chip updates: mounting the IMU [updates]
Now it's time to give the robot some level of intelligence. We're going to mount it as close to the center of the robot as possible, that's (0.3075, 0.1525) meters from the "origin" marked on the robot, the same one we used for measuring the CoG.
The pixhawk is mounted as center as possible. This thing has three IMUs, a barometer, and the GPS will be connected as well. Telemetry can also be connected, however we will not be connecting it for now. This system will be USB'd to the Jetson TX1 which will handle all the communications and the processing to make this thing walk/etc.
The RoboRIO's function is really just a CAN controller and mover. What we do is send the rio a trajectory, a set of foot positions, and then the rio carries them out - it's a constant stream.
The ardupilot is really there for the IMU, GPS, and for its ability to connect to a ground station. The Jetson TX1 will receive velocity commands and IMU data from the ardupilot using MAVROS.
The Jetson TX1 (not mounted) is there as the processing core of the system. We're going to mount that next. But first, we need to move the RoboRIO. It's getting in the way of everything. Yes. Both the RIO and the IMU have been securely mounted with the very best duct tape.
Okay now... it's time for the Jetson TX1 itself! We're going to try to mount this top and center above the IMU.
We attached two metal mounting bars to the frame (friction fits), we wrapped tape around the bars so they couldn't possibly short out anything on the Jetson, and then we taped the Jetson to the bars. We now just need to add the USB from the Jetson to the IMU and the ethernet from the RIO to the Jetson, but we won't do that now because we're still doing development things. That'll come later