My sumo roomba is running around but has a lot of tweaking yet to be completed.

To do list:

Fix the IR sensor interface, it’s flaky.

Add bumper sensors & code to turn into them.

I probably put too much work into measurements and sensors monitoring. I have a tablet that I can monitor most items in case I want to record anything. It’s bluetooth (the only use for the bluetooth module). You’ll note it runs on two PICs, one for drive and offense/defense, the other for monitoring, communication, and subsystem work. The battery was bad so I dropped a 12V 1.2AH SLA into the case.. not the best fix but it works fine.

PIC MCU board. This replaces the old board and all sensors and motor control is done on this board.

PIC MCU board. This replaces the old board and all sensors and motor control is done on this board.

Bottom view of Talos the Sumo Roomba.

Bottom view of Talos the Sumo Roomba.

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