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Robo Caddy's first outing... — Parallax Forums

Robo Caddy's first outing...

denodeno Posts: 242
edited 2008-10-02 20:34 in General Discussion
Well, I got brave enough to take Robo Caddy out to the country club and play around of 9 holes.· Keep in mind, one doesn't really want to make a fool of one's self in front of a bunch of club members....
Robo did perform quite well.· Followed me around for the entire 9 holes.· Roughly, the distance for 9 holes on this course is 2500 yards, up hill and down hills.· I am going to have to install a 'Parking brake', as some of the cart paths are on slopes, and even with the motors shorted using a relay, Robo wanted to roll down hill.· The whole 'caddy' weighs in at about 80 pounds, counting the battery and clubs.· (If I leave my damn driver at home, which I should do....might be alittle lighter...anybody got any ideas on how to stop a slice?).
I did install 4 tilt sensors to detect uphill, downhill, left slope and right slope to increase or decrease power to the motors thru the HB25.· Boy, I can't say enough about that HB25 H bridge.· I should mention that I am using 2 BS2's to run Robo.· One for the ultrasonics sensors, H bridges, and push button controls, and the second BS2 for the tilt sensors.
Anyway, I have uploaded 3 pictures for all to see.· I am in the process of putting together a short movie to upload to UTUBE...not finished with that yet.·
If I do it over again, instead of using ultrasonics to make robo Caddy follow me, I think I will put together a small joystick and transmitter to just keep Robo Caddy out in front of me as I walk.· Doing away with the ultra sonics.
Deno

Comments

  • stamptrolstamptrol Posts: 1,731
    edited 2008-09-23 11:56
    Nice job.

    One has to imagine a squirrel or rabbit going past the caddy and it taking off to chase it.

    Cheers,

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    Tom Sisk

    http://www.siskconsult.com
    ·
  • Timothy D. SwieterTimothy D. Swieter Posts: 1,613
    edited 2008-09-23 13:30
    Very cool use of Parallax products. You mentioned you would change the ultrasonics out, were they difficult to calibrate or program? Did they not perform as well as you wanted?

    Nice job!

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    Timothy D. Swieter, E.I.

    www.brilldea.com·- Prop Blade, LED Painter, RGB LEDs, uOLED-IOC, eProto fo SunSPOT, BitScope
    www.sxmicro.com - a blog·exploring the SX micro
    www.tdswieter.com
  • DufferDuffer Posts: 374
    edited 2008-09-23 17:36
    Nice to see a project actually make it into the field (onto the course).

    Setup on the right edge of the fairway at about 200 yards, close the club face 3-5 degrees, make your regular swing "down the line". If it goes straight, you're on the right edge of the fairway. If it draws, which it should, you're in the middle of the fairway and long. If you over do·it and try to steer the ball left and end up hooking it, you're on the left side of the fairway. In all three cases, the ball is still in play. yeah.gif

    Duffer
  • parts-man73parts-man73 Posts: 830
    edited 2008-09-23 18:24
    How was the reaction from other golfers??

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    Brian

    uController.com - home of SpinStudio - the modular Development system for the Propeller

    PropNIC - Add ethernet ability to your Propeller! PropJoy - Plug in a joystick and play some games!

    SD card Adapter - mass storage for the masses Audio/Video adapter add composite video and sound to your Proto Board
  • denodeno Posts: 242
    edited 2008-09-24 11:18
    The squirrels and rabbits are to small to be noticed by the transducers.· As far as the other golfers, most didn't notice, as they were looking for there balls in the rough with there head down.· And, I picked a tee time late in the afternoon when there are less players on the course.

    I think that control with a joystick might be a better way to control Robo Caddy.· This way, you can send Robo out in front of you, and when you pick your club, I will be able to send Robo over to the wife so she can pick her club.· Yes, Robo can carry two sets of clubs....I will make the joystick transmitter package small...there are some nice small 'thumb' type· 2 axis resistive joysticks out there.

    Deno
  • Timothy D. SwieterTimothy D. Swieter Posts: 1,613
    edited 2008-09-24 11:39
    Why not have both modes? After a couple holes of driving my thumb would probably get tired.

    If there is enough room for adding more clubs why not also add a cooler to carry a couple cold beverages?

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    Timothy D. Swieter, E.I.

    www.brilldea.com·- Prop Blade, LED Painter, RGB LEDs, uOLED-IOC, eProto fo SunSPOT, BitScope
    www.sxmicro.com - a blog·exploring the SX micro
    www.tdswieter.com
  • denodeno Posts: 242
    edited 2008-09-25 11:40
    Yes...there is already room for another set of clubs.· The wife's.....

    I don't think that pushing a joystick around with one's·finger is anymore taxing then turning a steering wheel on a golf cart....

    Yes..there is a drink holder, but coolers are not allowed on most courses...they want you to buy from there drink cart.

    My request to a company for info on there 'small' joystick has fallen on deaf ears...anyone got any links on a small, resistive, 2 axis joystick.··(just the joystick...no circuitry)?

