Stacks

The basic design principle is, design function as a software hardware module. For example, the omnidircetional drive unit is a unit consists of the wheels, stepper driver board and a raspberry pi. The software is specialized to provide the service to move the robot. Another module is the network service provider, consist of a switch and a wlan router. The power supply is a module. Each modules are build in a standardized stackable box. The assembled modules are called stacks.

The minimum stack configuration

• Wheel drive stack ** Raspi IP: 10.0.10.11
• Power supply stack
• Network service provider stack
• Root node stack

Example of other stacks

• LIDAR scanner stack
• Camera stack ** Raspi IP: 10.0.10.10
• Kinect stack
• Manipulator stack
• Transportation stack