Gudrun

This robot will be a variant of the Donkey car, probably using the recommended chassis. However, instead of controlling it with a Raspberry Pi, I'll use a computer I built last year (mini-ITX, I think) for a different purpose. I might replace the motherboard with a slim-mini-ITX, a standard which includes a 19VDC power jack. Otherwise I'd need something like this to provide motherboard power.

Either way, I'll probably need to use a boost converter (which I already have), and I think it should draw about 130W max (according to the estimate from pcpartpicker on the page where you select a power supply). This battery which is currently in Gunnar should be able to handle 100 amps according to this calculator, so I think this should be fine for about an hour of use--certainly a half-hour.

In a later iteration, I might use the more power-efficient Nvidia TX2, but, for this build, I want to minimize the specialness of the computer as much as possible, so that everything is just standard Ubuntu. (The TX2, like the Raspberry Pi, runs a custom linux with an ARM CPU, instead of a "normal" x86_64 CPU, meaning installing software is often harder.)

Gudrun will be the successor to two previous builds of mine, Hogni and Gunnar, all three of whom were mythologically siblings. (Also, note to self, if I want to continue this naming scheme, there's a good list at the bottom of that article.)

Journal Entries

Architectural plan 28 February 2019

Simple ultrasound reactive control 26 February 2019

Open-loop control of speed 2 March 2019

Timed-elastic-band path planning 3 April 2019

Reading encoder speed 8 April 2019

Fusing Adafruit 9DoF data with imu_filter_madgwick 14 April 2019