Meeting Minutes 10/29/2009¶

• Updates?
• Chose (2nd) LPC3230FET296 w/ Ethernet
  • Kwoo to research POE
  • Charging? or just logic power..
• AVR?
  • 128L clocked @ 16MHz
  • 128K Flash, 4K SRAM
  • Same chip as Colony III

• Updates?
  • Compile Linux on-board ourselves
    • Busybox utilities, bootloader(?), U-Boot
      • Using FAT32 on SD
  • Might still try an outside RTOS (see how easy it is to use)
  • Write Cololix/Colonix (as named by Kwoo/BNeuman)
• RAM needed?
  • Run kernel onboard and use external S(D)RAM for user stuff
    • Brad to check on minimum RAM
  • Oversize for mappping, LUT, etc.
  • Need SRAM vs SDRAM? (huge cost factor, some power factor)
    • 256/512MB SDRAM ($10 for DDR)
    • Might not need external SRAM (DDR SDRAM lets us run ~clock speed)

• Limiting
  • (Battery is @ 4.2A), trip @5A polyswitch over total system
  • 750mA current limiting on each motor
  • 350mA current limit on stepper
• Charging
  • 5V USB
    • Power Logic, not motors
  • POE is 40V(25W), if we follow the standard
    • Power logic, not motors
• Charging Station
  • 12VDC @ 2.0A input from charging station (per robot)
    • Easy from PC power supplies
  • Pull people in to develop this?
  • Daisy chain stations together
  • Always need "base" station (Xbee, Power management, AC hookup, etc)

• Updates?
• Purchased some IR modules w/ pre-amps, demodulation
  • Spec Sheet
• 4/5/6 Beacons
  • Four Corners vs. Front Center, Left, Right, Rear Center
  • Front Right, Front Left, Left, Right, Rear Left, Rear Right
  • Top of Sonar (for multiplane, but NOT 3D =P)
• Token Ring
  • Don't send data, just a little packet
    • Opt in to sensor matrix (all robots on grid)
  • Full Mesh networking...
    • Timeout issues? Associating a BOM w/ wrong robot?
  • Run this on a thread (background process)

• "Headlight" orb placement designed (have pic)
• Passive vents added for processing board
  • Adding thin foam filters to keep dust out
• Power Switch..
  • Placement Suggestions?
    • Slider switch next to battery
    • People can still pick up robot on other side, or "be careful"
• Anodizing
  • Talking to Pittsburgh Anodizing
    • We can put logo on our bot...

• Need to start looking for grant ($5,000/10 robots)
  • How to go about this
  • Where to look?
• Prototyping costs
  • 4-layer board + components?
  • ARM, AVR, FTDI, RAM
  • Sunk Cost: $730