The simplest option for Arobot hardware:
Altera FPGA C4 with Bluetooth interface
| Hardware |
The FPGA Altera Cyclone 4 is the main component of the electronic. Inside FPGA works the custom designed stepper motor controller for 2 axis. Bluetooth module serves as the connection to Android phone. The output pins of FPGA are delivering the PWM signals for the full bridge power drivers of stepper motor's phases. The stepper controller works with 16 micro step pro whole step of stepper motor
The source in VHDL can be seen in my Github repo
| Components |
|
Terasic DE0-Nano Evaluation board with Altera Cyclone C4 | |
| Bluetooth | Module M-06 | |
| Power driver | DRV8833 | |
| Stepper motors | Pololu Bipolar stepper motor, 42 x 38 mm | |
| Wheels | ||
| Robot body | ||
| Batter-holder |
| Software interface |
The simplest hardware option utilizes the simplest software protocol. The bluetooth messages will be only transferred form controller (Android phone) to actor (robot). The message consist of 6 Bytes:
first Byte = magic Word = 0xA5
second Byte = 0x0
third, fourth Bytes: velocity Left = 16 bits signed short
fifth, sixth Bytes velocity right = 16 bits signed short