This week, we reviewed the entire hardware component of the project. Here is a simple block diagram, as well as a quick explanation of the subcomponents.
First, we divided the hardware circuit in three parts, the batteries, the regulators and the main circuit. About the first part, the batteries, another one was added in order to have 2 separate energy sources, one for the logic components and one for the power components. The motors are connected to an L298 motor arduino module, which is connected to the arduino in order to send commands to the motors. The arduino itself will be connected to the raspberry pi via USB. The lidar is also connected to the raspberry pi via USB. The raspicam is also connected directly to the raspberry pi board.
We can see above 2 schematics, in one of them, we highlight the pinout of the arduino connections and in the other one was used to design the circuit and make the PCB design, seen below.
This week was coded the movement of the robot avoiding the obstacles. For moving the robot we needed to use the odometry data and to bypass the obstacles we use the LIDAR sensor.
Here can see the data provided from the odometry.
And here is the data from the LIDAR from the rostopic:
