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avatar_furo_getting_started [2022/03/05 23:59] – [Hardware Parts] gleeavatar_furo_getting_started [2022/03/07 22:49] (current) – [Hardware Parts] glee
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 {{:akshay:furo_8.png?200|}} {{:akshay:furo_8.png?200|}}
 \\ \\
 +\\ 
 +User Manual: \\ 
 +https://developer.download.nvidia.com/embedded/L4T/r32-3-1_Release_v1.0/Jetson_Nano_Developer_Kit_User_Guide.pdf?vJTmyhOOC3wuv5p_8VqLvKH4C70YjTlDBGPTUmEhsiIcXfP9tnC4XMobj3-SqW6AMGgKd2lBbleITb_m3pRYR96fCLhv9vY9qvGyAx5EStalBOQ4zlNRaRO8OtWIr5p0VDBYPgYcmgSKXitfeoc1VgSW5lRL9S99o9KWWJ4Tie_v3nG9c4Jt8sk&t=eyJscyI6ImdzZW8 
 +\\ 
 +More info: \\ 
 +https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#prepare-itemsiLCJsc2QiOiJodHRwczpcL1wvd3d3Lmdvb2dsZS5jb21cLyJ9 
 +\\ 
 +\\
 **Wifi Module inside Jetson Nano** **Wifi Module inside Jetson Nano**
 \\ \\
 {{:akshay:furo_6.png?200|}} {{:akshay:furo_6.png?200|}}
 \\ \\
 +\\ 
 +Where you can buy: \\ 
 +https://www.amazon.com/Waveshare-AC8265-Wireless-Supports-Bluetooth/dp/B07SGDRG34/ref=pd_day0fbt_2/143-8270286-3331900?pd_rd_w=rys04&pf_rd_p=bcb8482a-3db5-4b0b-9f15-b86e24acdb00&pf_rd_r=MSD0PR2XGKB9QR4Z33SV&pd_rd_r=e8cc2aaf-5c36-40c0-9dee-b2abcda8d363&pd_rd_wg=bAMLY&pd_rd_i=B07SGDRG34&psc=1 
 +\\ 
 +How to install Wifi Module: \\ 
 +https://www.jetsonhacks.com/2019/04/08/jetson-nano-intel-wifi-and-bluetooth/ 
 +\\ 
 +\\
 **RoboClaw motor Controller** **RoboClaw motor Controller**
 \\ \\
 {{:akshay:furo_9.png?200|}} {{:akshay:furo_9.png?200|}}
-\\ https://www.pololu.com/product/32 +\\  
 +\\ 
 +Data sheet: \\ 
 +https://downloads.basicmicro.com/docs/roboclaw_datasheet_2x7A.pdf 
 +\\ 
 +More info: \\ 
 +https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html 
 +\\ 
 +\\
 **MD10C motor controller** **MD10C motor controller**
 \\ \\
 {{:akshay:jason_m10dc.png?200|}} {{:akshay:jason_m10dc.png?200|}}
-\\ https://www.robotshop.com/en/cytron-13a-5-30v-single-dc-motor-controller.html +\\  Where you can buy:\\ 
 +https://www.amazon.com/Cytron-13A-Motor-Driver-MD10C/dp/B07CW3JZDH 
 +\\ 
 +User Manual: \\ 
 +https://www.robotshop.com/media/files/pdf2/cyt-132-v2.3.pdf 
 +\\ 
 +More info: \\ 
 +https://www.robotshop.com/en/cytron-13a-5-30v-single-dc-motor-controller.html 
 +\\ 
 +\\
 **Battery Pack for Jetson Nano** **Battery Pack for Jetson Nano**
 \\ \\
 {{:akshay:furo_5.png?200|}} {{:akshay:furo_5.png?200|}}
 \\ \\
 +\\ 
 +Where you can buy: \\ 
 +https://www.amazon.com/TalentCell-Rechargeable-11000mAh-20000mAh-Portable/dp/B01337QXMA/ref=sr_1_1?dchild=1&keywords=talentcell+rechargeable+yb1208300&qid=1633211255&sr=8-1 
 +\\ 
 +\\
 **Step down Circuit board for Battery Pack** **Step down Circuit board for Battery Pack**
 \\ \\
 {{:akshay:furo_14.png?200|}} {{:akshay:furo_14.png?200|}}
 \\ \\
 +\\ 
 +More info: \\ 
 +https://www.droking.com/75W-Power-Supply-Module-USB-Charger-DC-6-32V-to-1.25-32V-5A-Buck-Converter-Adjustable-Voltage-Regulator-DC-12V-24V-Adapter-Driver-Module-Dual-Display-Digital-Meter 
 +\\ 
 +\\
 **Relays** **Relays**
 \\ \\
 {{:akshay:furo_4.png?200|}} {{:akshay:furo_4.png?200|}}
 \\ \\
 +\\
 +Heavy Duty Relays (KACON K730-2TR): \\
 +https://shop.industrialemart.com/pdf/HR730.pdf
 +\\
 +Mini Power Magnetic Relay (GSR GRM 4L 24V DC): \\
 +http://www.gs-relay.co.kr/img/common/150521_e.pdf
 +\\
 +\\
 +**Motor(Wheel)**
 +\\
 +DunkerMotor GR 53X30
 +Product info: \\
 +https://www.dunkermotoren.com/en/products/brushed-dc-motors/detail/8843701044/
 +\\
 +\\
 +**Motor (Head)**
 +\\
 +{{:akshay:furohead.jpg?200|}}
 +\\
 +\\
 +Encoder Geared Motor KGE-0162
 +Product info: \\
 +http://sym.or.kr/product/detail.html?product_no=1201
  
-**Initial Schematic**+===== Initial Schematic =====
 {{ :akshay:jason_initial_schematic.png?600 |}} {{ :akshay:jason_initial_schematic.png?600 |}}
- 
- 
- 
- 
- 
-===== Software ===== 
-***Script Explanation/Example*** 
-***IMPORTANT: roscore must initialized first*** 
- 
-Step 1: roscore --> Roscore is nessessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes 
- 
-{{akshay:furo_1.png}} 
- 
-{{akshay:jason_roscore1.png}} 
- 
-Step 2:rosrun joy joy_node --> This script convert joy stick value to digital value; thus we can use to program 
- 
-{{akshay:jason_rosrun_joy.png}} 
- 
-Step 3: rosrun learning_joy furo --> This script is a topic that is both a publisher as well as subscriber at the same time. Obtaining value from joy stick, converting it to a float data type, and passes on to the motor controller. 
- 
-{{akshay:jason_learningjoy.png}} 
- 
-Step 4: roslaunch roboclaw_node roboclaw.launch --> This script is use to control the wheel of Furo 
- 
-{{akshay:jason_roboclaw.png}} 
- 
-Step 5: rosrun head_motor finalheadmotor.py --> This Script grant access to Furo's head mobility. 
- 
-{{akshay:jason_headmotor.png}} 
- 
-Step 6: rosrun facedetect findface_publisher.py -->This Script grant access to Furo's head camera and track operator face 
- 
-{{akshay:facedect_findace_publisher.png}} 
- 
-Step 7: rosrun head_motor face_tracks.py --> This Script allows Furo to mimics the operator's head movements. 
- 
-{{akshay:head_motor_face_tracks.png}} 
  
  
avatar_furo_getting_started.1646553543.txt.gz · Last modified: 2022/03/05 23:59 by glee