Nicodaube/Grisp_robotRepository of the self balancing robot originally designed by Cédric Ponsard and Francois Goens. It is now extended with the work of Nicolas Daube and Thomas Vanbever for the localisation of the robot in rooms
PCB V2 is an open-source printed circuit board by Nicodaube, from the Nicodaube/Grisp_robot repository on GitHub, published under the Apache-2.0 licence. It is a 2-layer board of 167 × 94 mm with 24 parts on 46 nets, routed with 194 tracks and 12 vias.
It is built around the TMC2208SILENTSTEPSTICK. Its parts include 9 connectors and 3 ICs. It belongs with the robots and motor control boards of this library.
This project is an extension of the master thesis made by Francois Goens and Cédric Ponsard (link here (2023-2024)). It is done in the context of a new master thesis by Nicolas Daube and Thomas Vanbever (2024-2025). Both of these master thesis where done under the supervision of Prof. Peter Van Roy at UCLouvain. The goal of this project is to use GRISP2 boards (designed and comercialised by Peer Stritzinger GMBH.) and the Hera framework to create a robot capable of standing upright (last master thesis) and to know its own position in an assembly of rooms (current project). The robot, and its associated sensors, need to know at all time the position of the robot in the system of rooms. Each sensor knows all the data sent by each sensors and by the robot. An other goal of this project is thus to allow each sensor to compute the position of the robot (using a Kalman Filter) at a reasonable rate. This implies that the filter must evolve over time, using the data given by the right sensors at the right time.
The project is done using Erlang OTP (current version 27.2.4). If you want more informations about the, project, visit our the Wiki section of this repository.
This repository is organised in several subdirectories :
Hardware_robot/printing_files you will find all the files for the prints in 3D and the laser cuts.| Qty | Value | Footprint | References |
|---|---|---|---|
| 9 | SolderJumper_2_Open | Jumper:SolderJumper-2_P1.3mm_Open_Pad1.0x1.5mm | MS1, MS2, MS3, MS4, MS5, MS6, MS7, MS8, MS9 |
| 3 | Conn_01x04_MountingPin | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J2, J4, J5 |
| 3 | Conn_02x06_Odd_Even | Connector_PinSocket_2.54mm:PinSocket_2x06_P2.54mm_Vertical | J7, J8, J9 |
| 3 | TMC2208_SILENTSTEPSTICK | Master_thesis:MODULE_TMC2208_SILENTSTEPSTICK | U1, U2, U3 |
| 1 | Conn_01x02 | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J3 |
| 1 | Conn_01x10_Socket | Connector_PinHeader_2.54mm:PinHeader_1x10_P2.54mm_Vertical | J1 |
| 1 | Conn_02x06_Odd_Even | Connector_PinHeader_2.54mm:PinHeader_2x06_P2.54mm_Vertical | J6 |
The 21 most common of 24 parts.
It measures 167 × 94 mm and has 2 copper layers, 1.6 mm thick.
24 parts, built around the TMC2208SILENTSTEPSTICK. 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.
From the Nicodaube/Grisp_robot repository on GitHub, at the commit this page was made from: the board is electronics/PCB_V2/PCB_V2.kicad_pcb and its schematic electronics/PCB_V2/PCB_V2.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository publishes it under the Apache-2.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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