InnoRacer User`s Manual
Contents
1. DEF INE CROSS TIME 20 time to detect intersection DEFINE KP 4 set PID parameters 0 255 DEFINE KI 0 1 DEFINE KD 40 7 DEFINE PID_SCALE 0 i DEFINE MAX_SPD_L 1024 max min central speed settings DEFINE MAX_SPD_R 1024 for left and right motors DEFINE CEN_SPD_L 210 ranging 1024 1024 DEFINE CEN_SPD_R 210 H DEFINE MIN_SPD_L 1024 DEFINE MIN_SPD_R 1024 DEFINE ERR1 10 error values ranging 0 127 DEFINE ERR2 20 DEFINE ERR3 32 i DEFINE ERR4 45 1 DEFINE ERR5 70 DEFINE ERR6 90 j Sub InitM1 initialize M1 parameters myM1 SetP KP set PID parameters myM1 SetI KI myM1 SetD KD myM1 SetScalar PID_SCALE myM1 SetSpdCtr1lA MIN_SPD_L MAX_SPD_L myM1 SetSpdCtr1B MIN_SPD_R MAX_SPD_R myM1 SetStraight CEN_SPD_L CEN_SPD_R myM1 SetErrScale ERR1 ERR2 ERR3 ERR4 ERR5 ERR6 End Sub Sub InitP1 initialize Pl parameters 40 myP1 SetCrossTime CROSS_TIME myP1 AutoBeep 1 End Sub Sub Main Dim Status As Byte Dim bIR As Byte InitM1 InitP1 4 Do myM1 GetIR bIr Loop Until bIR And amp B1000 myP1 StartRec 1 H Do myP1 GetRecStatus Status Loop Until Status 1 myM1 SpdCtr10n 0 Do myP1 GetRecStatus Status Loop Until Status 2 Do myP1 GetRecStatus Status Loop Until Status 0 myP1 StopRec myM1 BrakeDual2. DEFINE ERR3 45 DEFINE ERR4 21 DEFINE ERR5 9 DEFINE ERR6 3 DEFINE ERR7 0 DEFINE ERR8 3 DEFINE ERR9 9 DEFINE ERR10 21 DEFINE ERR11 45 DEFINE ERR12 75 DEFINE ERR13 111 Sub Stop subroutine to myM BrakeDual End Sub Sub Main Dim Sensor As Byte Dim Ro bL ANS Dareger Dim Integral As Integer Dim Derivative As Integer Dim Err PreErr As Integer Dim Out As Integer Dim Control As Integer Out 0 Y Integral 0 i PreErr 0 l Pause 1000 x Do Sensor Select Case Sensor u Case amp B0111111 Case amp B0011111 Case amp B1011111 Case amp B1001111 Readport 0 And amp B01111111 stop motors detection results right left wheel speed Integral of errors derivative of errors error and previous error result of PID calculation PID control values initial values wait for one second infinite Loop read port 0 error look up table ldgere FERR Err ERR2 Err ERR3 Err ERR4 34 Case amp B1101111 Case amp B1100111 Case amp B1110111 Case amp B1110011 Case amp B1111011 Case amp B1111001 Case amp B1111101 Case amp B1111100 Case amp B1111110 Case amp B1111111 Stop Goto FINISH End Select Integral Derivativ Integral Out MPs PreErr Control wd ll Err ec Out gt gt SCALE Err ERRS Err ERR6 Bae ERRI
3. SH tk HE DEFINE IR_POWER 70 define IR threshold DEFINE MAX_SPD_L 1024 max min central speed settings DEFINE MAX_SPD_R 1024 for left and right motors DEFINE CEN_SPD_L 210 ranging 1024 1024 DEFINE CEN _SPD_R 210 l DEFINE MEIN SPD i 1024 HSE OEE DEE INE MENESPDER YS L024 gt DEF INE R1 10 error values ranging 0 127 DEFINE R2 20 s DEFINE RS 32 H DEFINE R4 45 I DEFINE Ro WC Hk EOE SHE HR J D Y D D y DEFINE R6 90 u Sub InitMl1 initialize M1 parameters myM1 SetP KP myM1 SetI KI 36 myM1 SetD KD myM1 SetScalar PID_SCALE myM1 SetIRThreshold IR_POWER myM1 SetSpdCtr1lA MIN_SPD_L MAX_SPD_L myM1 SetSpdCtr1B MIN_SPD_R MAX_SPD_R myM1 SetStraight CEN_SPD_L CEN_SPD_R myM1 SetErrScale ERR1 ERR2 ERR3 ERR4 ERR5 ERR6 End Sub Sub Main Dim bIr AS BYTE Debug CLS clear Terminal Window TnitM1 initialize M1 parameters Do bIr Readport 0 track in the middle Loop Until bIr And amp B1000 Pause 3000 wait for 3 seconds myM1 SpdCtr10n 0 J erari PID Gomecieoll Do 1 SLIME TIMES LOOS Loop End Sub Ex 12 PID Control Using RacerM1 Analog Mode As mentioned in the previous practice there are two modes available one is the digital mode which interprets all the infrared reflection intensity values as logic
4. variable Mode 0 Any change of speed settings will terminate the SpdCtrlOn Mode PID speed control automatically 1 PID control continues regardless of the speed settings change Stops the PID speed control The Innoracer will SpdCtrlOff 0 run with the last given speed settings Gets the maximum speed of motor A and B during GetMax SpeedA SpeedB speed control and stores them in SpeedA and SpeedB which ranges from 1024 1024 Gets the minimum speed of motor A and B during GetMin SpeedA SpeedB speed control and stores them in SpeedA and SpeedB which ranges from 1024 1024 ClearRec Clears all the recorded track section information 14 Sets the speed control frequency by variable Period ranging from 0 100 of unit ms If the given value SetCtrlFreq Period exceeds the maximum speed control capability the maximum speed will be used Period with value 0 is equal to value 1 Retrieves the speed control frequency setting and GetCtrlFreq Period stores in variable Period ranging from O 100 of unit ms Miscellaneous Commands Sets cross road running behavior by variable Mode ranging from 0 2 SetCrossMode Mode 0 keeps running 1 stops 2 brakes Retrieves cross road behavior setting and stores in GetCrossMode Mode i j variable Mode ranging from 0 2 Sets the tracer run away behavior by variable Mode ranging from 0 2 SetOutsideMode Mode 0 keeps running 1
