TerrainHopper

Documentation for modifications and use of TerrainHopper vehicle

Interfaces

Description of the Wheel encoder and RHD plugin

Motor velocity control

Roboteq Motorcontrollers

Remote control

Velocity control through RHD plugin (todo).

UR5 interconnection

Power, gripper and camera

Main computer

Ubuntu 18.04 installation

WiFi

Not connected to "WaveLAN IAU"

Switched to netplan, interface with cable OK

Using these two files

/etc/netplan/05-netplan-rj45.yaml
network:
 version: 2
 renderer: networkd
 ethernets:
  enp0s31f6:
    dhcp4: true
  enp3s0:
    addresses:
      - 192.168.0.210/24
    optional: true

/etc/netplan/08-netplan-wifi.yaml
network:
 version: 2
 # renderer: networkd
 ethernets:
   enp0s31f6:
     addresses: [ 192.168.2.2/24 ]
 wifis:
   wlp1s0:
     dhcp4: yes
     access-points:
       "WaveLAN IAU":
         password: ""
     optional: true

Can bus

Not working off the shelf

Steering

Hardware redesign for improved steering with less slag.

Terrain hopper steering