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Crazyflie 2.0 Custom Obstacle Avoidance Deck with 13 VL53L1X ToF Sensors

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Crazyflie 2.0 is a lightweight micro aerial vehicle. This open source platform comes with a variety of decks to support multiple implementations. One of them is a Obstacle Avoidance Deck by the original manufacturer itself.

This deck supports five Time of Flight (ToF) sensors mounted as shown in figure below. Our project is requires sensor readings captured using these ToF sensors. Effectiveness and accuracy of our algorithms require more data points than points provided by just five sensors. There are no other hardware platforms available in the Internet supporting more ToF sensors and the alternative we had was to develop one on our own.
Researching into existing hardware platform, we were able to extend the design to build a custom deck that supports 13 ToF sensors mounted facing different angles. The schematics and bill of materials can be found from this repository hosted online: https://github.com/CloudyPadmal/CrazyFlieToFDeck



Designing the hardware should be done in s…

Regulating Voltage in PSLab

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Electronic components are highly sensitive to voltages and currents across them. Most of the devices in the current market work in the voltage levels of 3.3V, 5V, 12V and 15V. If they are provided with a different voltage than the one required by the vendor, they would not function. If the voltage supplied is higher, they might burn off. The PSLab device requires separate voltage levels such as 3.3V and 5V for its operation.
There are commercial voltage regulators available in the market designed with advanced feedback techniques and models. But we can create out own voltage regulator. In this blog post, I am going to introduce you to a few basic models capable of regulating voltage to a desired level.
Current implementation of PSLab device uses a voltage regulator derived using a zener-resistor combination. This type of regulators have a higher sensitivity to current and their operation may vary when the supplied or the drawn current is lower than the expected values. I…

Let's try MPLab!!!

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MPLab to Program the PSLabMPLab© X IDE Microchip® is a famous company for PIC® microcontroller manufacturing. This American based company produces a variety of electronic components ranging from basic microcontrollers, EEPROMs, SRAMs, RF devices and many more. In the PSLab device by FossAsia, we use a PIC24EP256GP204 who's data sheet can be found from here. Apart from the high performing micro controllers, Microchip provides a powerful IDE to program these devices. This IDE is based on NetBeans IDE. The programming language is consists of C++ syntaxes and we can embed assembly commands like 'nop' to simplify the code. Documentation and guidelines on how to use this great IDE is available on their official web site. Here we're going to see how to install this in an Ubuntu 16.04 64bit PC. Installing MPLab© X IDEStep ITo install this software, first we have to download the tar ball containing the installer. The latest version can be found from their official site. Scroll t…