Diferencia entre revisiones de «Training on modular snake robots»

Revisión del 04:08 19 feb 2011

Session 1: Introduction
- About ourselves
- Introduction to modular robotics
- Overview of the training on modular snake robots

Session 2: Building the MY1 modules
- All the 30 modules will be built
- Preparing the battery holders (some cables have to be soldered)
- Preparing the download cables
- Building 10 Unimods (Unimod = one module + electronics + batteries)
- Testing everything

Session 3: Software installation
- All the software tools will be installed: PIC C compiler, IDE for programming (Codeblock), Software for downloading (pydownloader)
- Examples of downloading into the electronics boards
- "Hello world" programming example: compile, download and test the blinking led program

Session 4: Servo controlling
- Introduction to servo controlling
- Test the C programs for positioning the servos
- Control model: Sinusoidal generators
- Experiment 1: "The big wave". 10 isolated modules on the ground will oscillate generating a wave. The shape of the emerging wave depend on the local oscillator parameters

@@ Línea 25: / Línea 25: @@
 * '''Session 4''': Servo controlling
+** Introduction to servo controlling
-  -> We will provide them some C programs for positioning the servos
+** Test the C programs for positioning the servos
-  -> We will propose some simple exercises like: "position the servo at 45 degrees, wait for half a second and then go to -50 degrees"
+** Control model: Sinusoidal generators
-  -> We can explain how the servos work: PWM signals and so on
+** Experiment 1: "The big wave". 10 isolated modules on the ground will oscillate generating a wave. The shape of the emerging wave depend on the local oscillator parameters
-  -> Oscillating the servo: we will give them the basic software for making the servos oscillate.
-  -> They will change the parameters to understand the meaning of the amplitude, frequency, phase difference...
-  -> Finally, we will perform this experiment: "The big wave". 10 isolated modules will be located in the ground[1]. They all will be oscillating with the same frequency and amplitude but with a phase difference between two consecutive modules.  The will see how a big wave appears and travelling along the modules.  They will learn how to "control" the shape of that wave just by changing the oscillator's parameters.
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