Revision as of 08:50, 28 February 2018

Hardware

The following figure shows the main components of the Wheelphone robot and where they are physically placed:

Feature	Technical information
Size, weight	92 mm width, 102 mm length, 68 mm height, 200 g
Battery, autonomy	LiPo rechargeable battery (1600 mAh, 3.7 V). About 3.5 hours autonomy (motors running at middle speed continuously). Recharging time about 1h45
2 options to charge	with a micro USB female connector in front of the robot, 500mA with 2 golden contacts in front and the relative docking station, 1000mA
Processor	Microchip PIC24FJ64GB004 @ 16MHz (8 MIPS); 16 bit microcontroller ... and the one of the phone
Memory	RAM: 8 KB; Flash: 64 KB ... and the one of the phone
Motors	2 DC motors with gear; speed controlled (forward direction) with backEMF
Speed	Max: 30 cm/s
Mechanical structure	Molded plastic case, adaptable phone holder
IR sensors	4 infra-red sensors measuring ambient light and proximity of objects up to 6 cm (placed on the front-side of the robot) 4 ground sensors detecting cliffs or color differences (placed on the bottom-front-side of the robot)
LEDs	1 red/green LED (charging/charged indicator)
Communication	Android: USB high speed; iPhone: sound cable. Both reaches 20 Hz sensor refresh
Additional connectors	1 USB connector (type A) as alternative to the micro USB cable
Programming	Android SDK, iOS SDK