5. Errata We hope that our users will find this user s guide a useful easy to use and interesting publication as our efforts to do this have been considerable Additionally a substantial amount of effort has been put into this user s guide to ensure accuracy and complete and error free content however it is almost inevitable that certain errors may have remained undetected As Innovati will continue to improve the accuracy of its user s guide any detected errors will be published on its website If you find any errors in the user s guide please contact us via email service innovati com tw For the most up to date information please visit our web site at http www innovati com tw Notes Im This package contains a BASIC Commander module with instruction on how to use it Refer to the instructions for the best performance of the item Im When you replace the battery pack or external power supply make sure the input voltage is between 6 and 12V to avoid damage to the electronic devices Ml There are two DC brush motors which require a total or 2A current for normal operation Insufficient power supply may cause malfunction IE Fora longer testing and operating period you may use external power supply for the consistent operation performance TE Commands for the built in modules are available only for innoBASIC Workshop v2 0 2 9 or later Table of Contents Product Overview uu ceececccecccceeceeceeceecese
6. not recording or recording finished 1 recording but has not passed the start mark 2 recording and passed the start mark Clears the total length of the track in tachometer counts unit Gets the right wheel and left wheel tachometer pulse count ratio multiplied by 65536 and saves in variable Rate ranging from 0 4294967295 Gets the curve change mark counts and stores in variable Cnt ranging from 0 255 GetSecLen Num LengthL LengthR GetCurSecTACH LengthL LengthR GetTotalLen LengthL LengthR Gets the traveled length of right and left wheel in section Num ranging from O 255 and stores the lengths in variable LengthL and LengthR ranging from 0 4294967295 The length is expressed with tachometer counts as the unit Gets the traveled length of right and left wheel of current section and stores the lengths in variable LengthL and LengthR ranging from 0 4294967295 The length is expressed with tachometer counts as the unit Note that this command takes effect if track recording mode is activated Gets the till current total traveled length of right and left wheel and stores the lengths in variable LengthL and LengthR ranging from 0O 4294967295 The length is expressed with tachometer counts as the unit Note that this command takes effect if track recording mode is activated Counter Commands SetTimer Freq Sets the timer time out frequency by variable Freq ranging from O 1000 in 10 Hz
7. stops 2 brakes Retrieves the run away behavior setting and stores GetOutsideMode Mode i in variable Mode ranging from 0 2 Sets the track color by variable Color Value O for SetLineColor Color white and 1 for black color The default value is O for white track color Retrieves the track color setting and stores in GetLineColor Color variable Color Value O for white and 1 for black color RacerP1 Module Command Set The following table lists all the unique commands provided with the RacerP1 Module Note that essential words in the commands will be written in bold type and italics in bold type The bold type word must be written exactly as shown whereas the italic bold type words must be replaced with the user values Note that the innoBASIC language is case insensitive 15 To execute functions related to RacerP1 module please declare the module ID number as 4 in the program i e Peripheral ModuleName As RacerP1 4 Command Syntax Description Motor Tachometer Commands Gets the right or left motor Hall Effect pulse count bStatus TACHInR TACH detected in each complete 125ms period and stores it in variable TACH ranging from O 65535 and returns the pulse counting reading status in variable bStatus If the count has not been read value 1 is returned otherwise value 0 is returned Note that the count value is stored in an internal bStatus TACHInL TACH buffer to be read by the co
