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Sumobot Code and Kit Modifications — Parallax Forums

Sumobot Code and Kit Modifications

DBMDBM Posts: 8
edited 2009-01-26 18:10 in Robotics
Greetings all!

This is my first post on this forum, but definitely not my last.

I have just purchased a Parallax Sumobot kit for use in my local University's robotics club.
I have a couple of questions that some of you can hopefully help me with. [noparse]:)[/noparse]

Can I run this kit off of a 3S lipo battery (11.4V....12.6V fully charged)?

Also, I have this motor driver:

www.dimensionengineering.com/Sabertooth2X10RC.htm

It 'should' work just fine plugged into the servo outputs on the sumobot PCB, but are there any problems with this that I might be missing?

I'm also new to writing code. I have much experience building successful combat robots, but this is my first attempt at an autonomous robot. With that said, does anyone have any working sumobot code that I can program my robot with that will have it working for sumo? I've only got a week before the competition so i'm hoping to find some working sumo code to save a bit of time. [noparse]:)[/noparse]

A bit of info on my project:

Our club has a 1000gram class in which I plan to compete in. With that said, I will not be using the completed Parallax Sumobot kit. I plan to use the 2x10A motor driver to run a pair of larger DC gearmotors, and will also be using vacuum to increase traction.

I'll post progress pictures as things progress throughout the week.

Thank you for your time, and I look forward to any help/input you can provide!

Regards,
-Dennis

Comments

  • SRLMSRLM Posts: 5,045
    edited 2009-01-12 03:34
    Battery: As long as you're not drawing too much current through the regulator, you can power it from the battery you mention. A better solution would be to have an intermediate step of (maybe) 9 volts. If you notice the regulator getting hot during operation, then you definitely need an intermediate step. You could also power it from the 5V supply of the sabertooth, which should work fine.

    For sumobot stuff, look in the book. It has lots of code available.
  • Steph LindsaySteph Lindsay Posts: 767
    edited 2009-01-12 15:56
    On this page you will find a link to download the basic SumoBot Code from the assembly manual.

    For a great advanced programming tutorial for autonomous sensor-based competition navigation, download the code and text for Applied Robotics with the SumoBot from this page.· I don't know if you bought the single robot kit or the Competition Kit which has two robots.· Applied Robotics uses the Competition Kit, which has an extra set of IR emitters and receivers using the breadboard.· The code in this book requires sensor calibration so it is not just download-and-go, but instructions for it are in the book.·

    -Stephanie Lindsay

    Editor, Parallax Inc.
  • ZootZoot Posts: 2,227
    edited 2009-01-12 16:50
    DBM -- that motor driver is for DC motors, not servos. I am not sure why you would need a motor driver for servos (or are you replacing the servo motors with actual DC motors?). Servos already have their own mini motor drivers built in.

    If you are looking at off-loading servo pulse generation from the Sumobot's on-board Stamp (a good idea) then there are several options -- the easiest (though not necessarily the cheapest) is to use the ServoPAL from Parallax. Not sure if obtaining that (or the Parallax Servo Controller -- but that might be overkill) is do-able in your time frame.

    If you want to run the 'bot off of that battery back, it should be OK (though you will be pushing the regulator a bit hard -- will get warm), but make sure you are powering the servos from Vdd and not Vin -- that high a voltage will kill your servos.

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    When the going gets weird, the weird turn pro. -- HST

    1uffakind.com/robots/povBitMapBuilder.php
    1uffakind.com/robots/resistorLadder.php
  • DBMDBM Posts: 8
    edited 2009-01-12 20:23
    Thank you for all of the reply's and help so far!

    To answer a couple of questions:

    I bought just the single sumobot kit, not the competition kit. I hope to add more sensors for future events when time permits. For next weeks event, I will have to make due with the pair of line sensors and pair of IR Tx's/Rx's.

    I plan to drive two DC gear motors. The gear motors are comprised of 62:1 planetary gearheads with mabuchi 180SH DC motors.

    I will try to use some airflow from the vacuum fan to cool the VR if it gets a bit warm from the 11.1V lipo pack.
  • DBMDBM Posts: 8
    edited 2009-01-20 16:04
    Everything works fine when running the servos but when I p-lug the servo leads from my sabertooth 2x10rc motor controller, nothing happens with the pcb switch set to '2'. When the switch is set to '1', the is some wheel movement, but it is random and the motor controller eventually light up the 'error' led. I thought that maybe the ESC was faulty, so I connected a sabertooth 2x5 motor controller from a working robot of mine. It·also did nothing.

    Any ideas? I'm in a bit of a bind since my sumo event is tomorrow. Eeek!

    Any help is very much appreciated!

    Thanks in advance,

    -Dennis
  • ZootZoot Posts: 2,227
    edited 2009-01-21 00:19
    Can you post a schematic or a wiring diagram or even a close-up photo of your setup.

    When you talk about the switch -- do you mean power switch on the 'bot or on your motor controller?

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    When the going gets weird, the weird turn pro. -- HST

    1uffakind.com/robots/povBitMapBuilder.php
    1uffakind.com/robots/resistorLadder.php
  • allanlane5allanlane5 Posts: 3,815
    edited 2009-01-21 20:31
    Typically, an ESC requires some "pattern" of initial moves to activate it.
  • DBMDBM Posts: 8
    edited 2009-01-22 16:08
    It looks as theough the voltage output from the sumoboard is unregulated. Since I am using a 11.1v lipo pack (12.6V fully charged), the output to the servos was 12.6V. I thought that this voltage would be regulated by the sumoboards voltage regulator. I don't think my motor controllers liked the incoming 12v......the sabertooth 2x10 no longer works, and the 2x5 got warm and smells funny now. :P· Both previously worked fine in my combat robots when connected to a spektrum BR6000 Rx.
  • GWJaxGWJax Posts: 267
    edited 2009-01-23 02:09
    DBM said...
    It looks as though the voltage output from the sumoboard is unregulated. Since I am using a 11.1v lipo pack (12.6V fully charged), the output to the servos was 12.6V. I thought that this voltage would be regulated by the sumoboards voltage regulator. I don't think my motor controllers liked the incoming 12v......the sabertooth 2x10 no longer works, and the 2x5 got warm and smells funny now. :P Both previously worked fine in my combat robots when connected to a spektrum BR6000 Rx.

    That really sucks! You let the magic smoke out of the boards. For one you shaould have checked to see if it was a regulated power supply, but then again hind sight is 20/20.

    Jax

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    If a robot has a screw then it must be romoved and hacked into..
  • DBMDBM Posts: 8
    edited 2009-01-26 18:10
    Since servos typically operate at 5v, i thought it was safe to assume that the voltage output to the servos was regulated to 5v. I know better now. I'll buy a 5v regulator. And a new 2x10 sabertooth speed controller to replace the one that I fried. Doh.
    Parallax hb-25 speed controllers are on the way. They should work. [noparse]:)[/noparse] The next event is in March. I'll keep my progress posted. [noparse]:)[/noparse]
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