EyeBot Vehicle and SoccerBot

EyeBot is the heart of several mobile robot projects, all of them using vision as their most prominent sensor. The mechanics and sensor electronics has been individually constructed around the EyeBot Controller.

Vehicle Specific Settings

TPU  0     right motor speed
TPU  1     left motor speed
TPU  2-3   left shaft encoder
TPU  4-5   right shaft encoder
TPU  2-13  servo channels (4 overlapping)
TPU 14     PSD
TPU 15     audio out
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DO 0-1     left motor direction (A)
DO 2-3     right motor direction (B)
DO 4       PSD control line
DO 5-7     free
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DI 0-5     PSD infrared sensor
DI 6-7     free (e.g. bumper)
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AD 0       microphone
AD 1       battery level
AD 2-7     free

Thomas Bräunl, braunl@ee.uwa.edu.au