To send wireless signals from the Kinect processing unit to the manipulator we decided to use an M2 MaEvArM. These are very compact microcontrollers with wireless add-ons that have a 16 MHz processor, multiple timer outputs, ADC inputs, and GPIO pins among a number of other nice features.
We chose this microcontroller so we could control the 5 servo motors of our manipulator with five independent timer output signals. The wireless communication is also very simple because this microcontroller was meant for use in many MEAM classes at UPenn.
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