Robotics: Rovers and Arms

10 Lektionen in dieser Stufe

1. Robot Power: Batteries, Protection Boards and Buck Converters
   Design a safe battery supply for motors and for the Pi. · Lab: Wire a fused 2S pack to a buck converter, set 5.1 V and measure sag under motor load.
2. Wheel Encoders and Measuring Speed
   Count encoder pulses and convert them into wheel speed and distance. · Lab: Read both encoders and print revolutions per minute at three power levels.
3. PID Speed Control from First Principles
   Close the loop so each wheel holds a commanded speed. · Lab: Implement and tune a PID loop so the rover drives straight on carpet and tile.
4. Differential-Drive Kinematics and Odometry
   Convert wheel motion into position and heading. · Lab: Drive a one-metre square and measure the closing error.
5. Heading from an IMU with a Complementary Filter
   Fuse gyro and accelerometer data into a stable angle. · Lab: Hold a heading while the rover is nudged and turn exactly 90 degrees.
6. Obstacle Sensing with Ultrasonic and Time-of-Flight Sensors
   Compare sensor beam shapes and build a simple avoidance rule. · Lab: Mount both sensors and map which obstacles each one misses.
7. Behaviour State Machines for Robots
   Structure robot logic as explicit states and transitions. · Lab: Implement cruise, avoid, turn and stop states with logged transitions.
8. Line Following with Reflectance Sensors and with a Camera
   Steer along a line using two different sensing methods. · Lab: Follow a taped course with the sensor array, then with an OpenCV centroid.
9. Servo Arm Geometry: Forward and Inverse Kinematics
   Compute joint angles for a target position and move smoothly. · Lab: Solve a two-link arm and move the gripper to three marked points.
10. ROS 2 Nodes and Topics in a Container
    Run a robotics middleware and split a robot into communicating nodes. · Lab: Run ROS 2 in a container, publish wheel odometry and drive with a teleop node.

Abschlussprojekt

An autonomous rover that drives measured distances, holds a heading, avoids obstacles, follows a line and uses a small arm to pick up a marked object.

Teile für diese Stufe

• 1 × Raspberry Pi 5 or Pi 4 set from Level 1
• 1 × 2WD or 4WD robot car chassis kit with gear motors
• 2 × Motor encoder set (hall or optical)
• 1 × Dual H-bridge motor driver
• 1 × MPU6050 IMU module
• 1 × Ultrasonic distance sensor HC-SR04
• 1 × VL53L0X time-of-flight sensor module
• 1 × Line-tracking reflectance sensor array
• 1 × 2S Li-ion battery pack with protection board (BMS)
• 1 × Balance charger for the battery pack
• 1 × 5 V 5 A step-down (buck) converter
• 1 × Inline fuse holder and power switch
• 1 × 4-DOF robot arm kit with servos
• 1 × PCA9685 16-channel PWM driver
• 1 × Camera module

In jeder Lektion legst du die passenden Teile direkt in den Warenkorb. Raspberry Pi →