Wrapped up slide deck for HBRC talk on 29Apr2020.

talks/2020_04_23_HBRC/README.md

@@ -1,58 +1,73 @@
 # Introduction to H2 Project
 
-Speaker: Wayne Gramlich
-Date: April 29, 2020
-Time: 7:00PM PDT
-Location: Zoom Video Chat
+The HBRC ROS Robot (HR2) Project is an outgrowth of the relatively successful
+FPGA class taught during the summer of 2019.  The ultimate goal is to have a
+robot platform based on a commercially available hardware platform (the Pololu Romi)
+and have the ability to do a wide range of basic robotic tasks (table top challenge)
+through running a full ROS (Robot Operating System) stack.  This project is a work in
+progress and is open to community involvement.
 
-## Abstract
+`https://github.com/hbrobotics/hbrc_ros_robot_platform/blob/master/talks/2020_04_23_HBRC/README.md`
 
-xxx
+## Information
 
-## Some HBRC History
+* Speaker: Wayne Gramlich
+* Date: April 29, 2020
+* Time: 7:00PM PDT
+* Location: Zoom Video Chat
 
-* HBRC Founded 1984 by Dick Prather (meets at Alza).
+## Zoom Issues
+
+* Everybody mutes during the talks
+* Please use chat for questions
+* Zoom moderator will read questions after each slide
+* Zoom moderator might activate microphone for follow on questions
+
+## HBRC History
+
+* HBRC Founded 1984 (Alza) Dick Prather@President
 * Early 90's: HBRC moribund (no meeting place).
-* Late 90's: HBRC revived (Cupertino Library) w/Chuck@President
-* During the early 2000's, moved to Castro Middle School.
-* In 2002, HBRC started its Table Top Challenges.
-* HBRC => CMU campus (w/Wayne@President)
-* HBRC => Google (w/Osman@President)
-* HBRC =>Web (Coronavirus) (w/Chris@President)
+* Late 90's: HBRC revived (Cupertino Library) Chuck@President
+* During the early 2000's, moved to Castro Middle School
+* In 2002, HBRC started its Table Top Challenges  <========
+* HBRC => CMU Wayne@President
+* HBRC => Google Osman@President
+* HBRC => Web (Coronavirus) Chris@President
 
-## The BOEBot Purchase
+## HBRC BOEBot Purchase
 
 * Early 2000's:
-* Club purchase 10+ Parallax BOE-Bots.
-* ![BOE-Bot Image](boe-bot.png)
+* Club purchase 10+ Parallax BOE-Bots
 * Basic Stamp!
-* A bunch used in early Table Top Challenges.
+* A bunch used in early Table Top Challenges
+* ![BOE-Bot Image](boe-bot.png)
 
-## Not much changed in 20 years
+## Platforms Unchanged for 20 years
 
-* 2 Motors + Castor + Encoders
+* 2 Motors + Castor + Encoders (maybe)
 * Pathetic processor (Basic Stamp, Arduino, etc.)
-* Most members wound up building their own.
+* Many members wound up building their own.
 
 ## Problems with Custom Robot Platforms
 
-* No commonality.
-* No hardware & software sharing.
-* Reliability tends to suffer.
+* No commonality
+* Most bases are pretty marginal
+* Essentially no electronics/software sharing
+* Reliability tends to really suffer
 
 ## 2019 FPGA Class
 
 * Polulu Romi Robot (wheels/castor/motors/encoder/H-Bridge)
+  * [Romi](https://www.youtube.com/watch?v=5Mrd0w9fmKo) Platform
+  * URL: https://www.youtube.com/watch?v=5Mrd0w9fmKo
 * Custom PCB for FPGA/Sonars/LED's/Edge sensors
 * Group build!
-* *EVERYTHING* Ran on Raspberry Pi 3B+
-* Networking at Hacker Dojo was challenging
+* *EVERYTHING* ran on Raspberry Pi 3B+
 
 ## HR2: An Idea Is Born...
 
 * [H]BRC [R]OS [R]obot => HRR => HR2
-* Keep the [Romi](https://www.youtube.com/watch?v=5Mrd0w9fmKo) Platform
-  * URL: https://www.youtube.com/watch?v=5Mrd0w9fmKo
+* Keep the Romi
 * Support the Romi Arm
 * Redo the custom PCB
   * Keep Raspberry Pi
@@ -63,29 +78,34 @@ xxx
 ## Some Decisions Get Made
 
 * 100% Open Architecture
+* MIT License
+* Open Source Software development tools
+* GitHub.Com (GitLab as backup)
 * Use a daughter board architecture
+  * Support more than Raspberry Pi SBC
   * Use [STM Nucleo-144 Dev. Boards](../../electrical/docs/stm32_nucleo_144_manual.pdf)
   * FPGA's plug on top of Nucleo
   * More expansion (Grove/MikroBus/etc.)
-* Support more than Raspberry Pi SBC
 
