- Raspberry Pi: The central processing unit of the robot. It is used to receive commands from the control station, control the robot as needed, and provide feedback to the station.
- USB TO CAN: Bridge for the Raspberry Pi to communicate with other ECUs on the CAN bus.
- Stepper driver: ECU for controlling the stepper motors with control of the motion of the upper plate.
- ODrive: ECU for controlling the brushless DC motors.
We used it to provide an interface for the robot such that the higher-level control algorithms used in manual and autonomous modes aren’t dependent on the hardware of the robot. And to test all that We built a simulation environment on Gazebo.
We implemented CAN communication to facilitate data exchange between various Electronic Control Units (ECUs) within the robot. This ensures efficient and reliable communication among the different components.
We utilized USB communication for interaction between the Raspberry Pi and the ECUs. This setup enables smooth data transfer and command execution, enhancing the overall system performance.
