SunRover Part 2 – Solar Power Controller/Power System
Solar Power System Modes
Table 1 shows the list of solar power system modes that are used by the Arduino Power Management subsystem to set various modes depending on inputs from the data and from the Raspberry Pi2 (the Pi can override the selections of the Arduino).
Table 1
Solar Power System Modes
| Operating Mode | # of Panels on Motor Power System | # of Panels of Pi2 Power System | # of Panels on Arduino Battery Management System |
|---|---|---|---|
| Brownout Recovery State |
0 |
0 |
1 |
| Bootstrap State |
0 |
0 |
6 |
| Pi2 Recovery State |
0 |
5 |
1 |
| Motor Recovery State |
5 |
0 |
1 |
| Powerup Default State |
2 |
2 |
2 |
| Maintenance State |
2 |
3 |
1 |
| Driving State |
3 |
2 |
1 |
| Sun Tracking State |
2 |
2 |
2 |
Conclusion
SunRover is coming alive. The basics are done. Now I have to start to make the robot a bit smarter. I want to start having SunRover drive itself and take pictures to send back to me. It occurs to me that this is a bit like it must have felt when JPL was designing and implementing the Mars Rovers. The closest this robot will get to Mars is being sent down in exile to join its cousin Project Curacao. Of course, a software glitch could cause the rover to merrily roll off a cliff into the ocean. Maybe I'll put up a string of iBeacons on the cliff (they last a year or so) and then read the distance to them. If the SunRover gets too close, it can execute the automatic motor shutoff and call for help.
Next up? I will describe the SunRover motor control, navigation, and driving software system, as well as a way to implement all the I2C sensors.
Infos
- "Build a Bot: SunRover Part 1" by John C. Shovic, Raspberry Pi Geek #13, page 68
- Quad Power Management Power Boards: http://www.switchdoc.com/quad-power-management-board/
- Square Wave: https://en.wikipedia.org/wiki/Square_wave
- Faraday Cage: https://en.wikipedia.org/wiki/Faraday_cage
- Ground Loop: https://en.wikipedia.org/wiki/Ground_loop_(electricity)
- Latch-Up: https://en.wikipedia.org/wiki/Latch-up
- "Tracing Your Circuit: Oscilloscopes and Mixed-Mode Logic Analyzers" by John C. Shovic, Raspberry Geek #12, page 78
- DROK Voltage Booster: http://www.amazon.com/Efficiency-Converter-Transformer-Controller-Adjustable/dp/B00UR5K4AE/
- Adafruit 6600mAh LiPo Battery: https://www.adafruit.com/products/353
- Project Curacao: http://www.switchdoc.com/project-curacao-introduction-part-1/
- "Follow the Sun: Managing Solar Power Systems with SunAir Boards" by John C. Shovic, Raspberry Pi Geek #10, page 32
- "SwitchDoc Labs – Solar Power Subsystem" http://www.switchdoc.com/project-curacao-solar-power-subsystem-part-2/
- "Figuring Out When to Shutdown your Solar Powered Raspberry Pi – WeatherPi": http://www.switchdoc.com/2015/04/figuring-out-when-to-shutdown-your-solar-powered-raspberry-pi-weatherpi/
- "Turning the Pi On and Off – WeatherPi Solar Power": http://www.switchdoc.com/2015/04/turning-the-pi-on-and-off-weatherpi-solar-power/
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