Two Kinects: surprisingly functional!

The Kinect is a really handy sensor for robotics.  We’ve been talking about having one Kinect mounted on the wall, to impose a simple global coordinate system; and separate obstacle detection Kinects mounted on each robot.

Surprisingly, multiple Kinects don’t seem to interfere with each other too badly–the Primesense dot detection is smart enough to preferentially recognize its own dots over the dots from the other kinect.

Image from a Kinect, with a second Kinect active on the left side of the frame. Despite the bright glare from the second Kinect’s IR emitter, there is almost no interference in the depth image.

Rover 5 platform test run

Mike just ordered a Sparkfun Rover 5 chassis ($60), and Steven decided to test drive it at 12V using his new quad-bridge driver board, in turn hooked to an Arduino Mega (for the interrupt lines) and an XBee for wireless serial communication.

http://www.youtube.com/watch?v=ZD30zdlazpc

It’s a nice little platform, big enough to put a laptop and some actuators on, and it moves authoritatively when driven at 12V.  It tracks quite straight even without using the onboard encoders.  Mark, from Mount Edgecumbe, suggested putting on Mechanum wheels, so the chassis can translate sideways too.

We’ll work on a decent mounting system, so all the electronics don’t fall out when the thing tips over!

Arduino Serial Latency & Bandwidth vs. Message Size

We’ve been using Arduinos for all our projects, and it was time I got around to benchmarking the serial communication performance.  It’s actually not very fast; even at the maximum baud rate of 115200 bits per second, delivered performance is only a little over 10KB/second each way, and it only hits this bandwidth when sending over 100 bytes at a time.

Arduino Uno to PC roundtrip serial communication bandwidth, as a function of message size.

The problem for small messages seems to be a 4 millisecond minimum roundtrip latency.  Messages over about 40 bytes seem to take several such latencies, so there’s a stair step pattern to the latency.  Paul Stoffregen says this is due to the Uno firmware’s 4.1 millisecond transmit timeout.

Arduino Uno to PC roundtrip serial communication latency, measured in milliseconds, for various message sizes.

Evidently, the Teensy (with direct USB to the chip, not a USB-to-serial onboard) gets about 1ms serial latency.  The same page reported the Duemillanove at 16ms minimum (62Hz!).

Overall, this means you’re only going to get a 250Hz control rate if you’re shipping sensor data from an Arduino Uno up to a PC, and then sending actuator signals back down to the Arduino.  But 250Hz is enough for most hardware projects we’ve been thinking about.

The other annoying problem?  After opening the serial port, the Arduino Uno takes 1.7 seconds to boot before it responds to serial commands.  Anything you send from the PC before that time seems to be lost, not buffered.  The fix is probably to have the Uno send the PC one byte at startup, so the PC knows the Uno is ready.