Mars-Rover-Control-Software

Control software for Jakkra's Mars Rover

This software has been tested and is meant to be run on a Raspberry Pi Zero W under JVM 1.8

This is currently a work in progress

Todo list

Hardware

• Raspberry Pi Zero W and sensors board assembly and test
• Rocker bogie control board assembly and test
• Arm and head control board assembly and test
• LoRa board assembly and test
• Camera assembly and test

Base software

• Wheels and steering control
• Arm control
• Head control
• MQTT telemetry support (GPS, IMU, Distance sensors)
• LoRa
• Camera

REST API

• Wheels and steering control
• Arm control
• Head control
• Camera control

Miscellaneous

• Cabling management

Raspberry Zero WH

• Raspberry Zero WH

u-blox NEO-6M GPS

• u-blox NEO-6M GPS
• connected to Raspberry PI's serial interface /dev/serial0
• gpsd — a GPS service daemon

Motors

• Tower Pro MG996R servo motors
• 6v DC 35RPM motor

DC/DC stepdown converters

• MP1584 3A, 1.5MHz, 28V Step-Down Converter

I2C bus usage

root@rpi-rover:~# i2cdetect -y 1
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
20: 20 -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
40: 40 41 -- -- -- -- -- -- -- -- -- 4b -- -- -- -- 
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 
60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- -- 
70: 70 -- -- -- -- -- -- --    

0x20 -> MCP23017 - wheels fwd/rev
0x40 -> PCA9685 - wheels PWM / steering PWM
0x41 -> PCA9685 - arm PWM / camera PWM
0x4b -> ADS1115 - distance sensors (ADDR=SCL addr 1001011)
0x68 -> MPU6050 - gyro/accelerometer
0x70 -> PCA9685 - all call

MPU-6050 0x68 - 6DOF IMU

• MPU-6050 Six-Axis (Gyro + Accelerometer)
• MPU-6050 Interfacing

MCP23017 0x20 - wheels direction fwd/rev/stop

• 16-Bit I/O Expander with Serial Interface

                  GPA0-7    GPB0-7
reverse         : 01010101  00000101
forward         : 10101010  00001010
clockwise       : 01101010  00000101
counterclockwise: 10010101  00001010
stop            : 00000000  00000000

A0-A1 -> Center Left
A2-A3 -> Center Right
A4-A5 -> Rear Left
A6-A7 -> Rear Right
B0-B1 -> Front Left
B2-B3 -> Front Right

ADS1115 0x4b - 4x Channels - analog distance sensors

• Sharp GP2y0A21YK0F

0 - rear left
1 - rear right
2 - front left
3 - front right

PCA9685 0x40 -> wheels PWM / steering PWM

• PCA9685: 16-channel, 12-bit PWM Fm+ I²C-bus LED controller
• only PWM pins used, VCC+GND straight from DC/DC stepdown converter
• L298N Dual Motor Controller Module 2A

0 - Speed front left (PWM)   -> to L298N
1 - Speed front right (PWM)  -> to L298N
2 - Speed center left (PWM)  -> to L298N
3 - Speed center right (PWM) -> to L298N
4 - Speed rear left (PWM)    -> to L298N
5 - Speed rear right (PWM)   -> to L298N
6 - Steering rear left       -> to MG996R
7 - Steering front left      -> to MG996R
8 - Steering front right     -> to MG996R
9 - Steering rear right      -> to MG996R
10 -
11 -
12 -
13 -
14 -
15 -

PCA9685 0x41 -> channels - arm PWM / camera PWM

• PCA9685: 16-channel, 12-bit PWM Fm+ I²C-bus LED controller
• only PWM pins used, VCC+GND straight from DC/DC stepdown converter

0 - Camera pan
1 - Camera tilt
2 - arm base pan
3 - arm section 1
4 - arm section 2
5 - arm section 3
6 - arm wrist
7 - arm claw
8 -
9 -
10 -
11 -
12 -
13 -
14 -
15 -

Boards and testing

• Raspberry and sensors board

• Rocker bogie control board

• Sensors and rocker bogie test

• Arm and head control board

• Full test