UV4L was chosen based on best video lag, about a half second. Video from the camera is transmitted also over Wi-Fi by the UV4L streaming server. Communication between the Pi and the PC running a terminal emulation program (PuTTY) is based on the SSH protocol over Wi-Fi. The Raspberry Pi’s primary purpose is to serve as a communications center and provide high level thinking capabilities. YAAR’s hardware is composed of 4 main components power supply, hardware inputs/outputs and associated microcontroller, motor control and a brain. However, I think I have provided enough for someone with basic hardware and software skills to successfully get YAAR up and running.Įverything here and more is available from. I do not go in to all of the details such as “download the Arduino IDE…” That would require a book. I use the 0.1” Molex C-Grid system for wire interconnections and terminations. Digi-Key is my go-to source for specialized parts such as Molex C-Grid connectors. Admittedly, you have to wait several weeks for delivery (my average is 3 to 4 weeks). I also purchase generic integrated circuits from China such as the MCP6001 op amps, TCST1103 photo interrupter, DRV8833 dual motor control and SS34 Schottky diodes. The smallest resistors and capacitors are 0805 size so hand soldering is straightforward. I buy nearly all of my components through AliExpress. Although I have supplied files in GBR, DXF and STL format, I would encourage you to generate these files directly from Fusion or DipTrace – I have had disturbing results with.DXF files in particular. Schematics and PWB layouts are supplied as DipTrace files. DipTrace can export Eagle files if desired. DipTrace is free for non-commercial use to create one- or two-layer boards with a maximum of 500 pads. I use DipTrace for schematic capture and PWB layout. Inkscape is pretty good at sorting out these file incompatibilities. Some laser cutters are incapable of importing.DXF files correctly. The basic requirements for the CAD are to be able to export.DXF files for laser cutting and.STL files for 3D printing. This is a free (non-commercial) Autodesk 3D CAD system. The mechanical aspect of the project is designed using Fusion 360. Additionally, I had some larger robotic projects in mind that would benefit from the higher intelligence that a Raspberry Pi would bring. Consolidating all communications over Wi-Fi would be a serious improvement. They all work, but it was always a hassle getting all of the components set up and working properly. I have used RF and Bluetooth links with 900 MHz / 2.4 GHz / 5.8 GHz data link and video transmitters and receivers. But all of my previous robotic projects have been plagued by communications hassles. Over the years I have built lots of run-around-the-floor robots with varying degrees of autonomy. Modular hardware to support larger platforms.Pi compatible power supply with pushbutton ON/OFF.Software differential motive power and steering.Supports DC motors and brushless motors.Raspberry Pi for higher level processing.Wi-Fi connected command and supervisory control.Tasha Yar, Star trek… and YACC Yet Another Compiler Compiler) is intended as a modular hardware and software development platform for robotics projects. Gets us to point A.I would like to introduce YAAR – Yet Another Arduino Robot. That and it looks like it is getting us right to point A. Our center of rotation, this is our point P, and we're rotating by negative 90 degrees. Which point is the image of P? So once again, pause this video and try to think about it. Than 60 degree rotation, so I won't go with that one. And it looks like it's the same distance from the origin. Like 1/3 of 180 degrees, 60 degrees, it gets us to point C. So does this look like 1/3 of 180 degrees? Remember, 180 degrees wouldīe almost a full line. One way to think about 60 degrees, is that that's 1/3 of 180 degrees. So this looks like aboutĦ0 degrees right over here. P is right over here and we're rotating by positive 60 degrees, so that means we go counterĬlockwise by 60 degrees. It's being rotated around the origin (0,0) by 60 degrees. Which point is the image of P? Pause this video and see That point P was rotated about the origin (0,0) by 60 degrees.
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