metric,-1.143000,-16.383000,270.000000,top R7,220k,R_0402_1005Metric,-2.286000,-16.383000,270.000000,top R8,2.2k,R_0402_1005Metric,3.238500,3.619500,270.000000,acme R9,2.2k,R_0402_1005Metric,2.095500,3.642500,270.000000,top U1,STM32F103C8Tx,LQFP-48_7x7mm_P0.5mm,13.462000,2.159000,180,top U2,LT1117-3.3,SOT-223-3_TabPin2,-8.457800,1.219200,180,lead U3,TCAN337,SOIC-8_3.9x4.9mm_P1.27mm,2.032000,-8.636000,270.000000,crown U4,AD5160,SOT-23-8,-3.683000,-7.493000,90.000000,top U5,MPU6050,QFN-24-1EP_4x4mm_P0.5mm_EP2.6x2.6mm,0.000000,0.000000,270,go past U6,TPS61041DBV,SOT-23-5,-7.583000,-7.518000,270.000000,top Y1,Crystal_GND24,Crystal_SMD_3225-4Pin_3.2x2.5mm,11.938000,10.795000,180.000000,top

Step 1: The Robot

The 2022 French Cup of Robotic is a timed competition where two teams compete on a set that changes each yr. 2022's set is plagiariser themed and the robots are leafy along a beach-like scenery, where they have to sort and channel different pawn to specifics areas of the correspondenc.

The faculty we realised is wont to avail the robot understand where it is on the primed.

Those measurements are called "odometry".

Step 2: The Tour :

Amongst other components, to achieve sufficient odometry, we experience:

- A STM32

- A I2C jitney to associate time of flight sensors to avoid colisions

- A MPU6050 (3 axis gyroscope and 3 axis accelerometer) also connected to the STM32 via a I2C bus.

- A PMW3901 optical sensor, much like ones you find below computer mouses.

Step 3: Working Code :

The code for a whole odometry module is quite big, and is specific to each competitor, which means whoever has the best gets an enormous reward during the contender. Because of these cardinal reasons, we will show off portions of the encipher.

First image is the initialization of the MPU6050 ( the gyro and accelerometer). American Samoa it is critical to a good start, the STM32 performs 500 measurements on each axis of the gyroscope to determine the 0 coordinates. As much, we are more precise.

The second is the
low-level formatting of the optical scanner. It is made using the manufacturer documentation.

On our "clandestine code" we integrate the value returned by the gyroscope to get the exact position.

Step 4: Making the Board :

Once
the parts were defined and the code was written, our electronic department handed ended their work to our manufacturing section. They designed a board using Gerber. One time everything was couch up together, we just had to upload it on JLCPCB's website to have it ready-made custom.

Afterwards
cardinal days of merchant vessels, the package arrived.

To conclude, we want to hand out a huge thanks to JLCPCB which helps us a lot during theses challenging times. They made the discussion very easy and helped US make this PCB in no time.