The FRDM-KL25Z tracked robot from my earlier post has gone trough several upgrades:
The IEEE802.15.4 Transceiver card is now integrated with an Adapter Card on top of the FRDM-KL25Z. The Adapter card makes the connection for the IEEE802.15.4, Line Sensor Array and Ultrasonic HC-SR04 Sensor. An Arduino proto shield is used for mechanical connectivity plus exposure of the FRDM-KL25Z Reset button.
The Pololu Tracks worked well on carpet, but not good enough on other surfaces. To improve the grip of the tracks on different surfaces, I have mounted pads on the tracks.
The motors generated substantial noise, and adding the usual capacitors to the motor terminals was not enough. I ended up mounting an extra grounded shield which then suppressed the noise:
The CodeWarrior for MCU10.4 project implements a lot of functionality with the use of Processor Expert components:
The project features now a radio module which allows to send commands to the robot: the radio module implements a wireless gateway to the robot.
a string is sent to the robot.
radio send stdin
a command can be sent to the standard input I/O channel of the robot. The robot is using standard input, output and error channels. This makes it easy to send and receive commands and status messages to and from the robot.
With this I have an autonomous robot based on the FRDM-KL25Z board and a chassis from Pololu. It performs line following and maze solving, and can be controlled by a remote shell or controller unit (e.g. with an accelerometer). I plan to add at least one servo motor so the ultrasonic sensor can scan the surroundings. Then it is just a small step to solve a maze built up with walls instead of lines .
The sources for the CodeWarrior for MCU10.4 project are available on GitHub here.