The Arduino platform was used to develop an interface between two otherwise incompatible commercial devices in order to drive the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) rover over long distances. The Portable Operations Terminal consists of three distinct parts: a robot-mounted ruggedized laptop computer containing all of the “ground” support software needed to operate ATHLETE, a handheld computer capable of performing simple problem diagnosis and troubleshooting, and a handheld joystick based on the Wii Nunchuk used to drive ATHLETE with one hand. The physical modifications included an Arduino electronic prototyping board with custom firmware, and various support cables, lanyards, and enclosures to make the device survive the desert environment of the field test.
The Wii controller was designed to be a simple-to-use joystick, and its operation is understandable by children and adults the world over. In this innovation, it has been physically modified to interface with a handheld computer via a USB cable. Rarely, if ever, is such a simple commercial device used to operate a rover as complex as the six-limbed ATHLETE robot. Yet, because the robot is a reliable driving platform, operators only rarely have to rely upon either the handheld computer or the robot-mounted laptop to diagnose or fix problems in operations. The Portable Operations Terminals, of which the Wii Nunchuk was a part, is a “graduated” operations system, relying on a simple device to operate a well-behaved robot while offering successively more complex devices to diagnose successively more complex problems.
This work was done by Jeffrey S. Norris, David S. Mittman, Lucy Abramyan, and Christopher P. Gilmer of Caltech for NASA’s Jet Propulsion Laboratory. NPO-47625
This Brief includes a Technical Support Package (TSP).
Wii Nunchuk Controller for ATHLETE Operations
(reference NPO-47625) is currently available for download from the TSP library.
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Overview
The document is a Technical Support Package for the Wii Nunchuk Controller designed for ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) operations, developed by NASA's Jet Propulsion Laboratory (JPL) in collaboration with the California Institute of Technology. It is part of NASA Tech Briefs, specifically referenced as NPO-47625, and aims to disseminate aerospace-related developments with broader technological, scientific, or commercial applications.
The instructions, authored by Chris Gilmer in 2014, detail the assembly and operation of the Wii Nunchuk Controller, which is utilized in the ATHLETE project. The document outlines the necessary steps for preparing the controller, including stripping the wire to access the internal components. It describes the internal wiring, which consists of four colored wires, a copper ground wire, and insulating material, emphasizing the importance of careful handling during assembly.
Additionally, the document mentions the use of an Arduino Pro Mini 328 (5V / 16MHz) as a key component in the controller's operation. Instructions include soldering Right Angle Headers to the Arduino board, which is crucial for establishing connections within the system. The document serves as a practical guide for users looking to implement the Wii Nunchuk Controller in their projects, providing insights into the technical aspects of the assembly process.
The Technical Support Package also acknowledges the government sponsorship of the research and highlights the collaborative nature of the work conducted at JPL. It emphasizes compliance with U.S. export regulations and the proprietary nature of the information contained within the document.
For further inquiries or assistance, the document provides contact information for the Innovative Technology Assets Management office at JPL, encouraging users to reach out for additional resources related to research and technology in this field.
Overall, this Technical Support Package serves as a comprehensive resource for understanding the integration of the Wii Nunchuk Controller in ATHLETE operations, showcasing NASA's commitment to advancing technology and its applications in various domains.
