Note: This was ported over from the old wiki

RBOM Development


The general purpose of this page is to gather technical documentation and notes pertaining to the development of the RBOM (Range, Bearing, and Orientation Module / Ridiculous Barrel Of Monkeys) This magical sensor will use IR-based communcation coupled with RSSI information to localize robots automatically and maintain a consistent internal representation of all equipped robot positions.


So far, the prime candidate for the RBOM DSP is a TMS320LF2407A from Texas Instruments. I really need someone with DSP experience to comment on this, though.

The prime candidate for a hardware RSSI signal level detector is the SA607 from Philips Electronics.


12/7/07 Update

BOM v1.5 boards have arrived and we are in the middle of assembling them. I put the datasheets for the board parts in the trunk\hardware\BOM directory of the repository with the board designs. New functionality of BOM v1.5:
  • Includes the range circuitry with the SA607 listed above
    • In RSSI mode this circuitry is in between the mux output and analog out
    • Same select signal above turns on a 10KHz carrier to the IR LEDs in RSSI mode
  • Serial shift register for individually enabling emitters to come on. Uses STP16CP05 LED driver with current control
  • Header (not connected to anything on the board) for LCD screens

BOM v1.5 was designed to be functionally compatible (but not pin compatible) with BOM v1 in non-RSSI mode. Not sure how we want to deal with selecting driver code between different robots. It would be crazy awesome if we could do auto detection at startup to have a plug-and-play esque behavior, but thats not too likely since all pins on the DIO block for the BOM are inputs. The boards can work without the RSSI components soldered on. See parts.xls in the BOM v1.5 repository folder if you want to tell which parts belong to the RSSI module. Currently we have the parts soldered for 10 BOM v1.5s with three of those having the RSSI components.

To Do: Test boards once we finish getting LEDs and detectors on with collimator ring to keep the emitters and detectors coplanar. Then develop API and drivers. Input is wanted for useful API specifications.

see attached datasheets