2 layers27 × 1.4 mm
Roboy 3.0 40mm ball sensor
Roboy/ball_and_socket_estimator
estimator for angles and ball in socket joint
20 parts6BSD-3-Clause
2 layers67.5 × 62.6 mm
Roboy 3.0 40mm magnetic field calibration
Roboy/ball_and_socket_estimator6estimator for angles and ball in socket joint
- Size
- 67.5 × 62.6 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 132
- Nets
- 67
- Pads
- 488
- Tracks, vias
- 1,650, 170
- Pours
- 2
- Routed
- Yes
- KiCad
- KiCad 5 (file 20171130)
- Created
- 9 Jun 2017
- Updated
- 20 Jul 2022
Overview
Roboy 3.0 40mm magnetic field calibration is an open-source printed circuit board by Roboy, from the Roboy/ball_and_socket_estimator repository on GitHub, published under the BSD-3-Clause licence. It is a 2-layer board of 67.5 × 62.6 mm with 132 parts on 67 nets, routed with 1,650 tracks and 170 vias.
It is built around the TCA9546APWR(UMW). Its parts include 61 resistors, 33 ICs, 26 capacitors and 2 connectors.
Main components
1README
README.mdNeural network ball socket estimator
Install
-
Pytorch
conda install pytorch torchvision torchaudio cudatoolkit=10.2 -c pytorch -
pip install -r requirements.txt
Data collection
Switch to python folder as your working directory cd python
- Generate data using
python particle_swarm.py --body_part BODY_PART
with BODY_PART = {head, shoulder_left, shoulder_right, hand_left, hand_right}
-
Topics to record:
/roboy/pinky/sensing/external_joint_states/roboy/pinky/middleware/MagneticSensor/tracking_loss/roboy/pinky/control/cardsflow_joint_states/roboy/pinky/simulation/joint_targets
Training
-
Convert
bagstocsvusingwrite_dataset_from_bag.ipynb -
Run
data_analysis.ipynbto make sure all the inputs and outputs are correct -
Train an LSTM network using
training.ipynb
Prediction
cd python
- Run the trained network
python predict_lstm.py
Parts
132| Qty | Value | Footprint | References |
|---|---|---|---|
| 61 | 1k | Resistor_SMD:R_0402_1005Metric | R1, R2, R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R21, R22, R23 +45 |
| 26 | C | Capacitor_SMD:C_0402_1005Metric | C1, C2, C10, C11, C12, C13, C14, C17, C18, C19, C20, C21, C22, C23, C24, C25 +10 |
| 26 | TLE493d | custom_lib:TLE493d | U1, U2, U11, U12, U13, U14, U16, U17, U21, U22, U23, U24, U26, U27, U28, U29 +10 |
| 7 | TCA9546APWR | custom_lib:SOP65P640X120-16N | U5, U10, U15, U20, U25, U30, U35 |
| 4 | MountingHole_Pad | MountingHole:MountingHole_3mm_Pad | H1, H2, H3, H4 |
| 1 | Conn_01x08_Female | custom_lib:micro_match_female_8pos_SMT | J2 |
| 1 | FID1 | Fiducial:Fiducial_0.75mm_Mask1.5mm | FID1 |
| 1 | FID2 | Fiducial:Fiducial_0.75mm_Mask1.5mm | FID2 |
| 1 | FID3 | Fiducial:Fiducial_0.75mm_Mask1.5mm | FID3 |
| 1 | ears | custom_lib:R1_ear_silk_5.5mm | H7 |
| 1 | eyes | custom_lib:R1_eyes_mask_5.5mm | H6 |
| 1 | head | custom_lib:R1_face_mask_5.5mm | H5 |
| 1 | i2c | custom_lib:TE-Connectivity_Micro-Match_connector_02x02_Pitch_1.27mm | J1 |
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Questions
How big is the Roboy 3.0 40mm magnetic field calibration PCB?
It measures 67.5 × 62.6 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Roboy 3.0 40mm magnetic field calibration use?
132 parts, built around the TCA9546APWR(UMW). The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Roboy 3.0 40mm magnetic field calibration KiCad files?
From the Roboy/ball_and_socket_estimator repository on GitHub, at the commit this page was made from: the board is pcbs/roboy_3.0_40mm_magnetic_field_calibration/roboy_3.0_40mm_magnetic_field_calibration.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the Roboy 3.0 40mm magnetic field calibration design in my own project?
Its repository publishes it under the BSD-3-Clause licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).