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APP4MC/Rover
A Rover comprehensive development and documentation is also given at Github with documentation and source repos. The APP4MC Rover is further developed along with the Eclipse Kuksa project.
Contents
APP4MC Rover Demonstrator
Hardware
- Rover kit as described on this page is deprecated, therefore please check the following parts:
| Part | Quantity | Price each in € | Price total | Link exemplarily | Link for Germany |
|---|---|---|---|---|---|
| Rover 5 Robot Chassis (includes 9V AA Battery holder for the motor) | 1 | 50 | 50 | Pololu | - |
| Raspberry Pi 3 with 16GB | 1 | 40 | 40 | Element14 | - |
| PI Camera | 1 | 25 | 25 | Element14 | - |
| Sharp GP2Y0A41SK0F Analog Distance Sensor | 4 | 4 | 16 | AE | - |
| Pololu RPi hat motor controller #2756 | 1 | 35 | 35 | Pololu | - |
| Motor controller connector | 1 | 1 | 1 | Pololu | - |
| Powerbank for RPI | 1 | 25 | 25 | Element14 or GB | Conrad |
| Rover-Sense-Layer | 1 | ~14 | ~14 | V2 can be ordered directly from KiCAD e.g. via PCBWay or AllPCB using the provided files | - |
| A/D Converter | 1 | 3,15 | 3,15 | AE | Conrad |
| Logic Level Converters | 2 | 1,06 | 1,06 | AE (size has to be checked!) | Link |
| Magnetometer | 1 | 1,58 | 1,58 | AE | - |
| US sensor SR04 | 2 | 2 | 4 | AE | - |
| Temp. / Hum. sensor | 1 | 2,22 | 2,22 | AE | Amazon |
| OLED Display | 1 | 3 | 3 | AE | Amazon |
| Accelerometer / Gyro | 1 | 0,94 | 0,94 | AE | Sertronics |
| Buzzer | 1 | 1,5 | 1,5 (10 pcs) | AE | Conrad |
| Resistors | 3 | x | 1 (100 pcs) | AE | Conrad |
| Buttons | 2 | x | 1 (50 pcs) | AE | Conrad |
| Pin Header | 1 | 1 | 1 (10 pcs) | AE | Conrad |
| Spacers | 1 | 4 | 4 | AE | - |
| IC Socket | 1 | 1 | 0,18 | - | Conrad |
| Pin Heads straight 1x36 | 2 | 1,92 | 3,84 | - | Conrad |
| Pin Heads angle1x36 | 1 | 2,6 | 2,6 | - | Conrad |
| Distance bolts | 2 | 0,23 | 0,46 | - | Sertronics |
| ∑ | 36 | - | ~240 EUR | No shipping, assembly included | - |
- 3D extensions (to be printed via 3D printer) are provided here.
- Using the official RPI SenseHAT for the Rover is currently not possible.
RoverSenseLayer
RoverSenseLayer_V1
RoverSenseLayer_V2
Repo with KiCAD files: GitHub
Software
- the Rover's documentation (install guide, web-access incl. camera stream, and tracing possibilities), the AMALTHEA model, and the application SW can be found @: git Rover repository
- Rover SD card images are available here
Investigation results
- All ultra sonic sensors (Grove, SRF02, and SR04) give relatively unreliable values
- The compass values highly depend on its location circumstances - you may encounter unreliable values here as well
Since we do not focus the Rover's applications itself, we leave any implementations for sophisticated front and rear distance- or cardinal direction- measurements via additional or different sensors or any filtering algorithms to the community
Included Implementations
- Displaying Hono, BT, and Wifi connection via OLED display
- Website generation for live stream, controls, and sensor data / CPU utilisation visualisation
- Wifi hotspot
- ACC
- Grove / SR04 / SRF02 US Sensor access via wiringPi library but unreliable values
- IR sensor access
- Hono interaction
- Buzzer implementation
Upcoming Implementations
- Bluetooth implementation to allow Android App control
- Temp. Hum. sensor, Accelerometer, Gyro