8. 0 or 1 and the other is the analog mode which interprets all the infrared reflection intensity values as analog values with wider range Now we try the analog mode which has a better resolution in locating the track Let s check it out Peripheral myM1 As RacerM1 3 declare module ID DEFINE KP 6 set PID parameters 0 255 DEFINE KI 0 i DEFINE KD 40 37 DEFINE PID_SCALE 0 DEFINE IR_MODE 1 analog IR sensing mode DEFINE IR_POWER 70 IR intensity DEFINE MAX_SPD_L 1024 max min central speed settings DEFINE MAX_SPD_R 1024 for left and right motors DINE IEE CIN SIP 2iLO ranging I 024 i10 24 DEFINE CEN_SPD_R 210 z DEFINE MINSSPDEE 1024 DEFINE MIN_SPD_R 1024 DEFINE ERR1 3 error values ranging 0 127 DEFINE ERR2 9 DEFINE ERR3 21 DEFINE ERR4 45 DEFINE ERR5 71 j DEFINE ERR6 111 i Sub InitM1 J aimabigaleilliiwe Mi peremeters myM1 SetP KP set PID parameters myM1 SetI KI k myM1 SetD KD myM1 SetScalar PID_SCALE myM1 Set IRMode IR_MODE get WR sensing Moce myM1 SetIRThreshold IR_POWER 1 aet IR threshold myM1 SetSpdCtr1A MIN_SPD_L MAX_SPD_L myM1 SetSpdCtr1B MIN_SPD_R MAX_SPD_R myM1 SetStraight CEN_SPD_L CEN_SPD_R myM1 SetErrScale ERR1 ERR2 ERR3 ERR4 ERRS ERR6 End Sub Sub Main Dimi Voyise JAS IE NCIEIEY Debug CLS clear Terminal Window InitM1 initiali
9. 450 DEFINE ACC_SPD_R 450 DEFINE STOP_TACH 100 DEFINE ERR1 10 DEF INE INR 210 DEF INE IRS Sz DEFINE ERR4 45 DEF INE RR5 70 DEF INE RR6 90 Sub InitM1 myM1 SetOutsideMode 2 myM1 SetP KP myM1 SetI KI myM1 SetD KD myM1 SetScalar PID_SCALE myM1 myM1 myM1 SetStraight CEN_SPD_L CEN_SPD_R 43 myM1 SetErrScale ERR1 ERR2 ERR3 ERR4 ERR5 ERR6 End Sub SULETI ERIEO Pl module initialization myP1 SetCrossTime CROSS_TIME set detection time End Sub Sub Main Dim Status As Byte Dim IR As Byte Dim bCnt1 As Word Dim LenR LenL As Word Denei InitM1 initialize M1 TANC RARA initialize Pl WAIT_BUTTON Do Burton GlG 0725972957 ECNCIP II RACH Me am OUiEtOnEorae si SCCh Loop RACE Do myM1 GetIR IR track in the middle Loop Until IR And amp B1000 Pause 2000 myP1 StartRec 0 YU Steiec cecorcling Do myP1 GetRecStatus Status recording started Loop Until Status 1 myM1 SpdCtr10n 0 1 start PID CoOmcrol Do myP1 GetRecStatus Status start mark detected Loop Until Status 2 myM1 SetStraight ACC_SPD_L ACC_SPD_R high speed 44 45 Appendix B Sample Course Map This is a sample track The actual size is 150 cm x 230 cm There could be different racing games with similar rules Please refer to their official document and modify the course and program accordingly 5 X S E Q x Append
10. Vel or both VelA and VelB ranging from GetVelAB VelA VelB 1024 1024 respectively The absolute value stands for speed and the positive and negative sign stands for rotation direction Infrared Sensing Commands Gets the digital 1 or 0 values of all seven infrared sensors combining in one data byte with value ranging from 0 127 and stores in variable IR The bit O is the right most IR sensor and the bit 6 is the left most IR sensor The bit 7 is not used always read as 0 Gets the infrared intensity value ranging from O GetAnalogIR ID IR 4095 and stores in variable IR The infrared sensor unit is specified by variable ID ranging from 0 6 Sets the normalization calibration mode by the variable Mode ranging from 0 4 0 Calibrating until calibration button pressed NormStart Mode 1 Calibrating for 10 seconds 2 Calibrating for 20 seconds 3 Calibrating for 30 seconds 4 Calibrating for 60 seconds Gets the minimum and maximum infrared intensity GetNorm D Min Max of specified IR sensor during calibration and stores them in variable Min and Max which will be used 12 SetIRThreshold Rate GetIRThreshold Rate SetIRMode Mode GetIRMode Mode PID Commands by the RacerM1 module for internal normalization The IR sensor is specified by variable ID ranging from 0 6 The infrared intensity value ranges from 0 4095 Sets the threshold percentage value specified by variable Rate
11. which employs the min max normalization method to perform a linear transformation on the original data range to new data range This program shows how the normalization is done within the RacerM1 module during calibration process Peripheral myM As RacerM1 3 Sub Main Dim i As Byte Infrared sensor number Dim aMin 6 aMax 6 aSec 6 As Word variable arrays Dim dwIR dwNorm As Dword analog and calibrated values Debug CLS Hoe ORONG U ieee IR WoG myM GetNorm i aMin i aMax i get max min of calibration aSec i aMax i aMin i calculate the range Next Do infinite loop For i 0 To 6 U aera IIe OS MyM GetAnalogIR i dwIR get the raw data dwNorm 100 dwIR aMin i aSec i normalization Debug CSRXY 1 i 1 DEC7R dwIR original values Debug CSRXY 8 i 1 DEC7R dwNorm normalized values Next Loop End Sub Ex 9 Track Detection Using Polynomial Interpolation In the previous Tracking with 7 Infrared Sensors exercise we use the discrete values for instance 1 2 3 to describe the location of the track However for more precise PID control we need higher resolution feedback of the track position To achieve this we employ the polynomial interpolation method in the RacerM1 module Nevertheless to learn more about the polynomial interpolation basics we implement the polynomial interpolation directly in the main program for tutorial purposes Here we give a brief explanation of how it
