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labcomm

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    Name Last commit Last update
    3Dprinting
    img
    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](https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/ master/userguides/userguide_client), which can easily be installed and launched:

    pip install cfclient
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

    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