John: Claude edited based on my notes, prompt, and SimpleBot code repository

2025-10-11T16:10:31Z

Claude edited based on my notes, prompt, and SimpleBot code repository

New page

= Capabilities: Robot Hardware Abilities =

'''Capabilities''' are the hardware abilities of a robot - what it can sense and what it can do physically. Capabilities define the "tech tree" for robotics: add a new capability to your robot, and you unlock new [[Activities]].

For an introduction to how Capabilities fit into the BRS knowledge structure, see [[Robotics Ontology]].

== What Makes a Capability? ==

A Capability is:

* '''Hardware-based''': It requires physical sensors or actuators
* '''Measurable''': It provides specific data or performs specific actions
* '''Reusable''': The same capability enables multiple activities
* '''Robot-agnostic''': Different robots can have the same capability using different hardware

Capabilities fall into two categories:
* '''Sensing Capabilities''' - Detect the environment (sensors)
* '''Actuation Capabilities''' - Move or manipulate the world (motors, servos, grippers)

== Current Capabilities ==

These capabilities are '''fully documented''' and implemented on [[SimpleBot]]:

=== Sensing Capabilities ===

{| class="wikitable" style="width: 100%;"
! Capability !! What It Measures !! Hardware !! Used In !! Status
|-
| '''[[Capability:Line Sensing]]''' || Light vs dark surfaces || IR reflectance modules || [[SimpleBot]] || '''Fully Documented'''
|-
| '''[[Capability:Optical Odometry]]''' || Wheel rotation distance || Slotted wheel + LED + photoresistor || [[SimpleBot]] || '''Fully Documented'''
|}

=== Actuation Capabilities ===

{| class="wikitable" style="width: 100%;"
! Capability !! What It Controls !! Hardware !! Used In !! Status
|-
| '''[[Capability:Differential Drive]]''' || Two-wheeled locomotion || 2× DC motors + H-bridge || [[SimpleBot]] || '''Fully Documented'''
|}

== Future Capabilities (Stubs) ==

These capabilities are '''not yet implemented''' in any BRS robot. They represent opportunities for community contribution!

=== Sensing Capabilities (Stubs) ===

{| class="wikitable sortable" style="width: 100%;"
! Capability !! What It Measures !! Common Hardware !! Enables Activities
|-
| [[Capability:Bump Sensing]] || Physical contact/collision || Switches, whiskers || Maze solving, obstacle avoidance
|-
| [[Capability:Time-of-Flight Sensing]] || Non-contact distance || VL53L0X, VL53L1X || Obstacle avoidance, mapping, cliff detection
|-
| [[Capability:Ultrasonic Sensing]] || Distance via sound || HC-SR04 || Obstacle avoidance, distance measurement
|-
| [[Capability:LIDAR Sensing]] || 360° distance scanning || RPLidar, YDLIDAR || Room mapping, SLAM, navigation
|-
| [[Capability:IMU Sensing]] || Acceleration and rotation || MPU6050, BNO055 || Heading, tilt, dead reckoning
|-
| [[Capability:Camera Vision]] || Visual image capture || ESP32-CAM, Pi Camera || Sign reading, object detection, visual navigation
|-
| [[Capability:Encoder Sensing]] || Motor shaft rotation || Hall effect, magnetic encoders || Precise speed control, odometry
|}

=== Actuation Capabilities (Stubs) ===

{| class="wikitable sortable" style="width: 100%;"
! Capability !! What It Controls !! Common Hardware !! Enables Activities
|-
| [[Capability:Servo Control]] || Precise angular positioning || Hobby servos (SG90, MG90S) || Grippers, pan/tilt, arm joints
|-
| [[Capability:Stepper Motors]] || Precise step-based motion || NEMA 17, 28BYJ-48 || 3D printing, CNC, precision positioning
|-
| [[Capability:Gripper Control]] || Grasping objects || Servo gripper, pneumatic || Object manipulation, pick-and-place
|-
| [[Capability:Omni Drive]] || Omnidirectional movement || Mecanum wheels, omni wheels || Holonomic navigation, tight spaces
|}

