PIERO is a mobile platform for educational purposes. It is modular, layered, open source, arduino controlled and can be programmed under the simulink environment.
If you are interested in the project, visit the PIERO page at: http://gomezdegabriel.com/wordpress/projects/piero-mobile-robot-platform/ and download the latest CAD files in sketchup format.
I’m using the bluefruit bluetooth adaptor for the arduino controlled mobile robot Piero
Soldering JST PH male socket connectors to the bluefruit modules
This module is very useful for mobile robotics since is allows you to communicate wireless with your arduino and more important: to remote program the arduino.
In order to reprogram your arduino, the module needs (apart from dynamically adapt its uart speed) to invoke the arduino bootloader by resetting the microcontroller. This is done by using the module’s DTR output. This signal is connected to the arduino’s reset line trough a high-pass filter (electrolitic capacitor in series), as described in this tutorial. This hardware handshake signal can be controlled if you are using bluetooth EDR 4.0 or later, so choose your computer adapter carefully.
If you just want to remote resetting your arduino and you are using matlab this is all you have to do is to switch on and off the DTR line (Data Terminal Ready). Assuming that the com port for the bluetooth device is “COM20”, write in the matlab’s console:
s.DataTerminalReady = 'on';
s.DataTerminalReady = 'off';
This way, the arduino receives a short pulse with a duration that depends on the capacitor size. Enough to reset the micro, but short to let your program run.
More laser-cut acrylic components arrived from Ingeniería UNO workshops for the PIERO educational robot.
The finishing is excellent and everything is looking good.
The arduinos Mega are stuck in a post office in Barajas and it’s going to take a while to get them.
So far we have tested the LM298 with the EMG30 and although the encoder resolution is low, a x4 decoding interface is going to be enough for the platform PID speed control.
Thank you, Alejandro. Great design and accurate manufacturing!
Soon, the fully assembled prototypes.