    Deno
  • Bruce BatesBruce Bates Posts: 3,045
    edited 2008-09-25 12:06
    Deno -

    If you're looking for something simple and reasonably inexpensive, this may be the ticket:
    http://www.allelectronics.com/make-a-store/item/JS-5/JOYSTICK/-/1.html

    Regards,

    Bruce Bates

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    When all else fails, try inserting a new battery.
  • Chris SavageChris Savage Parallax Engineering Posts: 14,406
    edited 2008-09-25 18:10
    Well, you wouldn’t have any proportional control with that Joystick…I can’t find it right now but someone just posted in the last week or so a link to a miniature joystick module that Radio Shack used to carry. It had a black plastic base about 1” square and a small aluminum shaft that was threaded for adding a handle. These had two small post on the sides.

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    Chris Savage
    Parallax Engineering
  • steve_bsteve_b Posts: 1,563
    edited 2008-09-26 13:08
    Very cool....hidden cooler? [noparse];)[/noparse]

    re: slice.
    close your face or get an offset club head....or only play dogleg rights! [noparse];)[/noparse] (I'm having the same problem with my driver this year...not enough practice)

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    <FONT>Steve



    What's the best thing to do in a lightning storm? "take a one iron out the bag and hold it straight up above your head, even God cant hit a one iron!"
    Lee Travino after the second time being hit by lightning!
  • jsliljslil Posts: 11
    edited 2008-09-26 15:52
    Awesome application!

    how are you using the ultrasonics currently?
  • denodeno Posts: 242
    edited 2008-09-27 00:40
    To explain the operation of the ultrasonic sensors could get lengthy...I could post the code, and you could read it, but some of you might laugh at how I write code...

    Anyway, basicly, there are 3 ultrasonic sensors, left, center, and right.· The stamp polls each sensor, looking for me.· The total degrees of sensor field is about 120 degrees.·If the center sensor see me, then both HB25's engage to drive Robo straight.· However, if only the left or right sensor sees me, then one or the other HB25 drives only one wheel to bring the center sensor back into view.· I use the distance from sensor to me in a speed calculation to tell the HB25 how much power (speed) to apply. So there is a variable speed, depending on how close or far Robo is from me.· If I walk fast, Robo goes faster to keep up.· On the other hand, if I walk slow, then Robo does to.· The sensors reach out to 10 feet.· If Robo looses sight of me on the center sensor, Robo just stops. If Robo looses sight of me on the left or right sensor, Robo goes into a tight circle, looking for me.·I must step back into view, and Robo will aquire me again and follow.· Minimum range is 25 inches, where Robo will come to a complete stop.· I can then walk on and Robo will start to follow again, or I can push a "Stay put" button, select my club and hit the ball.· Upon returning the club to the bag, I push the "Follow" button and off we go looking for my ball in the rough....· There is also a push button that will apply a small amount of reverse to back up Robo if he is to close to my ball or swing.

    In addition to the above, I can control Robo with an RF, frequency modulated 4 button remote.· Actions with the RF remote are, pivot left, pivot right, straight, left turn, right turn.· And the last button on the remote ingages a heavy relay, which in turn supplies the HB25's with power.· This way, I can disengage, and engage the HB25...useful when first turning on the stamp to avoid a run-a-way condition of the HB25.

    A second stamp monitors 4 tilt sensor for uphill, downhill, left and right slope.· This simple data is continiously sent (SEROUT) to the above stamp.· The above stamp spends about 5 mSec's looking for this data (SERIN) and then uses that to add PWM to the HB25 for uphill, or subtract for downhill braking, or applying more PWM to only one wheel for operating on a tilting slope.· This last one has been tricky to write a speed algarithm for.· The tilt sensors activate at 10 degrees.· I orginnaly tried the Mimsic 2125, but it was to sensitive to vibration.· Golf courses are not that smooth.

    That should give you an idea of operation.· The most time was spent on developing the gear boxes, and chain drives.· The electronics was easy.

    Deno
  • SRLMSRLM Posts: 5,045
    edited 2008-09-27 01:41
    Sounds like your device could be used for lots of other "following" applications. Perhaps your could make an autonomous stroller to roll the kids around at Disneyland (or a friends kids...)
  • UghaUgha Posts: 543
    edited 2008-10-01 22:23
    Possibly dumb idea... could you use an IR beacon to make it follow ahead of just YOU?
    Maybe a circle of IR LEDs on a hat or belt or something? Since you can't see IR, you won't look like a christmas tree [noparse]:)[/noparse]
    Put some ultrasonics on the front to avoid running into anything/anyone, then one on the rear for ranging... to make sure it
    stays the correct distance in front of you.

    You'd have to make sure you find a frequency that won't trigger false readings due to sunlight, but besides that it should
    be fairly easy to keep you targeted.

    You could even use your small remote to tell it to swing in front of you or behind, based on the situation.
  • CounterRotatingPropsCounterRotatingProps Posts: 1,132
    edited 2008-10-02 00:56
    Extra Round of Golf Claps, Deno!

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    Buzz Whirr Click Repeat
  • ercoerco Posts: 20,261
    edited 2008-10-02 20:34
    Deno:

    Very cool 'bot! Re: rolling downhill, might you use your tilt sensors to allow the robot to turn perpendicular to the downhill when stopped? That would obviate the need for a parking brake, providing it won't tip over sideways.

    erco

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    ·"If you build it, they will come."
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