12. CR myP1 GetSecRadius i bDir dwRad Dalouice VDirecienom oir cumyeg Y EDI Debug Radius SDEC9R dwRad CR CR Next End Sub Ex 16 Acceleration We know how to record the information of all the sections of the route Now we can start to use this information to speed up our Innoracer There are many different approaches or strategies to speed up the Innoracer In this program we learn the z s TM basics of acceleration according to the route information The Innoracer starts to 42 accelerate after the Start mark is detected and stops after a given distance is reached Peripheral myMl As RacerM1l 3 declare module ID Peripheral myPl As RacerPl 4 J time to detect intersection set PID parameters 0 255 max min central acc speed settings for left and right motors ranging 1024 1024 distance before start to brake error values ranging 0 127 M1 module initialization set out of track behavior set PID parameters SetSpdCtrlA MIN_SPD_L MAX_SPD_L SetSpdCtr1B MIN_SPD_R MAX _SPD_R DEFINE CROSS_TIME 20 DEFINE KP 4 DEFINE KI 0 DEFINE KD 48 DEFINE PID_SCALE 0 DEFINE MAX_SPD_L 1024 DEFINE MAX_SPD_R 1024 DEFINE CEN_SPD_L 210 DEFINE CEN_SPD_R 210 DEFINE MIN_SPD_L 1024 DEFINE MIN_SPD_R 1024 DEFINE ACC_SPD_L
13. EN_LSPDLI gt Bier If R gt 1024 Then R R End If 1024 Elseif R lt 1024 Then 1024 If L gt 1024 Then 1024 Elseif L lt 1024 Then 1024 myM SetVelAB L R Loop ENTS EL 8 End Sub Err ERR4 Err ERRS Err ERRG Err FERRI Err ERR8 Eur ERRO Err ERRIO Eur gt BRR Eun BRRI2Z Err TERRIS out of tracking range stop motors terminate the program adjust right wheel speed adjust left wheel speed right wheel speed limit left wheel speed limit change speed 28 Ex 7 Analog Infrared Readings This program shows how to get the analog readings of the seven infrared sensors They will be displayed in the Terminal Window It is handy way to check your infrared sensors if you encounter infrared sensing problem Peripheral myM As RacerM1 3 Sub Main Dim i As Byte Infrared sensor number Dim wIR As Word returned analog value Debug CLS clear Terminal Window Do infinite loop For i 0 To 6 1 crom IR 06 MyM GetAnalogIR i wIR get analog data Debug CSRXY 1 i SDEC6R wIR CR display Next Loop End Sub Ex 8 Normalization Basics In the previous exercise you should have noticed that all the infrared sensors return readings with different value ranges The raw data needs to be normalized to be manipulated easily in the program The normalization is accomplished during the calibration process by the RacerM1 module
14. End Sub set detection time recording beeps on initialize Ml parameters initialize Pl parameters track in the middle start recording recording started Pe Siec ate me nitiaone start mark detected stop mark detected stop recording brake both wheels Ex 15 Retrieving Route Information In previous exercise we recorded all the sections of route information In this 41 program we display all the sections of route information in the Terminal Window If you encounter a route memorization problem this is a very useful debug tool to identify where the problem is Peripheral myPl As RacerPl 4 declare module ID Sub Main Dim i As Byte route index Dim bDir As Byte J direction of curve Dim bSecCnt As Byte number of sections recorded Dim iGx iGy As Integer x and y acceleration values Dim dwLenR dwLenL As Dword distance of sections Dim dwRad As Dword I acllws O1 GLE VeS myP1 GetSecCnt bSecCnt read the number of sections Por i 0 TO BSECCAT display section information Debug cech u e DECSR at ER myP1 GetSecLen i dwLenL dwLenR Debug Right Wheel Dist DEC9R dwLenR CR Debug Left Wheel Dist SDEC9R dwhenL CR myP1 GetSecAvgG i iGx iGy Debug X axis acc average DEC5R iGx CR Debug Y axis acc average DEC5R iGy CR myP1 GetSecMaxG i iGx iGy Debug x axis a e ma I Y DECIR IGX CIR Debug Y axis acc max DEC5R iGy
15. Err ERR8 Err ERRO Err ERRIO Eur FERRO Err BRRI2 Err ERRI3 out of range stop motors terminate the program Err PID formula ERA Err KI Integral KD Derivative Err CEN SIPD_IR sb CONEA hy Cla SIDI Comexel If R gt 1024 Then R ye ll End If 102 10 4 Elseif R lt 1024 Then 24 If L gt 1024 Then D i End If 102 110 4 Elseif L lt 1024 Then 24 myM SetVelAB L R Loop FINISH adjust right wheel speed adjust left wheel speed right wheel speed limit left wheel speed limit change speed 35 End Sub Ex 11 PID Control Using RacerM1 Digital Mode We practice the PID control in the precious program and now we start to use the unique built in PID control feature of the RacerM1 module The major advantage that we can get in using the RacerM1 module is to save our valuable BASIC Commander time to handle other important tasks There are two modes available one is the digital mode which interprets all the infrared reflection intensity values as logic O or 1 and the other is the analog mode which interprets all the infrared reflection intensity values as analog values with wider range Let s start with the digital mode first Peripheral myM1 As RacerM1 3 declare module ID DEFINE KP 6 set PID parameters 0 255 DEFINE KI 0 DEFINE KD 40 y DEFINE PID SCALE 0
