Mopbot based on Phidgets
Lately I have been trying to create a robot with a specific purpose to mop our hardwood flooring. After some initial research I ended up selecting Phidgets controllers which give me independent access to specific controllers motors, switches, sensors etc. The downside is that I need to have some dedicated PC to control them. After some long and hard researching, I ended up using the following things to build the bot.
- Mini-itx Intel® Desktop Board D510MO for the PC which runs the code and controls phidgets.
- Intel Wireless ABGN mini pcie card that provides network connection to remotely develop, test and run diagnostics on the bot.
- Pico PSU 120 to power the board as well as DC Motors that used for robot motion.
- Xbox 360 Wireless Controller to control the direction and spraying of swiffer cleaning solution.
- Xbox 360 Wireless Gaming Receiver for Windows which allows communication between PC and Xbox Controller
- Phidgets Text LCD with 8/8/8 interface controller that provides status of the bot and also connects the switch that sprays cleaning solution.
- Phidgets Solid State Relay Board that connects to swiffer switch to trigger the spraying
- Phidgets Motor Controller LV that controls 2 high torque DC motors.
- 2 High Torque 12V DC geared motors, 2.5” wheels and hubs from servocity.com
- Swiffer Wet Jet that scrubs the floor which includes cleaning solution and switch for spraying the solution
- Miscellaneous items such screws, power connectors, wires and plywood board.
Phidgets has .NET SDK which provides easy way to program the controllers and input from Xbox wireless controller can be read using XNA framework. Tying it all together is a windows service that runs on startup which starts the controllers and is ready to receive input from wireless controller. Software wise here are the components that I am using.
I will be following up later with more detailed blogs on hardware and software aspects of Mopbot.
Picture of the bot started, you can see most of the parts except the motors which are under the wood board.
Picture of the main drive controller.
Thanks
RV
Update: Attached two pictures of the bot.