An Advanced, Low-Cost Robot

for Research, Teaching, and Outreach


r-one Code Repository

  • r-one Github Repository: This is the repository with the most recent r-one software and hardware resources. Everything is open-source and available for download.

r-one Library API

R-one GUI: The RoneGUI was developed to easily debug software and hardware issues without the use of a specific embedded development environment such as Eclipse's debug tool. It allows you to plug any robot with current MSP430 and 8962 code into a computer via the USB port and give specific commands (motors, leds, etc.) that the robot will execute, as well as display information about all sensors available to the robot. Once you remove it from your computer, the robot will resume the program it was executing.

RCC: The RCC (Robot Communication Client) was developed to easily communicate with a large number of r-one robots, both locally connected via USB serial and via remote connection using the r-one's radio. It is a helpful data collection tool and contains functions that make viewing the r-one robots' output much easier.

Development Environments: Eclipse CDT

How to set-up Eclipse for the r-one: Visit here to view how to setup Eclipse to be able to program and debug the r-one.

Hardware Specifications

Robot Dimensions Robot Performance
* Wheels - 32mm * Min Speed: 15 mm/sec
* Distance between wheels: 82 mm * Max Speed: 250 mm/sec
* Total weight - 330 grams * Run Time: Approx. 4 Hours
Computation User Interface
* Texas Instruments LM3S8962 Stellaris Processor * 3 user mode buttons
* CPU - ARM Cortex-M3 running 50MHz * 15 LEDs
* 256 KB Flash * Radio (2.4Ghz), 2Mb/s data rate
* 64 KB SRAM
InfraRed (IR) Sensors
* 8 IR transmitters * Encoders: 0.0625 mm / tick
* 8 IR receivers * 3-Axis Gyro
* Detect signals in a 68⁰ arc, with 22.5⁰ overlap * 3-Axs Accelerometer
* Localization, Communication, Obstacle Detection * 4 Analog CdS Light Sensors
* Top-mounted IR beacon for global localization * 8 bump sensors for 360⁰ detection: Digital
Power Extras
* 3.7V 2000mAh Li-Poly Battery * 3 Chassis components, 2 Circuit boards, 14 screws
* Low: 140mA system power without LEDs or motors * Internal speaker with MIDI sound output
* High: 650mA at motor stall and max LED output * Smart power control with airplane mode capability
* Average: 510mA at normal motor and LED conditions

Charging Case: This project was started in Summer 2012 in order to build an object that would be able to transport robots safely, store them comfortably, and charge them effectively.

Using Multi-Robot Systems for Engineering Education: Teaching and Outreach with Large Numbers of an Advanced, Low-Cost Robot
Project Type: 
Associated Projects: 
Multi-Robot Systems Engineering
Toaster Charger