16. Innoracer User s Guide Document Revision 1 5 June 22 2011 O Passion for innovation Trademark eo Innovati na and BASIC Commander are registered trademarks of Innovati Inc InnoBASIC cmdBUS and innoracer are trademarks of Innovati Inc Copyright 2010 2011 by Innovati Inc All Rights Reserved Due to continual product improvements Innovati reserves the right to make modifications to its products without prior notice Innovati does not recommend the use of its products for application that may present a risk to human life due to malfunction or otherwise No part of this publication may be reproduced or transmitted in any form or by any means without the expressed written permission of Innovati Inc Disclaimer Full responsibility for any applications using Innovati products rests firmly with the user and as such Innovati will not be held responsible for any damages that may occur when using Innovati products This includes damage to equipment or property personal damage to life or health damage caused by loss of profits goodwill or otherwise Innovati products should not be used for any life saving applications as Innovati s products are designed for experimental or prototyping purposes only Innovati is not responsible for any safety communication or other related regulations It is advised that children under the age of 14 should only conduct experiments under parental or adult supervision
17. ale Err1 Err2 Err3 Err4 Err5 Err6 Sets the error values by variables Err1 through Err6 as feedback for PID control for various IR detection 13 situations Each of error value Err1 Err6 ranges from 0 127 Retrieves the error values settings and stores them GetErrScale Err1 Err2 Err3 Err4 Err5 in variables Err1 through Err6 as feedback for PID Err6 control under various IR detection situations Each of Err1 Err6 ranges from 0 127 Speed Setting and Control Commands Sets the minimum and maximum speed of motor A or B by variables SpdMin and SpdMax for PID speed control SpdMin and SpdMax range from 1024 1024 SodMax must be greater than SpdMin If the given value of SpdMax is not greater than SpdMin SetSpdCtrlA SpdMin SpdMax SetSpdCtrIB SpdMin SpdMax the command will be ignored Retrieves the minimum and maximum speed GetSpdCtrlA SpdMin SpdMax settings of motor A or B for PID speed control and stores in variables SpdMin and SpdMax SpdMin and SpdMax range from 1024 1024 Sets the straight line speed of motor A and B by SetStraight SpeedA SpeedB variables SpeedA and SpeedB ranging from 1024 1024 for PID speed control GetSpdCtrlB SpdMin SpdMax Retrieves the straight line speed setting of motor A GetStraight SpeedA SpeedB and B and stores in variables SpeedA and SpeedB ranging from 1024 1024 for PID speed control Starts the PID speed control in mode specified by
18. andstill position and display them in the Terminal Window Battery Charger This charger is designed for 5 10 cells of NiMH battery pack Do not use this charger to charge other types of battery Do not use this charger as a power adaptor An adaptor cable is also provided Connect the small end of the cable to the charger and the big end to the battery pack There is an LED indicator on the charger The red LED indicates it is in the fast charging mode When the green is lit the battery pack is charged about 85 full and the charger will continue to operate in the slow charging mode The battery pack may reach about 95 full if it is charged in slow charging mode for a longer period Fig 4 Battery Charger amp Adaptor Cable 10 Command Set RacerM1 Module Command Set The following table lists all the unique commands provided with the RacerM1 Module Note that essential words in the commands will be written in bold type and italics in bold type The bold type word must be written exactly as shown whereas the italic bold type words must be replaced with the user values Note that the innoBASIC language is case insensitive To execute functions related to RacerM1 module please declare the module ID number as 3 in the program i e Peripheral ModuleName As RacerM1 3 Command Syntax Description Sets forward backward speed of motor A B or both specified by variable Speed or both SpeedA and SpeedB ranging from O 1024 resp
