Je vous informe que l’entreprise Mace Robotics sera présent le samedi 30 avril à la première rencontre Nationales Raspberry Pi à Nevers.
Information : http://adn.agglo-nevers.net/index.php/rendez-vous/1-premieres-rencontre-nationales-raspberry-pi
Je vous informe que l’entreprise Mace Robotics sera présent le samedi 30 avril à la première rencontre Nationales Raspberry Pi à Nevers.
Information : http://adn.agglo-nevers.net/index.php/rendez-vous/1-premieres-rencontre-nationales-raspberry-pi
The python program :
from mrpi1_lib import * import time #main program state = 1 try: # infinite loop while 1: if state == 2: play("Thank you bye")# speech synthetis state = 3 # read sensors p3 = proxSensor(3) p4 = proxSensor(4) forward(30) print "%d %d" %(p3, p4) if (p3 > 900 or p4 > 900): stop() # stop robot state = 2 playWav("BeCarefull.wav") # play wav file except: stop() exit()
Voici, l’architecture logicielle du microcontrôleur STM32F407 du robot MRPi1 :
The python program :
from mrpi1_lib import *
import time
# activer le controle
controlEnable()
# avancer de 30 cm
forwardC(15, 1200)
# boucle infini
while 1:
# lecture capteur de proximité 3
p = proxSensor(3)
# pause de 0.5 seconde
time.sleep(0.5)
# si capteur > 300
if p > 300:
backC(15,1200) #reculer de 30 cm
exit()
On this video the MRPi1 robot follows a black line autonomously. The 3 ground sensors are used.
Wake up alarm with MRPi1 robot. The robot stops the alarm automaticly when the robot detects the light.
Python program :
# import mrpi1 lib from mrpi1_lib import * import time try: while 1: al1 = ambiantLight(1) # read ambiant light,sensor 1 al2 = ambiantLight(2) al3 = ambiantLight(3) al4 = ambiantLight(4) al5 = ambiantLight(5) al6 = ambiantLight(6) print "Ambiant light = %d %d %d %d %d %d" %(al1, al2, al3, al4, al5, al6) if (al1 < 4000 and al2 < 4000): # light detects print "end alarm" writeCommand("SPD")# disable speaker exit() else: playWav("alarmClock.wav") # play alarm wav file time.sleep(0.2) except: writeCommand("SPD") # disable speaker exit()
Raspberry Pi robot – MRPi1 football from macerobotics on Vimeo.
In this video MRPi1 robot is controled by two PID controller. The PID controller calculates an error values between motors encoders and desired value (orientation and distance).
The speed profile :
Encoders specification :
Raspberry Pi robot – MRPi1 from macerobotics on Vimeo.
New video, control the MRPi1 prototype with a simple web interface.
MRPi1 robot can now speak about temperature and his battery level. This information is asked by TV remote control.
MRPi1 robot : Speaker test. from macerobotics on Vimeo.