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The Twelve links in this section will guide the reader through several articles that I've written for the Seattle Robotics Society's online magazine, "the Encoder"
Color Vision System
Ever want to implement a color vision system on your robot? This article reviews the detailed implementation of an FPGA based color vision system using standard NTSC color video cameras and Phillips Video Input Processors.
Real Time Laser Range finding
A complete vision system overview using a parallax based laser range finder. This system uses medium density programmable logic to lock onto and track NTSC video real time. The system hardware completely processes the video and only interrupts the uProcessor when a complete frame of data has been processed and transferred into RAM. In this article I present the mechanics, equations, schematics and CPLD code. After absorbing this information the reader will have enough information to build their own system from scratch as I have done.
3-Designs Presented
This article reviews three unique 32 bit processor systems developed by myself and four other members of an SRS SIG on the Motorola 68332 uProcessor. From this group of four three of us developed, prototyped and built working processor systems with unique functionalities and interfaces. This article reviews all three including schematics and photographs with code for a monitor program that has flash loading capabilities.
Metal forming
This article focuses on metal forming and the use of high pressure to form aluminum and steel into usable shapes for robotics. It stands in stark contrast to the authors other manufacturing technologies employed through out this web site that focus on tribology or the removal of metals from billet stock through cutting.
68332 Servo Motor Interface
A specialty article, this one proceeded the above and focused on using the CRC332 board for driving medium sized (3-Amp) DC servo motors in a close loop feedback system. Specifically, the processor interface for the TPU is highlighted. Complete code examples for initiating the two TPU functions required (FQD & MCPWM). The article starts with an overview of PWM and it's uses in motor control. It progresses into a discussion of incremental quadrature encoders. Finally it wraps up with code examples and a discussion on closing the loop between the sensing & action sections.
Getting Started w/CPLD's
I've written this introductory article with the idea of helping more armature roboticists learn how easy it is to incorporate high end programmable logic into their systems on a minimal budget. It starts at the very beginning with introductions to pin definitions and basic logic statements. Next dot operators and state machine constructs are explained. There are numerous examples that I've written and compiled, along with some application implementation examples showing options from surface mount construction to wire wrapping and in system programmability.
CPLD's Taking the Next Step
Written as a follow on article to that presented above, this article picks up where the previous one left off and discusses sizing CPLD logic, clocking and output enable requirements. After this two full extended application examples are covered. 1) PWM output & 2) PWM capture. One of the driving reasons for developing this article came through the need to replace the dedicated TPU functions on a '332 processor with programmable logic. A discussion of this is included as well.
Home Injection Molding
This article was written several years back to introduce the art of home injection molding to armature roboticists. This article covers most of the molding basics discussing the concepts of runners, gates, cold well plugs, sprews, cavities, flash, air vents, ejector pins, and draft. I then proceed to show a fully detailed photo pictorial example of an early tractor tread mold design.
Implementing Encoders w/PIC Processors
Based on work many years old now, this article discusses the state machine required to track a quadrature based incremental encoder in software running on a high speed dedicated embedded micro processor. The article wraps up by presenting the actual code used in the implementation.
A Custom Sprocket
This article flows from the design and construction of my large robot project. It starts easily with a great find in a junk store that allowed me to pick up two of the three parts I really needed at a bargain price. The story picks up when I go to buy the third part. It then chronicles the choice to build rather than buy that last part and provides concept & pictorial results of that choice.
Oven Soldering of Surface Mount Components
So you've been afraid to take on mastering the art of surface mount IC soldering? This article describes a process that you may not have considered. Pictorially it will walk the read through the steps of using a low cost toaster over to solder surface mount parts. With the help of my friends Mark, Jeff & Jim we provide the information required for the reader to reproduce our results and come out with great looking boards on their own after a little experimenting.
Wheels the Hard Way
There has been a lot of focus on making wheels for mobile robots, faster and cheaper with the unfortunate consequence that most robotics enthusiasts all choose from a very narrow selection of solutions. In this article I present that a completely custom design with slow and expensive manufacturing techniques may in fact prove a viable solution. The pictorial included centers around the wheels designed for my small robot project.
