Accelerometer adxl335

The Mega bot upgraded with accelerometer. He can feel the position now. When he is upside down - the servos stops. The alarm will be added later.

The accelerometer from Sparkfun (the low one)

The very first test (on one axis)

The final test (on all axes)

Mega bot finds the way out

Another video of my bot travelling inside the house

Current sensor for MegaBot

MegaBot updated with current sensor from Sparkfun
Now it can sense motors overload, when it is stuck.

The sensor

The updated bot

The obstacle handling

BeagleBone PWM

Today I discovered a few important things.

1. PWM and GPIO in BeagleBone can be activated from shell. And it can be used for servo control.

2. DSO 2090 has linux software on http://www.openhantek.org. Finally, I don't need Windows for my scope.

PWM pulses

Wi-fi adapter that I use

Ubuntu wi-fi auto connect

I had 2 days of headache trying to make Beaglebone to connect to my wi-fi network upon startup. I installed ubuntu on it (oneiric 11.10). Currently it has only command line interface via serial.
Here is the solution how to configure it. My wi-fi network is open an has MAC connection control.

sudo apt-get install wpasupplicant

/etc/network/interfaces

auto wlan0
iface wlan0 inet dhcp
wpa-driver wext
wpa-conf /etc/wpa_supplicant.conf

/etc/wpa_supplicant.conf

ctrl_interface=/var/run/wpa_supplicant
network={
ssid="MyHomeNetwork"
scan_ssid=1
key_mgmt=NONE
}

Mega168 bot and servo control

At the picture you can see my bot improved. All wires hided inside the box. Scan algorithm was improved as well. Now I can release him for long autonomous traveling inside my house.

For servo coding I used my USB scope DSO-2090. All pulses was measured perfect.

This pulse controls the servo position. 1 ms - the servo edge position.

  

Mega168 bot

I built this bot from mega168, a few servos and proximity sensor. It looks around and founds a way to avoid obstacles. The program is written by me. Every day the software getting better. The servo control code is not so complicated. Here are some pictures.