Robot Carl based on Dexter Industries GoPiGo3
Carl Specs:
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Platform: GoPiGo3 from DexterIndustries.com
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Processor: Raspberry Pi 3 B
- 1.2 GHz Max
- Four Cores
- 1GB Memory
- Onboard WiFi
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OS: Raspbian For Robots
- version: 17 Oct 2020 (beta) PiOS based
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Control Interfaces:
- ssh over WiFi
- TightVNC (Mac Remote Desktop)
- apache2 VNC in browser
- apache2 console
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Sensors (GoPiGo3 Intrinsic)
- Battery_Voltage (GoPiGo3 intrinsic)
- Regulated_5v_Voltage (GoPiGo3 intrinsic)
- Magnetic Wheel Encoders 720 cnt/rev (GoPiGo3 intrinsic)
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Sensors (Raspberry Pi Intrinsic)
- Processor Temperature
- Processor Low Voltage Throttling Active / Latched
- Processor Temperature Throttling Active / Latched
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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
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Actuators/Effectors (GoPiGo3 Intrinsic)
- Wheel Motors
- Multi-color programmable LED (x3)
- Program controlled Red LED (x2)
- Tri-color Battery Voltage Indicator
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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]
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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
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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"
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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
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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!)
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Physical:
- 41.5 Ounces Total
- 6" wide x 9" Long x 12" High
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First "Life": August 2018