19. ct x and y axial acceleration forces Built in RacerP1 module to record up to 256 entries of track section information Track infrared sensing in digital or analog data with commands for data reading Record track information including length x and y axial average and maximum acceleration value curve radius and direction Hole array on the main board for adjusting the motor position to adapt various curve tracking needs Replacement of motors for better driving performance System Diagram digital digital analog digital BASIC Commander Fig1 System Diagram Accessories such as battery tires or other irrelevant electronic components are not shown in this system chart Key Components Start Stop Mark Calibration IR Sensor Button amp LED cmdBUS Connectors x4 Reset Button RacerP1 Module RacerM1 Hole Array Module Ball Transfer Battery Pack 6V 2200mAh Track IR Sensors x7 Power Slide Switch BASIC Commander Spur Motor with Encoder x2 Buttons amp f B uzzer LEDs x4 Curve Mark Sponge Tire x2 Sensor Fig2 Key Component Placement Controller BASIC Commander BASIC Commander is the main controller of the Innoracer line tracer Also known as BC2 the 32 pin version BASIC Commander has 24 I O lines suitable for applications which require more I O lines Users can edit and compile their program in the innoBASIC Worksho
20. dule command set for other buzzer related commands Nevertheless you may still use the Beep command to generate beep sounds in your own application DC Motors The Innoracer is equipped with two spur brushed DC motors A Hall Effect sensor is affixed to detect the polarity change of the rotor when rotating through which you can calculate the distance that each wheel has travelled This information is used for route memorization Note that the DC motor electric brush wears out when spinning against the mechanical parts the DC motors lifetime is limited Running at a high speed for a long time will further shorten the life of the DC motors Please refer to Tutorial Programs section in the appendix for more information about how to control the DC motors with the given speed parameters Accelerometer The Innoracer is equipped with a two axial accelerometer to measure the proper acceleration in both x and y axis through which you can calculate the curve radius and direction This information is used for route memorization The x axial acceleration is defined in the lateral axis of the Innoracer and the y axial acceleration is in the longitudinal axis of the Innoracer Please refer to the following picture Fig 3 Acceleration Directions Please refer to Tutorial Programs section in the appendix for more information about how to save the current x and y axial acceleration values for calibration at a st
21. ectively The ForwardDual Speed motor rotating direction is defined from the Innoracer viewpoint Motor A is the left side wheel motor while Motor B is the right side wheel BackwardAB SpeedA SpeedB motor BackwardDual Speed StopA Stops motor A or B or both StopB Brakes motor A or B or both Sets motor s rotation direction of motor A B or both specified by variable s Dir or both DirA and DirB respectively The returned value O for forward and 1 for backward Sets motor s rotation speed of motor A B or both SetDCB Speed specified by variable s Speed or both SpeedA and SetDCAB SpeedA SpeedB SpeedB ranging from O 1024 respectively Note SetDCDual Speed that these commands change the speed only the 11 direction remains unchanged Sets speed of motor A B or both specified by SetVelB Vel variable Vel or both VelA and VelB ranging from 1024 1024 respectively The absolute value stands SetVelDual Vel for speed and positive and negative sign stands for aca rotation direction Motor Speed and Rotation Direction Commands GetDCA Speed Gets forward speed of motor A B or both and stores in variable Speed or both SpeedA and SpeedB The returned value s ranges from 0 1024 Gets rotation direction of motor A B or both and stores in variable Dir or both DirA and DirB The returned value is O for forward and 1 for backward Gets speed of motor A B or both and stores in variable
