Electrical Components

Electrical Architecture:

Arduino (controlling DC motors)

Raspberry Pi (controlling camera)

Orbita:

1. DC Maxon Motor

   Motor: https://www.maxongroup.com/maxon/view/product/motor/dcmotor/DC-max/DC-max16/DC-MAX16S01EBKL721

   Gearhead: https://www.maxongroup.com/maxon/view/product/gear/planetary/gp16/118184

   Motor we are using: https://www.amazon.com/uxcell-90RPM-Electric-Reducing-Geared/dp/B008IDO1VK/ref=sr_1_2?dchild=1&keywords=16mm+diameter+motor+gearbox+uxcell&qid=1602869282&sr=8-2

2. Positioning Controllers: https://www.maxongroup.com/maxon/view/news/MEDIARELEASE-EPOS2-Positioning-Controllers

3. 1 Controller per Motor with Pi? https://www.raspberrypi.org/forums/viewtopic.php?t=238904 Motors are controlled by Arduino

4. Pollen uses these components for each motor: Unclear how they relate

   1. Luos DC Motor Board (Connect up to 2 motors) — https://www.generationrobots.com/en/403429-luos-dc-motor-board.html
   2. Pololu magnetic encoder — https://www.pololu.com/category/201/encoders

5. Motor river: L298N

https://lastminuteengineers.com/l298n-dc-stepper-driver-arduino-tutorial/

Head:

1. Antenna Motor

   Servos: https://www.mouser.com/ProductDetail/ROBOTIS/902-0087-000?qs=gt1LBUVyoHmzuKYPEPrXLA%3D%3D

2. Camera(s)

(Pollen has these communicating through USB) [picamera modules don't have USB, just the ribbon cable]

https://projects.raspberrypi.org/en/projects/getting-started-with-picamera

Since rPI only has one camera port, the official BOM calls out an Arducam board (form factor = HAT) that can handle multiple camera streams, while sending a single stream via a ribbon cable to the rPI. The newest Arducam boards can handle stereo and 3D. https://www.arducam.com/dual-camera-hat-synchronize-stereo-pi-raspberry/.

[NOTE: Pollen now uses Logitech USB cameras, instead of rPI cameras, so the Arducam board is no longer needed.]

3. Driving the Dynamixels using Raspberry Pi:

https://projects-raspberry.com/how-to-drive-dynamixel-ax-12a-servos-with-a-raspberrypi/