Stompy To-Do List

This document acts as a progress tracker for the Stompy robot build.

Contents

To DoEdit

TeleopEdit

• Create a VR interface for controlling Stompy in simulation
• Port VR interface to work on the full robot

FirmwareEdit

• 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

ActuatorEdit

• 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

ElectronicsEdit

• 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