22. esceecceccececesseseesececseesnececeecsansacaaeaneeeeees Product Features 20 2 ceececcessecsccccecceceeceecescessesessese cesses sessneaceceeceesessessensceeeesess System Didaga sesiccesainnsdeassnisgennsiucscysieaioniecenaeiud da caanepadennctnaddeceaavermaclacgnmudsatides Key Components Controller BASIC Commande r sssssescssssessscssesecsesessecesecseesenencees Reflective Infrared Sensors saiactinsncennscdenndavatinicctstianeatiocrtaenadaalieaneuanens Infrared Sensor Calibration e ssssssssessesssesressssressrsrssseirsssresrssreneesenrssneres B ZZET eseat a aaa EEE aa e a a ai DE MOOLS cinirenen E a Aaa E ea aa er ACCEISTONIGUEN sis sisedassadeahanikexsacverupstatinase aa aE EE a REA AEE ERa Battery Chargen sineereeon EE E Command Set RacerM1 Module Command Set u ce ccececssceccsecessececeeceesseceeseessesenseeeeeeaees RacerP1 Module Command Set ecccceesecssecescecececeesceecsceececeeceeecsen cess Appendix A Tutorial Programs Ex 1 Light the LEDs Sequentially 0 0 cc cececssseseeseceeeseseeeeesesseseaeees Ex 2 Light the LEDs If Buttons Pressed ccsceccscseeesseesteseeneeees Ex 3 Motor Control Using RacerM 1 ou cccececscessesessesseseeeesceeeees Ex 4 Detection with Infrared Sensors cceesseesseceecseeeeeteeeeteeeees Ex 5 Tracking with 3 Infrared Sensors csssscsssseeecescescsscseesecnees Ex 6 Tracking with 7 Infrared Sensors ccssscse
23. frared sensors calibration is advised Please check the Infrared Sensors Calibration section for more details Sub Main Dim bIR ST CH As Byte variables for IR intensity values Debug CLS clear Terminal Window Debug Route IR Value CR text out to Terminal Window Debug Sir IR Welles CRE Debug CHITRIV iUe Ma 7 infinite loop to detect and show IR intensity values Do bIR Readport 0 read port 0 i e bit 0 to bit 7 bIR bIR And amp H7F Sain AL 4 UW se yexe PLENI CH in 7 dread biti Debug CSRXY 17 1 BIN bIR display bit O 7 in binary format Debug CSRXY 17 2 BIN ST 1 glisjollasy Josie iLil Debug CSRXY 17 3 BIN CH display bit 7 Loop End Sub 24 Ex 5 Tracking with 3 Infrared Sensors There are 7 infrared sensors on the Innoracer which can be used to detect the position of the track This program starts with an easier way to detect the track by using the central 3 of them The ERR values are for tutorial purpose only You may try to find your own ERR value as the feedback for better tracking performance Peripheral myM As RacerM1 3 declare module ID DEFINE CEN_SPD_R 170 right wheel central speed DEFINE CEN_SPD_L 170 left wheel central speed DEFINE ERR1 80 error values DEFINE ERR2 50 DEFINE ERR3 30 l DEFINE ERR4 0 DEFINE ERR5 30 3 DEFINE ERR6 50 y DEFINE ERR7 80 T Sub Main D
24. im IR2 1IR3 1R4 Sensor As Byte detection results Dim R L Err As Integer right left speed and error Pause 2000 wait for 2 seconds Do infinite Loop DRA al read pin 2 IR2 IR value RS Tia 3 read pin 3 IR3 IR value IAL ETAC read pin 4 IR4 IR value Sensor 100 TRAJ 4 10 TRJ TRZ Select Sensor Case 011 Err Case 001 Hee Case 101 Err Case 100 error look up table ERR2 ERR3 ERR4 25 deve jaleevs Case 110 Err ERR6 Casey iia If Err lt 0 Then End If Case 000 Hac End Select R CEN_SPD_R le ll CENSSEDAD TE R gt L0 24 gt Then R 1024 Elseif R lt 1024 R 1024 End If If L gt 1024 Then L 1024 Elseif L lt 1024 L 1024 End If myM SetVelAB L Loop End Sub ie JAIRIR Wee BRR J ERR4 Err Err Then Then R Dine outor range set the biggest error Elseif Err gt 0 Then same direction As previous error i adjust right left wheel speed right wheel speed limit left wheel speed limit change speed accordingly Ex 6 Tracking with 7 Infrared Sensors In this program we use all of the 7 infrared sensors on the Innoracer for tracking For smaller curve radius 3 LEDs might not be enough to follow the track In this situation 7 infrared sensors will be useful The ERR
25. ing from 0 255 and stores them in variables Dir and Radius The return value of Dir will be O or 1 which stands GetSecRadius Num Dir Radius for CCW and CW turning respectively The value of Radius ranges from 0 4294967295 in tachometer counts unit If the given section number exceeds the maximum number of sections unexpected values will be returned Miscellaneous Commands Enables or disables Auto Beep function by variable Mode When a curve change mark is detected a 0 2 ms beep sound is generated Mode with value 0 will AutoBeep Mode disable auto beep function while value 1 will enable the auto beep function Other values will be ignored Sets the cross track detect interval in variable Time If both of the curve and start stop IR sensors detect SetCrossTime Time the marks within Time ms interval it will be regarded as a cross track instead of a curve or start stop mark Time ranges from 0 250 ms It 19 needs to be initialized in the program GetCrossTime Time SetLineColor Color GetLineColor Color Retrieves the cross track detect interval and stores in variable Time The value ranges from 0 250 ms Sets the track line color in variable Color 0 white line 1 black line Other values will be ignored The default value is O at each program reset Retrieves the track line color and saves in variable Color 0 white line 1 black line Enables or disables EEPROM Write Protection funct
