InMoov_HTLWeiz

Motor Controller Pinout:

Motor	Sensor	PWM	Dir
M1	S1 -> A0	D10	D12 + D13
M2	S2 -> A1	D9	D11 + D8
M3	S3 -> A2	D6	D5 + D7
M4	S4 -> A6	D3	D4 + D2

LED_Pin: A3 I2C_Pins: A4,A5

Stuff to do:

Software(Andrea):

• • Skeleton tracking
  • Nuitrack stability
  • auto cam select
  • Gesture recognition
  • Follow me
  • Speech recognition

New software-core IO(Thomas):

• Out:
  • Servo/Actuators
  • Speech/Sounds
  • Mobility
  • Connected Actuator Boards
  • Actuator Angles (Maybe Visu)
• IN:
  • Speech
  • Position
  • Distance/Angle to Obstacle
  • Distance/Angle to Person
  • Distance/Angle/Height of Object
  • Gyro Data for stabilization
• Pre-Input: (befor progam start)
  • gestures/Commands
  • Voice Lines / text to speech
  • Operation Limits (Virtual Border)

Electrical/AktuatorCode(Schaumi):

• • Actuator-Boards more 5V Power
  • New Motor Controller PCB
  • Electrical Error Detection(Pulldowns missing)
  • Mechanical Error Detection
  • Poti reverse
  • Disable slowspeed upwards
  • Collision avoidance Lidar or Camera
  • Floor detection/fall down steps avoidance
  • Gyro-Sensor (Chest) (tip prevention) [maybe]
  • noise filters for all motors

Mechanical(Rauber):

• • Shoulder out-Actuator
  • Laptop holder
  • Omni-wheels
  • better omni-wheels
  • Arc - Reactor
  • Instalation of Potis
  • Lubrication of Gearboxes
  • print replacement parts with better materials/spezifications

Protocols:

• • InMoovACP (Arduino Connect Protocol):
    • 2 Bytes <- Protocol length
    • 1st Byte:
      • 1 = BoardMotorController,
      • 2 = RGB,
      • 3 = Left hand side,
      • 4 = Middle,
      • 5 = Right hand side
    • 2nd Byte:
      • 0 = not Used (if 1st Byte is 1 or 2)
      • 1 = Hand,
      • 2 = Head,
      • 3 = Actuator (since there is max one per side)

• • InMoovAATP (Actuator Angle Transfer Protocol):

    • ;
    • Servo/Motor number(0 = All)
    • ,
    • Angle of Servo/Motor

    Example: ;0,90 --> All to 90 ;1,180 --> Ak. 1 to 180

• • New backwards compatible InMoovAATP (Actuator Angle Transfer Protocol):

    • ; - AktuatorPlatine Nummer
      • 1 - linke Hand
      • 2 - linke Schulter
      • 3 - rechte Hand
      • 4 - rechte Schulter
      • 5 - Torso
      • 6 - Head
      • 7 - Board
    • Servo/Motor number(0 = All)
    • ,
    • Angle of Servo/Motor

    Example: ;10,90 --> Linke hand All to 90 ;41,180 --> rechte Schulter Ak. 1 to 180

Terminal

• • serial_arr indexes:
    • 0 -> Board
    • 1 -> RGB
    • 2 -> Left Hand
    • 3 -> Left Actuator
    • 4 -> Head
    • 5 -> Middle Actuator
    • 6 -> Right Hand
    • 7 -> Right Actuator

Serial Arduino assignment

• • Kopf:
    • 1 -> Auf/Ab
    • 2 -> Neigen
    • 3 -> NO FUNCTION
    • 4 -> Drehen
    • 5 -> Rechtes Auge
    • 6 -> Linkes Auge