![\"daughterboard\"](\"http:\/\/blog.orbswarm.com\/wp-content\/uploads\/2007\/06\/daughterboard.jpg\")
<\/a> Both are running fine and chatting happily together. That’s a warm fuzzy feeling, right? It sure is for me.<\/p>\nTechnical details: the daughterboard contains an Atmega-8 microcontroller and mates with a TS-7260 embedded Linux board<\/a> from Technologic Systems<\/a>. The Linux board is the Swarm Processsing Unit, or the SPU as we like to call it. It’s the brains of the system. The daughterboard microcontroller generates motor control signals and reads analog signals from the inertial navigation unit. Petey the Programmer<\/a> made the prototype version this is based on: thanks Pete!<\/p>\n","protected":false},"excerpt":{"rendered":" Well, the boards came yesterday and passed the smoke test (you plug it in and if it doesn’t smoke, it passes). Today I got everything working together: Here’s the daughterboard motor controller, sitting happily on top of mom SPU. Both are running fine and chatting happily together. That’s a warm fuzzy feeling, right? It sure […]<\/p>\n","protected":false},"author":6,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"jetpack_publicize_message":"","jetpack_is_tweetstorm":false,"jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":[]},"categories":[1],"tags":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":65,"url":"http:\/\/blog.orbswarm.com\/2007\/06\/28\/things-are-accelerating-around-here\/","url_meta":{"origin":62,"position":0},"title":"Things are accelerating around here","date":"June 28, 2007","format":false,"excerpt":"Not only that, we can measure it. Here's a plot of two axes of accelerometer data. This was generated by the Inertial Measurement Unit, talking to the daughterboard, passed through the SPU, then captured by the new logging feature of the mothernode dashboard application. (Did you know Python has a\u2026","rel":"","context":"In "Progress"","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":157,"url":"http:\/\/blog.orbswarm.com\/2008\/05\/11\/burning-man-update\/","url_meta":{"origin":62,"position":1},"title":"Burning Man Update","date":"May 11, 2008","format":false,"excerpt":"The push for Autonomy continues! The plan is that SWARM will be dancing -on its own- at Burning Man at the end of August. That means GPS and inertial measurement systems will work with control software and dance software to.... well... DANCE! Here's an abbreviated update that we recently sent\u2026","rel":"","context":"In "Progress"","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":211,"url":"http:\/\/blog.orbswarm.com\/2009\/04\/30\/event-swarm\/","url_meta":{"origin":62,"position":2},"title":"Event SWARM","date":"April 30, 2009","format":false,"excerpt":"We've been lax about posting to the SWARM blog... SWARM gets out way more than you know! Last week the orbs were found dancing and flirting with the laptops at the\u00c2\u00a0Jaunty Jackalope Ubuntu Linux Release party!\u00c2\u00a0(Each orb runs ARM embedded Debian, pretty nerdy, huh?) This Thursday 4-30-09 a cadre of\u2026","rel":"","context":"In "Progress"","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":179,"url":"http:\/\/blog.orbswarm.com\/2008\/08\/15\/orbs-following-a-path\/","url_meta":{"origin":62,"position":3},"title":"Orbs Following a Path","date":"August 15, 2008","format":false,"excerpt":"From Mike Prados tonight, Niladri and I started the dispatcher program, detached the ethernet cable, and removed our stuff to a respectable distance from orb 1 on the soccer field.\u00c2\u00a0 It then spent a minute figuring out the initial bias on its sensors, and started rolling.\u00c2\u00a0 It turned left and\u2026","rel":"","context":"In "Progress"","img":{"alt_text":"","src":"https:\/\/i0.wp.com\/blog.orbswarm.com\/wp-content\/uploads\/2008\/08\/overhead-298x350.jpg?resize=350%2C200","width":350,"height":200},"classes":[]},{"id":89,"url":"http:\/\/blog.orbswarm.com\/2007\/08\/03\/full-cad-rendering\/","url_meta":{"origin":62,"position":4},"title":"Full CAD rendering","date":"August 3, 2007","format":false,"excerpt":"Hey orbsters, whiling away a slow afternoon stuck inside, daydreaming about rolling robots?\u00c2\u00a0 well, now you can all gaze at the juicy bits, without needing a big fancy CAD program!\u00c2\u00a0 Rotate, zoom,\u00c2\u00a0 selectively hide parts for a better view, the orb is your oyster! I put an edrawing of the\u2026","rel":"","context":"In "Progress"","img":{"alt_text":"","src":"https:\/\/i0.wp.com\/blog.orbswarm.com\/wp-content\/uploads\/2007\/08\/orb-projection.thumbnail.jpg?resize=350%2C200","width":350,"height":200},"classes":[]},{"id":35,"url":"http:\/\/blog.orbswarm.com\/2007\/05\/07\/progress-rolling-along\/","url_meta":{"origin":62,"position":5},"title":"Progress! Rolling along…","date":"May 7, 2007","format":false,"excerpt":"So Mike spent the weekend upgrading the shell and last night we drove it around some more. It's getting there! Much smoother rolling and more robust. It was good to see how well it would stop and start. The drivetrain is working really well, though the steering has some issues.\u2026","rel":"","context":"In "Progress"","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]}],"jetpack_shortlink":"https:\/\/wp.me\/p5dyZ-10","_links":{"self":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts\/62"}],"collection":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/users\/6"}],"replies":[{"embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/comments?post=62"}],"version-history":[{"count":1,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts\/62\/revisions"}],"predecessor-version":[{"id":324,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts\/62\/revisions\/324"}],"wp:attachment":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/media?parent=62"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/categories?post=62"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/tags?post=62"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}