Two of the PCBs I designed for the GraffitiBot came in but I won't have enough components to assemble them until at least next week. Here is what they look like:

One interfaces to the load cell and one interfaces to the magnetic angle sensor.


While waiting for parts I have started looking at the software. ST Microelectronics has written a lot of software for this sensor tile and I am including some of the links in this blog. There are multiple links on each of the pages I have linked. This of course means there is more to learn, but it should also provide helpful examples. There is a mode to stream data to a PC via a USB SPP but I didn't see any documentation on the data format - I will need to dig through the code to figure out the format and change the output to a normal UART for the main MCU.

The Tile comes loaded with a demo program and there are apps available in the Google Play Store and Apple equivalent to allow the Tile to communicate with a BLE phone.

Here is a video showing how easy it is to get it working on an android tablet:

The smaller tile cradle can also be used for this demo. It adds a couple of sensors and a mSD card slot.

I used the bigger shield because that is what I need for the GraffitiBot.

The demo works without the main MCU module, because there is also an MCU right on the Sensor Tile.


Update Note

It looks like ST is holding a webinar on their sensors - might be worth checking out:…


I am also plugging away at designing the robot chassis, but it isn't ready for blogging yet.


Relevant ST Microelectronics Links

STEVAL-STLKT01V1 Sensor Tile Dev Kit

AI audio and motion sensing software

microphone, environmental and motion sensors software

voice communication over BLE software

ST BLE Sensor (from the Play Store)


Relevant element14 Links


Sixth Sense Design Challenge: About This Challenge


Sixth Sense Design Challenge: Technical Documents

Sixth Sense Design Challenge


GraffitiBot Project Blogs

Sixth Sense GraffitiBot - blog 1

Sixth Sense - Kit Unboxing and Other Parts - GraffitiBot blog 2

Sixth Sense - Sensor Circuits - GraffitiBot blog 3

Sixth Sense - Interfaces - GraffitiBot blog 4

Sixth Sense GraffitiBot - System Interconnect - blog 5

Sixth Sense GraffitiBot - Wheels & Motors - blog 6

Sixth Sense GraffitiBot - ST Sensor Tile App - blog 7

Sixth Sense - Load Cell PCB - GraffitiBot blog 8

Sixth Sense - Magnetic Angle Sensor - GraffitiBot - Blog 9

Sixth Sense - LCD Interface - GraffitiBot - blog 10

Sixth Sense - Pump Controller - GraffitiBot Blog 11

Sixth Sense Main Drive Motor - GraffitiBot - blog 12

Sixth Sense Motor Controller Mods - GraffitiBot blog 13

Sixth Sense - RTD - GraffitiBot Blog 14

Sixth Sense Mechanical Design - GraffitiBot Blog 15

Sixth Sense GraffitiBot Motor Wiring - Blog 16

Sixthe Sense GarffitiBot - First Dry Run - Blog17

Sixth Sense GraffitiBot Hydraulics - Blog 18

Sixth Sense GraffitiBot Printing Graffiti - Blog 19

Sixth Sense GraffitiBot - Summary - Blog 20