Difference between revisions of "Stompy To-Do List"
| (2 intermediate revisions by the same user not shown) | |||
| Line 12: | Line 12: | ||
* 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) | * 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 | * 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]], [[MIT Cheetah]] or [[OBot]] actuator to design and fabricate our own open-source actuator | ||
=== Electronics === | === Electronics === | ||
Latest revision as of 19:33, 29 April 2024
This document acts as a progress tracker for the Stompy robot build.
To Do[edit]
Teleop[edit]
- Create a VR interface for controlling Stompy in simulation
- Port VR interface to work on the full robot
Firmware[edit]
- 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[edit]
- Build on top of a good open-source actuator like the SPIN Servo, MIT Cheetah or OBot actuator to design and fabricate our own open-source actuator
Electronics[edit]
- 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