== Capabilities by Type ==

=== Sensing Capabilities ===

'''Position & Motion'''
* [[Capability:Optical Odometry]] (documented)
* [[Capability:Encoder Sensing]] (stub)
* [[Capability:IMU Sensing]] (stub)

'''Distance & Obstacle Detection'''
* [[Capability:Bump Sensing]] (stub)
* [[Capability:Time-of-Flight Sensing]] (stub)
* [[Capability:Ultrasonic Sensing]] (stub)
* [[Capability:LIDAR Sensing]] (stub)

'''Environmental Sensing'''
* [[Capability:Line Sensing]] (documented)
* [[Capability:Camera Vision]] (stub)

=== Actuation Capabilities ===

'''Locomotion'''
* [[Capability:Differential Drive]] (documented)
* [[Capability:Omni Drive]] (stub)
* [[Capability:Stepper Motors]] (stub)

'''Manipulation'''
* [[Capability:Servo Control]] (stub)
* [[Capability:Gripper Control]] (stub)

== How Capabilities Enable Activities ==

Here's how capabilities combine to enable activities:

{| class="wikitable" style="width: 100%;"
! Activity !! Required Capabilities !! Status
|-
| [[Activity:Line Following]] || [[Capability:Line Sensing]] + [[Capability:Differential Drive]] || '''Implemented'''
|-
| [[Activity:Dead Reckoning Navigation]] || [[Capability:Optical Odometry]] + [[Capability:Differential Drive]] || '''Implemented'''
|-
| [[Activity:Maze Solving]] (bump) || [[Capability:Bump Sensing]] + Movement || Stub
|-
| [[Activity:Room Mapping]] || [[Capability:LIDAR Sensing]] + Odometry + Movement || Stub
|-
| [[Activity:Sign Reading]] || [[Capability:Camera Vision]] + Image Processing || Stub
|}

== The Tech Tree Concept ==

Think of capabilities as a tech tree in a strategy game:

# Start with basic capabilities (motors, simple sensors)
# Unlock beginner activities (line following)
# Add more capabilities (encoders, distance sensors)
# Unlock intermediate activities (mapping, maze solving)
# Add advanced capabilities (LIDAR, camera)
# Unlock advanced activities (SLAM, visual recognition)

Each new capability '''multiplies''' the number of possible activities!

== How to Use Capability Pages ==

Each Capability page provides:

# '''What it measures/controls''' - The physical quantity or action
# '''How it works''' - The underlying physics/mechanism
# '''Common hardware''' - Sensors/actuators that provide this capability
# '''Used in''' - Which BRS robots have this capability
# '''Enables''' - Which activities this capability unlocks
# '''Technical details''' - Specifications, accuracy, limitations
# '''Component references''' - Links to specific hardware pages

== Adding Capabilities to Your Robot ==

Want to add a new capability to your robot?

# Choose a capability from the list above
# Read the capability page to understand requirements
# Select appropriate hardware (sensors/actuators)
# Mount hardware to your robot chassis
# Wire to your microcontroller
# Write driver code (or use existing libraries)
# Test and calibrate
# '''Document it!''' Create an implementation page
# Now you can tackle new activities!

== Contributing New Capabilities ==

Want to add a new capability not listed here?

Consider:
# '''Is it distinct?''' - Different from existing capabilities?
# '''Is it reusable?''' - Can it enable multiple activities?
# '''Is it implementable?''' - Can hobbyists build it affordably?

Then:
# Create a Capability page using [[Template:Capability]]
# Document what it measures/controls
# List common hardware options
# Explain the technical principles
# Show which activities it enables
# Implement it on your robot
# Create implementation documentation

== See Also ==

* [[Robotics Ontology]] - How Capabilities fit into the BRS knowledge structure
* [[Activities]] - What capabilities enable robots to do
* [[Behaviors]] - Algorithms that use capabilities
* [[SimpleBot]] - BRS's first robot, demonstrating three capabilities

[[Category:Capabilities]]
[[Category:Ontology]]

Capabilities - Revision history

John: Claude edited based on my notes, prompt, and SimpleBot code repository