RobotAspi

From Eric

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A few pictures of the recycling of my vacuum cleaner robot:

Contents

The initial robot

Aspirobot 1.jpg
Aspirobot 2.jpg
Aspirobot 3.jpg
Aspirobot 4.jpg

The "power" board

This board uses an Atmega microontroller. It is in charge of all I/Os (including motor control). The board is fitted with two full H-bridges (one per motor). It communicates with the man board (a raspberry Pi 2) via a CAN network.

Aspirobot 5.jpg
Aspirobot 6.jpg
Aspirobot 7.jpg

The completed version

As of August 13rd, the robot is now autonomous. ENergy is provided by two LiPos (one for the motors, one for the two computers). Power supplies are regulated to 5V using buck converters bought on eBay.

Aspirobot completed1.jpg
Aspirobot completed2.jpg
Aspirobot completed3.jpg

A small TDA 2030 audio amplifier

Note that I have slightly modified the schema given in the datasheet: I have added a 220nf capacitor and a 150K ohm (in series) on the feedback (pin 4 to pin 2).

Aspirobot audio amp1.jpg
Aspirobot audio amp2.jpg
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