S.C.U.T.T.L.E.

Sensing, Connected, Utility Transport Taxi for Level Environments (SCUTTLE). This repository contains Python and Matlab Code for Texas A&M's open-source Scuttle Mobile Robot.

Computer Vision Demo: https://youtu.be/9t1XHcomlIs

90lbs Payload Demo: https://youtu.be/xK2SHM6fj18

Animated assembly (shows all parts) https://youtu.be/1VYjcl6etOM

Info for Assembly:

Bill of Materials is found in CAD folder

Hardware Parts instructions - https://youtu.be/wpSIqTLZpCg

3D Printing instructions - https://youtu.be/PXD6mWnY9d0

Wiring the battery pack - https://youtu.be/JS_9AhtAyLg

Battery pack, soldering the bottom - https://youtu.be/A2vBMLaxQs0

Battery pack, heat-set inserts - https://youtu.be/Fhat7w075Js

Battery pack, crimping insluated terminals - https://youtu.be/GCT9hjeIvX8

Battery Cells, proper use - https://youtu.be/fC4sgXplA3k

Wiring, power wires overview - https://youtu.be/E7_NHTZwens

Wiring, crimping signal wires - https://youtu.be/388paGI_ecE

Wiring, I2C bus board - https://youtu.be/THejHu2klQM

Wiring, I2C board soldering - https://youtu.be/_GyacXFINLY

Wiring, I2C bracket - https://youtu.be/_ZNiIEPJr7c

Wiring, anatomy of duPont crimp - https://youtu.be/388paGI_ecE

Motors, soldering wires - https://youtu.be/d_CcTHs64qQ

Wheels, gluing the pulley - https://youtu.be/daPXxpQAJaQ

Wheels, assembling drivetrain - https://youtu.be/BN1E99_LWlo

Encoders, mounting - https://youtu.be/DEkEQ5825po

Project Writeup:

https://www.hackster.io/112547/scuttle-mobile-utility-robot-from-texas-a-m-d6c2b7

Info for Programming & Testing

Connect by SSH and test motors - https://youtu.be/gOEy8NsPlZY

Change your debian password - https://youtu.be/Scn5cUx_RIU

Connect to WiFi (WPA Enterprise) - https://youtu.be/6MDQHE0V518

Encoders, accuracy to expect - https://youtu.be/WdWj5KSYGlc

Battery, voltage checking - https://youtu.be/yBV0TCLIw5Y

Testing Beaglebone with RC_test - https://youtu.be/QZSLSp3yt1U

Using Matlab GUI v1.1 - https://youtu.be/fwuoglO3J0k

Running color_tracking_v1.py - https://youtu.be/PZ6i2W_9lJE

Check devices on i2c bus - https://youtu.be/L2ZTV-0t43Y

Lessons / Failures

Epoxy does not stick to ABS - https://youtu.be/M9cL-bfdHPk

Slightly oversized print - failed belt mesh - https://youtu.be/F0HP_MXiXHo

Slipping with unlevel chassis - https://youtu.be/JfYrRua7tiw

Screws in PLA issue (student share) - https://youtu.be/qfHjSpBnqg8

Dupont Crimps quality/testing (student share) - https://youtu.be/p01EBFcK8_E

How to cut a PCB - https://youtu.be/4vjoToIsxR4

Info for Design Modifications

Modifying the wheel pulley - https://youtu.be/8o-XcZ3_teM