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3Dprinting
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projects
README.md
README.md

Omnibot documentation

omnibot_image

Code

For information on code packages for the omnibots, see

  • omnibotserver.py - Python server for the omnibots
  • omnibot.py - A python package to set up a client application for the omnibots
  • omnibot.jl - A julia package to set up a client application for the omnibots

Description

Repository contents

  • 3Dprinting contains information on how to print further omnibots.
  • projects contains documentation from projects done with the robots.
  • this README contains information on the components and installation.

Dynamics

dynamics

(Image credit to the Max4 project.)

The setpoint for rotational speed for the wheels of the robots can be set. Thus there is a relation between the rotation of the wheels and the movement of the robot, given by

equation

Installation

3D-printing

TODO

Assembly

TODO

Crazyflies and Lighthouses

The omnibots use crazyflies (version >= 2.0) to supply positioning. This is done via a lighthouse deck mounted on the crazyflie, along with two HTC vive beacons. beacons

All configuration of the crazyflies and beacons is easiest to do via the crazyflie client, which can easily be installed:

git clone https://github.com/bitcraze/crazyflie-clients-python
cd crazyflie-clients-python
pip3 install -e .

and launched:

cfclient

You will also need a crazyradio, which requires USB permissions.

You can read about configuring the crazyflie and the lighhouse systems on the bitcraze website. You should go through all the following steps, which are listed there:

  • Prepare and configure the base stations.
  • Update the crazyflie firmware.
  • Calibrate the crazifly to the base stations.

Servos

The servos are easiest to configure via the dynamixel wizard.

Power Supply

The omnibots run on batteries which should in theory last several hours. Once out, they can be recharged via a charging station. chargingstation

Instuctions for the charging station:

  1. Lithium BATT
  2. LiPo Balance CHG
  3. Hold enter
  4. Confirm (enter)

Configuring a TCP Server

See omnibotserver.py

Support

Code - felix.agner@control.lth.se Assembly - alexander.pisarevskiy@control.lth.se

Contributing

Please update the documentation here when new packages and updates to the robots happen