1. Smart phone Nexus 5
CPU: Qualcomm SnapdragonTM 800, 2.26GHz
RAM: 2 GB
Sensors: GPS, Gyroscope, Accelerometer, Compass, Proximity/Ambient, Light, Pressure, Hall Effect
This smart phone is very powerful. It has everything for image recognition, fast CPU, huge DRAM, open-source OS Android. It can detect ball and net very quickly at real time. So the Robot can respond as fast as possible. In addition, embedded sensors can give the Robot enough information for accurate position control.
Since it is Android system, plenty of free samples and free source code can be found in open source world. Unlike iPhone, Nexus 5 is free to program on it. User can get free development environment tools from internet.
OpenCV is open source and standard image recognition software, it has reach functions for object detection and widely used by commercial field. It is powerful but simple for programmer.
2. BeagleBone Black Development Board
CPU: 1GHz AM3359 Sitara ARM Cortex-A8
RAM: 512MB DDR3
It is ARM9 CPU, running Linux OS. With its WI-FI, it can communicate with smart phone through TCP/IP protocol.
Six Timers IO control 6 servos, 4 of them for arm and 2 for smart phone panning and tilting control.
CAN BUS is for eZ430 board communication to control 2 rear wheels DC motors.
With process programming, it can search ball by head servos panning and tilting, moving arm to kick and grab ball and driving the Robot.
3. TI micro controller
eZ430-RF2500 Development Board
Timer 2 - for Motor control
It has two GPIO and two timers to control 2 DC motors.
CAN bus is used to communicate with BBB board.
4. Power Supply
+12VDC -> +6.0VDC for Servo
+12VDC -> +5.0VDC for CAN Bus and BBB board
+12VDC -> +3.3VDC for eZ430
5. Motor control
Rear wheel drive
6. Servo control
7. CAN BUS