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.
- Original vehicle designed by Jörg Henne
- 2 DC motors with encapsulated gears and encoders
- 1 infra-red PSD sensor
- 6 infra-red proximity sensors
- acoustic bumper system
- wheels: Allen key size 1/16", O-Ring no. 325
- digital camera
- SoccerBot designed by Elliot Nicholls, Richard Meager, Thomas Bräunl
- 2 DC motors with encapsulated gears and encoders
- 2 servos for camera tilt and ball kicker
- 3 infra-red PSDs
- compass module
- digital camera
- wireless communication module
- smaller than original vehicle and optimised to play robot soccer
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