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|Target Environment||Locomotion Method|
|Outdoors, all terrain||12 powered whegs|
|Sensors / Input Devices||Actuators / Output Devices|
modified optical mouse vision
|12 Escap 6V motors|
|Control Method||Power Source|
|CPU Type||Operating System|
|Motorola 56803 (NMI MiniPODs)||IsoMax|
|Time to build||Cost to build|
|80 hours||$140 (out of pocket) / $2000 (actual)|
|URL for more information|
|The CANipede is an ongoing project for the last 6 months or so, finally brought to a reasonable state of readiness. Microcontrollers and H-Bridges supplied by New Micros Inc.
Six MiniPOD's, based on the Motorola 56803 DSP chip, provide all processing and CANBUS communications. Six processors were chosen to reduce the complexity of the wiring harness, even though 1 IsoPod could have done the job. This simplified things greatly, and vastly increased my system capability. With 8 channels of 12 bit analog per board, SCI,SPI, CANBUS, 6 timer pins, 6 PWM's, 8 GPIO, I am barely scratching the surface. Presently, I am only using 4 PWM, 2 FAULT lines, and CANBUS per unit. The head has some additional inputs used. Feedback is being worked on, and will be supplied by 12 magnets in each hub, and 2 Hall effect sensors to produce quadrature, giving me an effective resolution of 48 counts per revolution. This will eat up 4 timer pins per unit, leaving me 2 to spare, since the IsoPod can read quadrature directly.
The software running on each segment is 100% identical, so I don't need different code for each segment. Eventually, I will hard code the address of each unit, but that is trivial.
Power is supplied by 2 power harnesses, 1 in front, 1 in the rear. THe only common connection between all segments is CANH, CANL, and ground.
Hubs are 1/4-28 bolts, drilled out to 3mm with a setscrew in one of the faces of the head.
Construction is laser cut 1/8" polycarbonate.