Carl

Robot Carl based on Dexter Industries GoPiGo3

Carl Specs:

• Platform: GoPiGo3 from DexterIndustries.com

• Processor: Raspberry Pi 3 B

  • 1.2 GHz Max
  • Four Cores
  • 1GB Memory
  • Onboard WiFi

• OS: Raspbian For Robots

  • version: 17 Oct 2020 (beta) PiOS based

• Control Interfaces:

  • ssh over WiFi
  • TightVNC (Mac Remote Desktop)
  • apache2 VNC in browser
  • apache2 console

• Sensors (GoPiGo3 Intrinsic)

  • Battery_Voltage (GoPiGo3 intrinsic)
  • Regulated_5v_Voltage (GoPiGo3 intrinsic)
  • Magnetic Wheel Encoders 720 cnt/rev (GoPiGo3 intrinsic)

• Sensors (Raspberry Pi Intrinsic)

  • Processor Temperature
  • Processor Low Voltage Throttling Active / Latched
  • Processor Temperature Throttling Active / Latched

• Sensors (Added):

  • DI Distance Sensor (VL53L0X Infrared Time-Of-Flight) 25 deg beam width, About 4% accuracy to 7.5 feet (2.3m) Mounted on Tilt/Pan
  • Pi-Camera v1.3
  • USB Microphone
  • DI Inertial Measurement Unit (BNO055 9DOF Fusion IMU) also provides ambient temperature

• Actuators/Effectors (GoPiGo3 Intrinsic)

  • Wheel Motors
  • Multi-color programmable LED (x3)
  • Program controlled Red LED (x2)
  • Tri-color Battery Voltage Indicator

• Actuators/Effectors

  • Two Servo Tilt/Pan Assembly
  • MonkMakes 2.5W Audio Speaker (draws 9.5mA 5v at idle)
  • [USB WiFi Dongle draws additonal 100mA at 5v]

• Available GoPiGo3 Ports

  • I2C: Distance Sensor
  • I2C: Unused
  • Grove Analog/Digital I/O AD1: Unused
  • Grove Analog/Digital I/O AD2: Unused (pwr/gnd for speaker)
  • SERVO1: Pan Servo
  • SERVO2: Tilt Servo

• Power Source: 8x 2000mAH NiMH AA cells (Eneloop)

  • Cliff at 7.4v (0.925 volts / cell)
  • Cycling to 8.1v allows two missed docking before safety shutdown
  • cycleConditioning to 7.9v four times to treat NiMH battery memory when play-time drops off 10%
  • Charging at 0.9A for 4 hours ( 92degF max battery temp )
  • Provides around 8 hours "playtime"

• Run Time: 8 to 8.5 hours max

  • "Thinking" 8 hours using 8.1v "need to dock" limit
  • "Wandering" 2-4 hours to 8.1v recharge point
  • About 9 hours to 7.4v voltage cliff

• Recharger:

  • Tenergy 1005 7.2-12v Delta-Minus-V Peaking Charger
  • Set at 0.9A (Selectable 0.9A or 1.8A max rate) (1.8A rate causes 130degF max battery temp!)

• Physical:

  • 41.5 Ounces Total
  • 6" wide x 9" Long x 12" High

• First "Life": August 2018