{"id":69,"date":"2014-01-21T20:56:54","date_gmt":"2014-01-21T20:56:54","guid":{"rendered":"https:\/\/twopotatoe.net\/?page_id=69"},"modified":"2020-05-09T21:31:02","modified_gmt":"2020-05-10T03:31:02","slug":"code-explanation","status":"publish","type":"page","link":"https:\/\/twopotatoe.net\/?page_id=69","title":{"rendered":"TwoPotatoe"},"content":{"rendered":"<h1><\/h1>\n<p><iframe loading=\"lazy\" title=\"TwoPotatoe at the skate park\" width=\"580\" height=\"435\" src=\"https:\/\/www.youtube.com\/embed\/8fm9SWNfFyI?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<h1><\/h1>\n<p><iframe loading=\"lazy\" title=\"TwoPotatoe Fall Tour\" width=\"580\" height=\"435\" src=\"https:\/\/www.youtube.com\/embed\/4E-fnKImSGE?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<h1>History<\/h1>\n<p>TwoPotatoe is the first robot and has evolved considerably over the past few years.\u00a0 It has been through many processors: Uno, Mega, Due, &amp; Teensy 3.6.\u00a0 It has had some auxiliary processors: Raspberry Pi and Up Board.\u00a0 It has had too many wheels and motors to mention.\u00a0 \u00a0At various times it has had sonar sensors, lidar sensors, rotating lidar sensors and now has an Intel Real Sense depth camera.<\/p>\n<p>Here it is in its current configuration:<a href=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-scaled.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-large wp-image-339\" src=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-1024x768.jpg\" alt=\"\" width=\"580\" height=\"435\" srcset=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-1024x768.jpg 1024w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-300x225.jpg 300w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-768x576.jpg 768w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-1536x1152.jpg 1536w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-2048x1536.jpg 2048w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-1200x900.jpg 1200w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1143-1-1980x1485.jpg 1980w\" sizes=\"auto, (max-width: 580px) 100vw, 580px\" \/><\/a><\/p>\n<p>With its controller:<\/p>\n<p><a href=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-scaled.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-large wp-image-340\" src=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-768x1024.jpg\" alt=\"\" width=\"580\" height=\"773\" srcset=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-768x1024.jpg 768w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-225x300.jpg 225w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-1152x1536.jpg 1152w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-1536x2048.jpg 1536w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-1200x1600.jpg 1200w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-1980x2640.jpg 1980w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2020\/05\/IMG-1144-scaled.jpg 1920w\" sizes=\"auto, (max-width: 580px) 100vw, 580px\" \/><\/a><\/p>\n<p>TwoPotatoe currently has the following features:<\/p>\n<ul>\n<li>A Teensy 3.6 for real-time control, including balancing and radio control.<\/li>\n<li>A Teensy 3.2 for watchdog processing as well as interfacing with LEDs, switches and the speaker.<\/li>\n<li>An UP Board that runs Ubuntu Linux.\u00a0 This does processing of images using OpenCV and some custom algorithms.\u00a0 It also does navigation during autonomous operation.<\/li>\n<li>An Intel RealSense camera.\u00a0 This both a standard RGB camera and a depth camera.\u00a0 The images are used for object recognition.\u00a0 Some custom routines measure the angles of\u00a0 nearby walls and ground.\u00a0 In fact, TwoPotatoe can balance just using information from the camera.<\/li>\n<li>An LSM-6 IMU from Sparkfun.<\/li>\n<li>Regulators from Pololu to provide power for the processors.<\/li>\n<li>High-power GS motor drivers from Pololu.<\/li>\n<li>A six cell lipo battery 25.2V.<\/li>\n<li>XBee 900MHz radios for communication with the hand controller.<\/li>\n<li>SparkFun Bluetooth Modem for communication with the PC.<\/li>\n<li>RS775 motors with Banebot gearboxes and 1\/5 scale wheels.<\/li>\n<li>A suspension using 1\/5 scale shock absorbers with 2&#8243; of travel.<\/li>\n<\/ul>\n<h5>A Little Historical Archive:<\/h5>\n<p>Lipo battery fire<\/p>\n<figure id=\"attachment_166\" aria-describedby=\"caption-attachment-166\" style=\"width: 180px\" class=\"wp-caption alignleft\"><a href=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/18996111873_2ac89008dc_o.