TerrainHopper

Latest revision as of 13:29, 17 February 2023

Documentation for modifications and use of TerrainHopper vehicle

[edit] Interfaces

Description of the Wheel encoder and RHD plugin

[edit] Motor velocity control

Roboteq Motorcontrollers

Remote control

Velocity control through RHD plugin (todo).

[edit] Power distribution

power and other drawings

[edit] UR5 interconnection

Power, gripper and camera

[edit] Main computer

Ubuntu 18.04 installation

[edit] 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

Netplan merges the two configuration files, seems to work fine, except wifi.

To start the netplan, this command seems to help:

sudo netplan try

[edit] Can bus

Not working off the shelf

Installed CAN viewer (uavcan_gui_tool) from page https://uavcan.org/GUI_Tool/Overview/#linux

sudo apt-get install -y python3-pip python3-setuptools python3-wheel
sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core
sudo pip3 install git+https://github.com/UAVCAN/gui_tool@master
$
uavcan_gui_tool

[edit] Steering

Hardware redesign for improved steering with less slag.

Terrain hopper steering