Difference between revisions of "Stompy To-Do List"
| Line 15: | Line 15: | ||
=== Actuator === | === Actuator === | ||
| − | * Build on top of a good open-source actuator like the [[SPIN | + | * Build on top of a good open-source actuator like the [[SPIN Servo]] or [[OBot]] actuator to design and fabricate our own open-source actuator |
=== Electronics === | === Electronics === | ||
Revision as of 19:31, 29 April 2024
This document acts as a progress tracker for the Stompy robot build.
To Do
Teleop
- Create a VR interface for controlling Stompy in simulation
- Port VR interface to work on the full robot
Firmware
- Debug issues with the CAN Bus - specifically, write our own driver for the MCP2515 IC (one of the most common ICs for sending and receiving messages over a CAN bus)
- Set up continuous integration for building and flashing the full operating system
Actuator
- Build on top of a good open-source actuator like the SPIN Servo or OBot actuator to design and fabricate our own open-source actuator
Electronics
- Understand how to build a PCB and update the Building a PCB guide
- Get PCBs designed and shipped
- Two PCBs: One for the head and one for the body
- Head PCB will mount a Jetson Nano. It will have two MIPI CSI ports for two cameras from the eyes, plus audio and speakers. The Jetson Nano will act as a "tokenizer" which multiplexes the signals over ethernet to the main board in the body
- The body PCB will mount a full Jetson Orin, as well as the IMU, CAN tranceivers, and power management
