Linux robots

[jack at coats.org (Jack Coats)]

If I remember right, in Gordon McCombs' book 
http://www.amazon.com/exec/obidos/ASIN/0071362967/002-7071348-9162467 , has 
a roll your own version.

http://www.roboticsconnection.com/robotic_sensors.html seems to have
pre-made disks and a reflective IR sensor available for use with it.
They just count the 'clicks' as the wheel rotates.  

I suggest using it for 'interum' position information rather than absolute, 
due to wheel slippage.

These are just examples, I am sure many more are available.

... Jack

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---------- Original Message -----------
From: markw at mohawksoft.com
To: discuss at blu.org
Sent: Tue, 22 Feb 2005 12:49:18 -0500 (EST)
Subject: Linux robots

> I'm building a Linux based mobile robot. I started my career as an EE
> (wow, 20 years ago!), but now I do mainly software.
> 
> I have a Mini-ITX motherboard, wireless network, gellcell battery, 
> LCD screen, a rudimentary wheeled base (not great, but a starting 
> point), Veleman 8000 digital/analog I/O system, and a dual H-Bridge 
> MOSFET motor amplifier.
> 
> I'm at the stage where it boots and can move on its own power. It ain't
> pretty yet, but hey its fun.
> 
> How would you guys do wheel rotation feedback? I need to monitor how 
> much the wheels move so I can calculate rough position and control 
> velocity. I have a couple LEDs and photodiodes installed on the 
> wheels that produce a good set of square waves, not perfectly square,
>  but close to a "quadrature" encoder. I'm not sure of the resolution 
> yet, but I'll measure that later.
> 
> Do you guys know of a good/cheap/easy updown counter system? I can 
> build, but would rather buy a kit or something. (I've done my share 
> of wirewrapping)
> 
> Do you think I could hook it up to the printer port and read it fast
> enough. (I know that question relies on wheel RPM and resolution,
>  but they are not too fast and the resolution is fairly slow.)
> 
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------- End of Original Message -------