Information and support for UniBot research platforms.
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User Manual UniBotUserGuide_1_0_1.pdf
The main controller uses a Sparkfun Arduino Mega Pro 3.3V. To use this with the Arduino environment you need to download the correct board definition files from the Sparkfun product page. Before compiling make sure you select the correct board. Select 'Mega Pro 2560 3.3V' in the Arduino IDE Tools->Board menu.
The main controller software is divided up into a number of different files that open as tabs in the Arduino IDE. Open the "ArduinoMegaProBase.ino" file in the main Arduino IDE the others will open as tabs.
The library files below are also required and must be copied into the Arduino Libraries directory.
Each wheel contains a dedicated motor control circuit with a Sparkfun Arduino Pro Mini 5v board. The Arduino controls the drive motor and reads the wheel sensors, and can apply PID speed control to the wheel. The Arduino files are below
Some of the library files below are also used by the wheel controler.
Library Files (unzip these into the Arduino Libraries directory)
UNIBOT.zip (The main robot c++ object)
UnibotWheel.zip (C++ object for an individual wheel)
DynamixelSerial3.zip (c++ library for the steering actuators)
UniBotCommands.zip (Definitions for the serial control commands)
UniBotcomms.zip (Definitions for the main board to wheel communications)
simpleSerialParsing.zip (Serial parsing functions)
Main controller schematic
Wheel driver schematic