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-166\" src=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/18996111873_2ac89008dc_o.jpg\" alt=\"\" width=\"180\" height=\"240\" srcset=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/18996111873_2ac89008dc_o.jpg 480w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/18996111873_2ac89008dc_o-225x300.jpg 225w\" sizes=\"auto, (max-width: 180px) 100vw, 180px\" \/><\/a><figcaption id=\"caption-attachment-166\" class=\"wp-caption-text\">Lipo battery fire<\/figcaption><\/figure>\n<figure id=\"attachment_165\" aria-describedby=\"caption-attachment-165\" style=\"width: 185px\" class=\"wp-caption alignnone\"><a href=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/19621513591_6c88c73484_o.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-165\" src=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/19621513591_6c88c73484_o.jpg\" alt=\"\" width=\"185\" height=\"247\" srcset=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/19621513591_6c88c73484_o.jpg 384w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/19621513591_6c88c73484_o-225x300.jpg 225w\" sizes=\"auto, (max-width: 185px) 100vw, 185px\" \/><\/a><figcaption id=\"caption-attachment-165\" class=\"wp-caption-text\">Lipo battery fire<\/figcaption><\/figure>\n<figure id=\"attachment_184\" aria-describedby=\"caption-attachment-184\" style=\"width: 293px\" class=\"wp-caption alignnone\"><a href=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2016\/09\/IMG_1201.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-184\" src=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2016\/09\/IMG_1201.jpg\" alt=\"\" width=\"293\" height=\"220\" srcset=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2016\/09\/IMG_1201.jpg 640w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2016\/09\/IMG_1201-300x225.jpg 300w\" sizes=\"auto, (max-width: 293px) 100vw, 293px\" \/><\/a><figcaption id=\"caption-attachment-184\" class=\"wp-caption-text\">The proud robots after a first and second place in the Sparkfun AVC contest<\/figcaption><\/figure>\n<figure id=\"attachment_118\" aria-describedby=\"caption-attachment-118\" style=\"width: 265px\" class=\"wp-caption alignnone\"><a href=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/DSCN8487-e1390416302370.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-118\" src=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/DSCN8487-e1390416302370-746x1024.jpg\" alt=\"\" width=\"265\" height=\"364\" srcset=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/DSCN8487-e1390416302370-746x1024.jpg 746w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/DSCN8487-e1390416302370-218x300.jpg 218w\" sizes=\"auto, (max-width: 265px) 100vw, 265px\" \/><\/a><figcaption id=\"caption-attachment-118\" class=\"wp-caption-text\">Suspicious cat<\/figcaption><\/figure>\n<figure id=\"attachment_91\" aria-describedby=\"caption-attachment-91\" style=\"width: 265px\" class=\"wp-caption alignnone\"><a href=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/IMG_04633.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-91\" src=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/IMG_04633-1024x768.jpg\" alt=\"\" width=\"265\" height=\"199\" srcset=\"https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/IMG_04633-1024x768.jpg 1024w, https:\/\/twopotatoe.net\/wp-content\/uploads\/2014\/01\/IMG_04633-300x225.jpg 300w\" sizes=\"auto, (max-width: 265px) 100vw, 265px\" \/><\/a><figcaption id=\"caption-attachment-91\" class=\"wp-caption-text\">TwoPotatoe first attempt<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>History TwoPotatoe is the first robot and has evolved considerably over the past few years.\u00a0 It has been through many processors: Uno, Mega, Due, &amp; Teensy 3.6.\u00a0 It has had some auxiliary processors: Raspberry Pi and Up Board.\u00a0 It has had too many wheels and motors to mention.\u00a0 \u00a0At various times it has had sonar [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":5,"comment_status":"open","ping_status":"open","template":"","meta":{"footnotes":""},"class_list":["post-69","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/twopotatoe.net\/index.php?rest_route=\/wp\/v2\/pages\/69","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/twopotatoe.net\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/twopotatoe.net\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/twopotatoe.net\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/twopotatoe.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=69"}],"version-history":[{"count":31,"href":"https:\/\/twopotatoe.net\/index.php?rest_route=\/wp\/v2\/pages\/69\/revisions"}],"predecessor-version":[{"id":367,"href":"https:\/\/twopotatoe.net\/index.php?rest_route=\/wp\/v2\/pages\/69\/revisions\/367"}],"wp:attachment":[{"href":"https:\/\/twopotatoe.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=69"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}