RBE 3001

Class Information Terms Available: A, C Potential Professors: Fischer, Berenson Current Professor: Fischer Office hours here Current TAs: (i.e.) Michael Delph MTRF (12-1) Current SAs: (i.e.) Eric Willcox All the time This is the index page for RBE 3001 wiki topics. This is the third of the four-course Unified Robotics sequence introducing foundational theory and practice of robotics engineering from the fields of computer science, electrical engineering and mechanical engineering. The focus of this course is actuator design, embedded computing and complex response processes. Concepts of dynamic response as relates to vibration and motion planning will be presented. The principles of operation and interface methods various actuators will be discussed, including pneumatic, magnetic, piezoelectric, linear, stepper, etc. Complex feedback mechanisms will be implemented using software executing in an embedded system. The necessary concepts for real-time processor programming, re-entrant code and interrupt signaling will be introduced. Laboratory sessions will culminate in the construction of a multi-module robotic system that exemplifies methods introduced during this course. The WPI course catalog recommends taking RBE 2002 (Unified Robotics 2: Sensing), ECE 2049 (Embedded Computing in Engineering Design), CS 2102 (Introduction to Object Oriented Programming), MA 2051 (Differential Equations), and MA 2071 (Linear Algebra) before this course. Gompei the goat suggests having a real good grasp on your linear algebra and highly recommends taking 2049 BEFORE taking this class. Systems Programming is also a very useful class to take before this course in addition to the official recommendations. As always, this being a Unified Robotics course, expect a lot of work. Course Materials Datasheets and other materials for the class may be found here. Chips 644p (processor) 328p (coprocessor) You don't have to do anything with this one, this is included however for your reference. Encoders Current sensor Board Schematic Peripherals Accelerometer Arm motors Misc Connecting the accelerometer Arm specs Software Needed Software. Please refer to the Eclipse AVR RBE 3001 page and install guide. Eclipse Subclipse SVN Plugin AVR Plugin WinAVR (GCC toolchain for windows) Optional - Doxygen Install guide Pay careful attention to what command need to be available from the command prompt. If a command doesn't work you need to fix your systems PATH variable. Doxygen Eclox LaTeX (other downloads contains 64-bit installers) GhostScript (32-bit required) Graphviz Qt RBElib Introduction - includes setting up Eclipse and PuTTy as well as a refresher on C. Header Files - explains all of the header files included in RBELib. Printing - how to print data from your board to the computer. Debugging - how to properly debug and find your problem. Read this before asking for help. Doxygen - how to use Doxygen to document your code. Hardware RBE 3001 EDU Arm RBE 3001 EDU Board Matlab Robot Control System Design and Simulation Introduction Intermediate Skills Simulink