RobotRacing2019-Hardware

This repo contains hardware includes mech & electrical. Firmware code will also locate here.

Code Style

1. Use space: 2 for tabs
2. Preferrably to put all private global variables within a local struct called FileName_data_S, and declare a static global variable FileName_data_S fileName_data; & initialized with a memset(&fileName_data, 0, sizeof(fileName_data));
   • Reason: to keep global vars more organized and trackable
3. use cameralCase preferrably for the variable names and function names
4. For libraries, we shall append a unique space name in CAP before each public functions such as uint8_t RF24_read(void)
5. All private data & functions should be declared with a static, so it clearly indicate the function/data is private.

Key Notes

1. For Mac users to use uart for debugging, you will be required to install FT232R driver, please see instructions here: - MacOS High Sierra 10.13.3 FTDI Driver Fix
2. NXP mcuxpresso API for our chip: link, and you might be required to login, please register an account if necessary.
   • you can also download the API, which contains chip specific examples [SDK_2.5.0_MKE14F512xxx16]
3. Our M4 chip: MKE14F512xxx16

Hardware Resources

Reedy Sonic 540 Sensor 6Pins

IMHO the connector is "EFRA standard" (RC cars) see here page 25 http://mgm-compro.com/manuals/en-man...-071011-a1.pdf

• Pin #1 – black wire, ground potential (minus)
• Pin #2 – orange wire, sensor phase C
• Pin #3 – white wire, sensor phase B
• Pin #4 – green wire, sensor phase A
• Pin #5 – blue wire, motor temperature sensing, 10 k NTC
• (other end of sensor is on ground potential, pin #1)
• Pin #6 – red wire, sensors feeding, +5.0 V ± 10%. (supply voltage for sensors provide controller, don´t connect external voltage !)

interfacing hall sensors:

https://tutorial.cytron.io/2018/07/04/measuring-dc-motor-rpm-through-built-in-hall-sensor-encoder/ https://www.nxp.com/docs/en/application-note/AN2892.pdf

Steering_Encoder:

https://www.digikey.ca/product-detail/en/cui-inc/AMT203-V/102-2050-ND/2278846

ESC Arduino

https://www.instructables.com/id/ESC-Programming-on-Arduino-Hobbyking-ESC/ 1000us - 2000us

If a 0-180° servo is designed to respond to 1000-2000 µs pulses, it interprets 1000 µs as “0°” and 2000 µs as “180°.” But, with default pulse width limits range of 544-2400 µs, the Arduino will send a signal of ~1000 µs for an angle of 44°. Sweeping from 1000 to 2000 µs would then only translate to a ~90° swing of the servo arm instead of a full 180°. This, and other potential issues can be avoided if microseconds are used instead of angles in degrees, or if the optional pulse width floor and ceiling parameters are defined in pin setup for each servo.

#define Servo_VERSION           2     // software version of this library
#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo  
#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo 
#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds 

nRF24L01

1. Intro
2. DataSheet
3. Enhancing
4. Detailed Explaination
5. Colorful InDepth Descriptions