Re: Linux-Powered Robots and Flexible Programming
 

I think that's a safety thing (i.e. if the coprocessor generates PWM outputs that can override disabled mode, or allows additional robot drivers, etc etc). Technically, it IS the FIRST controller controlling the robot, but just reading output from another device. I've seen teams use PID IC's and other "electronic parts" that have powerful DSPs and powers built-in ;)

Re: Linux-Powered Robots and Flexible Programming
 

My point is that there is nothing new about this other than that it runs linux. Teams have been using auxillary processors in conjunction with the RC as long as i have been involved in FIRST. The rules in previous years have been pretty clear on this. It is a "custom circuit" and as long as it meets the price limits and does not directly output a PWM signal directly to the speed controllers it is legal. They did not mention where the PWM signal comes from. I will assume that this circuit communicates with the RC through the serial port or something like that and Instructs the RC to output the PWM signal. In this case it is legal. If it is intended as a stand-alone replacement for the RC it would not be legal.

Re: Linux-Powered Robots and Flexible Programming
 

So, wait, let me get this straight:

It might actually be legal to go to a used hardware store, pick up a $50 Pentium 1 laptop, load a micro distro & software-of-choice, and then mount it to the 'bot?

That would be wicked awesome! Like, totally! (/me runs out of phrases)

FIRST: Please let us do this! Please! *Gets down on knees and begs.*

Re: Linux-Powered Robots and Flexible Programming
 

Since the human body generates an electric field, shouldn't we be considered too "dangerous," and not be allowed to touch the controls, as we might "damage" the competition RC? :D

Re: Linux-Powered Robots and Flexible Programming
 

Strapping a laptop would be the most cost-effective and featureful way of doing this, if your robot's weight permits (a nicely stripped P2 laptop weighs just slightly over 1lb).


As far as current development, I've began coding the TCP/IP modules framework, along with a true Python serial backend as opposed to this piping picreader hack ;). I expect to have fully functioning betas of everything within about two weeks if school permits :)

Re: Linux-Powered Robots and Flexible Programming
 

Did you implement TCP/IP through the PIC18's serial ports or through the digital I/O?

George

Re: Linux-Powered Robots and Flexible Programming
 

From what I understand, the TCP/IP is for connecting to the laptop that is connected to the RC via the serial port.

Re: Linux-Powered Robots and Flexible Programming
 

have you guys considered handhelds? older ipaqs can probably be had cheaply and are linux capable, then there's the sharp zaurus. i've had an sl5500 for years. now. of course, these lack digital i/o, but if you just want to mount a light weight capable and complete coprocessor i doubt that you could do much better.

Re: Linux-Powered Robots and Flexible Programming
 

TCP/IP (actually, we switched to UNIX named pipes for latency improvements) is for connecting coprocessor modules to the coprocessor serial communicator. Basically, a way so that the community can make prepackaged software modules in the language of their choice, and have it run out-of-the-box for other teams.


We don't use any fancy protocols across the serial line due to severe processing limitations of the PIC18.

Re: Linux-Powered Robots and Flexible Programming
 

Thanks. I was mystified there for that exact reason - the prospect of implementing TCP-IP on a PIC18F is rather ridiculous (to put it lightly). I understand now.

I ask because my team is working on something similar in function but much different in execution - but we're not quite as confident as you are, so we won't be releasing anything until we have a working system. It'll all be GPL'ed (or similar) though as well, have no fear.

Re: Linux-Powered Robots and Flexible Programming
 

Are there any specific things that you (pl) are interested in doing with access to the power of a full computer?

Re: Linux-Powered Robots and Flexible Programming
 

Better image processing is a key factor, but the primary motivation (for us at least) is the challenge and the "cool factor".