-## Mechanical Issues
+## Polo Romi
 
-* Romi is neither big nor strong!
-* Not much room for a Raspberry Pi.
-* Encoders really get in the way.
-* Lot's of mounting holes (good/bad).
-* Arm keeps getting higher off ground.
-* Small motors => weight constraints.
+* Costs are Reasonable
+  * 1 Platform + 2 Motors (~$30) + 1 Extra Castor ($3)
+  * 2 Encoders ($12)
+  * Half Expansion Plate (~5)
+  * Arm ($80) (Expansion Pate, 3 Servos, Gripper, Arm)
+* Small motors => payload constraints
+* 6.5in Diameter => not a lot of room
+* Lot's of mounting holes => good/bad
 
 ## Mechanical Design Process
 
 * `scad.py` library for `.scad` generation (3.5K lines)
-* QCad to Extract hole locataions (qcad)
+* QCad to Extract hole locations (qcad)
 * `scad_models.py` generates `.scad` file (14.5K lines)
 * OpenScad to view models, generate images/dxf files
 
-## Mechancial Stackup:
+## Mechanical Stackup:
 
 * Qcad (show qcad)
 * Base (show hr2_base)
@@ -97,42 +117,71 @@ xxx
 
 ## Micro-Controller Selection
 
-* Availabilty really matters
-* AVR/MIPS/ARM/Other? Arm Cortex M
-* MPU placement On/Off PCB? Use Dev. Board
-* Cypress/Infineon/Maxim/MicroChip/NXP/ST/TI/Toshiba? STM
-* Nucleo-32/64/144? 144
-* Board too big? yes. Cut off ST-link and remount
+* Availability really matters!
+  * ARM Cortex M is the obvious choice
+* Vendor (Cypress/Infineon/Maxim/MicroChip/NXP/ST/TI/Toshiba?)
+  * ST Microelectronics (huge selection)
+* MPU placement On/Off main PCB?
+  * Off-board: Use Dev. Board
+* Dev-board Family: Nucleo-32/64/144? 144
+  * Pro: Nucleo-144 has lots of pins
+  * Pro: Arduino Shield capability
+  * Con: Too big => Cut off ST-link and Remount
 
 ## PCB Development
 
-* Still in Early stages
-* KiCAD (show kicad)
-* STM32Cube (show )
-* KiPart
-* Rev. A: [Bantam Tools PCB Mill](https://www.bantamtools.com/)
-  * Rectangular board
-* Rev. B: Shipped out to PCBA house
-  * Round'ish board.
+* Schematic Capture:
+  * STM32Cube (show cube)
+  * Stm32cube => KiCube32 => KiPart => KiDocGen
+  * [KiPart](https://kipart.readthedocs.io/en/latest/)
+  * KiCAD (show kicad)
+* PCB Fab:
+  * Surface Mount
+  * Rev. A: [Bantam Tools PCB Mill](https://www.bantamtools.com/)
+    * Rectangular board 4in x 5in (~$1.25/board)
+  * Rev. B: Shipped out to PCBA house
+    * 6.5in mostly round board.
 
-## Expansion
+## Expansion Peripherals
 
 * FPGA Boards (TBD)
 * [Arduino Shields](http://shieldlist.org/)
 * [Seeedstudio Grove](https://www.seeedstudio.com/grove.html)
 * [mickroBUS](https://www.mikroe.com/mikrobus)
 * Serial Bus (TBD)
+* [Low Cost Lidar](https://www.robotshop.com/en/ydlidar-x2-360-laser-scanner.html)
 
 ## Software Issues:
 
-* Limited progress so far:
-* Install script (`hr2_install`) largely done
-* Use `stm32cubeide` (Eclipse + STM stuff)
-* ROS1/ROS2 not started.
+* Ubuntu 18.04 for now (Virtual Box for other OS's)
+  * Ubuntu 20.04 later
+* Really just beginning:
+  * Install script (`hr2_install`) largely done
+  * Use `stm32cubeide` (Eclipse + STM32Cube stuff)
+* ROS1/ROS2 not started
 * No drivers written yet
+* Simulators (Gazebo, Webots, ...)
+
+## Possible Courses
+
+* Really not started yet.
+* Table Top Challenge
+* FPGA Class (2nd generation)
+* KiCAD
+* ROS
+* etc.
+
+## Schedule
+
+* Rev. A PCB(s) done by end of June
+* Rev. B PCB done by end of August
+* Working robot by Nov. HBRC Meeting (19Nov)
+* Group buy Black Friday (27Nov) -- Cyber Monday (30Nov)
 
 ## Conclusions
 
-* Work in progress
-* 3-6 months
+* Definitely a Work in progress
+* ~6 months to "completion"
 * Open to amateur robotics community
+* `https://github.com/hbrobotics/hbrc_ros_robot_platform/blob/master/talks/2020_04_23_HBRC/README.md`
+* Questions?