HRBE: Holonomic Robot Bluetooth Environment (video)

Video of UCSB final B.S. Computer Engineer project (ECE 189) in Spring 2006. Team members Zach Davis, Kevin Deegan, Kurt Kiefer, and Don Shelton created these Bluetooth remote controlled holonomic robots. Mounted underneath the robots are two LED optical sensors (Agilent optical mouse sensors) that provide real-time positional feedback. The control environment is written in C++ on the Linux platform, leveraging the open source QT UI libraries. Each robot has two higher-end PIC processors, one for handling the bluetooth HCI and higher level communication protocols and motion control, and the other for reading optical position data. Multiple HRBEs can be controlled simultaneously, either through a series of commands from a custom scripting language, using buttons on the UI, or using a 3-axis joystick