HDT7

Hardware Description Table

Thomas Bräunl, April 2023

Each EyeBot controller contains a Hardware Description Table (HDT) as a file stored in location:

/home/pi/hdt.txt

The HDT files contains important entries, which allow changing robot characteristics without having to change the robot's program. Important HDT entries are:

Robot Name (for WiFI SSID broadcast)
Robot group names (for Radio communication)
Select WiFI Master or Slave mode
Select LCD screen orientation
Motor and Servo calibration
PSD sensor calibration
Enabling infrared remote control
Robot dimensions and motor arrangement for differential drive
Port names of attached USB devices

Supported infrared remote is Chunghop L960E (code 786):
On remote press SET+TV buttons for 3 sec. (light on), press 7 8 6, then SET.

Example HDT file:

# EyeBot Controller Name: EYEBOT Name
EYEBOT myrobot

# Network Settings: SSID Network_Name | 0 (MASTER=Hotspot) or 1 (SLAVE=join network) | Password (SSID)
# Default is creating hotspot with SSID derived from PI's serial number, password raspberry
SSID robonet 0 secret

# RoBIOS run at startup (0/1)
ROBIOS 1

# LCD orientation (0/1)
LCD 0

# Infrared Remote enabled (0/1)
IRTV 1

# USB Devices: USB Number | DeviceName
USB 1 EyeBot7
USB 2 GPS

# MOTOR Number [1..4] | TableName
MOTOR 1 Motor_Table
MOTOR 2 Motor_Table

# Servo Number [1..14] | Min-time (us) | Max-time (us) | TableName (opt.)
SERVO 1 1000 2000
SERVO 2  700 1500 Servo_Table

# ENCODER Number [1..4] | Clicks per meter
ENCODER 1 10000
ENCODER 2 10000

# PSD Number [1..6] | TableName
PSD 1 PSD_TableA
PSD 2 PSD_TableA
PSD 3 PSD_TableB

# DRIVE Wheel distance (mm) | Max motor speed (cm/s) | Motor1/left dir. | Motor2/right dir. (1=clockwise)
DRIVE 100  200 0 1

# IRTV Name | Type | Length | tog_mask | inv_mask | mode | bufsize | delay
# Currently support remote is Chunghop L960E, code 786
# On remote press SET+TV buttons for 3 sec. (light on), press 7 8 6, then SET.
IRTV "IRTV0" 0 4 0 0 0 4 20

# Path to demo and software folders
DEMOPATH     /home/pi/eyebot/demo
SOFTWAREPATH /home/pi/usr/software


# -------------------- TABLES (Optional) ------------------
# Motor Linearisation Table 101 values: 0 .. 100
TABLE Motor_Table
0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
20	21	22	23	24	25	26	27	28	29	30	31	32	33	34	35	36	37	38	39
40	41	42	43	44	45	46	47	48	49	50	51	52	53	54	55	56	57	58	59
60	61	62	63	64	65	66	67	68	69	70	71	72	73	74	75	76	77	78	79
80	81	82	83	84	85	86	87	88	89	90	91	92	93	94	95	96	97	98	99 100
END TABLE

# Servo Linearisation Table 256 values: 0 .. 255
TABLE Servo_Table
0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
20	21	22	23	24	25	26	27	28	29	30	31	32	33	34	35	36	37	38	39
40	41	42	43	44	45	46	47	48	49	50	51	52	53	54	55	56	57	58	59
60	61	62	63	64	65	66	67	68	69	70	71	72	73	74	75	76	77	78	79
80	81	82	83	84	85	86	87	88	89	90	91	92	93	94	95	96	97	98	99
100	101	102	103	104	105	106	107	108	109	110	111	112	113	114	115	116	117	118	119
120	121	122	123	124	125	126	127	128	129	130	131	132	133	134	135	136	137	138	139
140	141	142	143	144	145	146	147	148	149	150	151	152	153	154	155	156	157	158	159
160	161	162	163	164	165	166	167	168	169	170	171	172	173	174	175	176	177	178	179
180	181	182	183	184	185	186	187	188	189	190	191	192	193	194	195	196	197	198	199
200	201	202	203	204	205	206	207	208	209	210	211	212	213	214	215	216	217	218	219
220	221	222	223	224	225	226	227	228	229	230	231	232	233	234	235	236	237	238	239
240	241	242	243	244	245	246	247	248	249	250	251	252	253	254	255
END TABLE

# PSD Sensor Linearisation Table 128 values: 
TABLE PSD_TableA
 60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60
 60  60  60  60  60  65  69  70  73  75  76  77  79  81  84  85  87  88  89  90
 93  95  96  98 100 103 105 107 109 110 112 114 116 117 119 121 126 127 129 131
134 137 140 144 146 149 151 156 159 167 170 175 179 183 188 195 200 205 210 220
225 235 240 250 265 275 285 295 310 320 340 350 370 380 400 410 440 460 490 530
600 610 630 680 750 830 900 999 999 999 999 999 999 999 999 999 999 999 999 999
999 999 999 999 999 999 999 999
END TABLE

TABLE PSD_TableB
 60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60  60
 61  62  63  64  65  66  69  69  74  75  76  77  80  82  82  85  86  89  90  90
 92  94  96  98 100 103 105 107 109 110 112 114 116 117 119 121 126 127 129 131
133 137 140 144 146 149 151 156 159 167 170 175 179 183 188 195 200 205 210 220
226 235 240 250 265 275 285 295 310 320 340 350 370 380 400 410 440 460 490 530
580 610 630 680 750 830 900 999 999 999 999 999 999 999 999 999 999 999 999 999
999 999 999 999 999 999 999 999
END TABLE

Thomas Bräunl, Remi Keat, Marcus Pham 2023