26. ion The RacerP1 module uses an on board EEPROM to store the recorded information including the left and right tachometer counts maximum and average acceleration in both x and y direction curvature radius and direction etc However this EEPROM is also accessible directly by the BASIC Commander through its I Os To prevent from data being over written accidentally commands are provided for EEPROM management 20 Appendix A Tutorial Programs To help you be familiar with the Innoracer some tutorial programs with brief introduction are provided in this section You can also find the tutorial examples in the DVD To maintain the tutorial programs free of error and up to date they are subject to change without notice For new users who are not familiar with the BASIC Commander please refer to the BASIC Commander and innoBASIC Workshop User s Manual for more detailed information Ex 1 Light the LEDs Sequentially This program gives the basics of lighting the LEDs There are 4 LEDs on the Innoracer board they can be controlled via pin 20 21 22 and 23 of the BASIC Commander I Os Sub Main Dim bLED As Byte variable for LED pin number Do J aimitrigaliees Clo loog For bLED 20 To 23 Y TEC oia ZO Tove oLa 23 High bLED Y turn on LED Pause 500 pause for 0 5 second Low bLED T oken OE ILE Pause 500 pause for 0 5 second Next Loop End Sub Ex 2 Light the LEDs If Button
27. ix C Revision History Revision Date Changes 1 4 Jan 16 2011 New Release English Edition 1 5 June 22 2011 1 Correct Command Format Description Error bStatus TACHInDual TACHL TACHR GetSecLen Num LengthL LengthR GetCurSecTACH LengthL LengthR GetTotalLen LengthL LengthR 2 Related Correction in Tutorial Ex 15 and Ex16 47
28. leftmost IR Y2 Dword2float dwVal 1 take 4th IR instead Y3 Dword2float dwVal 0 to solve polynomial End If Elseif bNum 0 bNum 1 1 Then track at left side If bNum 0 gt 0 Then U lnaoloesitc IID Ilo X bNum 0 Y1 Dword2float dwNorm bNum 0 1 take right side IR 32 Y2 Dword2float dwVal 0 Y3 Dword2float dwVal 1 Else exo Y1 Dword2float dwVal 0 no more rightmost IR Y2 Dword2float dwVal 1 take 2nd IR instead Y3 Dword2float 2 to solve polynomial End If End If ER O 5 EVLE Qi WZ solve coeff a O 5 ew S 1 WAL solve cock i D EXE Bie estimated location If X gt 0 And X lt 6 Then Debug CSRXY 16 1 SREAL1 6 fX Else Debug Cok iG OUl SE DE End If Loop End Sub Ex 10 PID Control Basics This program shows how to employ the PID control on the Innoracer The PID parameters given in this program are just for tutorial purpose only You may find your own PID parameters for different track conditions by trial and error Peripheral myM As RacerM1 3 declare module ID DEFINE KP 6 PID parameters 0 255 DEFINE KI 0 DEFINE KD 40 7 DEFINE SCALE 0 DEFINE CEN_SPD_R 210 right wheel central speed DEFINE CEN SED L 210 left wheel central speed DEFINE ERR1 111 error values DEFINE ERR2 71 33
29. m wMax As Word calibrated max value Dim wMin As Word calibrated min value Dim wRng As Word calibrated range value Dim dwIR As Dword IR value Dium EWI EX2 NS AS Float Dim fA fB As Float polynominal coeff Dim fX As Float track location Debug CLS Debug Track Position Stane For i 0 To 6 7 IR sensors myM GetNorm i wMin wMax get calibrated min max values wARY i wMax wMin save min max range wARY i 7 wMin save min value Next Do dwVal 0 0 clear 3 max IR buffer dwVal 1 0 i dwVal 2 0 For i 0 To 6 MyM GetAnalogIR i dwIR get current IR value wRng wARY i retrieve range 31 wMin wARY i 7 retrieve min value dwNorm i 100 dwIR wMin wRng normalization If dwNorm i gt dwVal 0 Then sort to get the dwVal 2 dwVal 1 3 highest normalized dwVal 1 dwVal 0 IR values and IDs dwVal 0 dwNorm i bNum 2 bNum 1 bNum 1 bNum 0 i bNum 0 i Elseif dwNorm i gt dwVal 1 Then dwVal 2 dwVal 1 dwVal 1 dwNorm i y bNum 2 bNum 1 l bNum 1 i H Elseif dwNorm i gt dwVal 2 Then dwVal 2 dwNorm i y bNum 2 i u End If Next If bNum 0 bNum 1 1 Then track at right side If bNum 0 lt 6 Then highest IR ID 0 5 X bNum 0 f Y1 Dword2float dwVal 1 f Y2 Dword2float dwVal 0 Y3 Dword2float dwNorm bNum 0 1 take left side IR Else X 5 f Y1 Dword2float dwNorm 4 no more
30. mmands If you can not read the count value stored in the buffer within the 125ms interval the internal data buffer will be overwritten by the new data Gets both the right and left motor Hall Effect pulse counts detected in each complete 125ms period and stores them in variable TACHL and TACHR and returns the pulse counting status in variable bStatus ranging from 0 3 0 both of the counts have been read 1 left motor has not been read bStatus TACHInDual TACHL TACHR 2 right motor has not been read 3 both of the counts have not been read Note that the count values are stored in internal buffers to be read by the commands separately If you cannot read the count value stored in the buffer within the 125ms interval both the internal data buffers will be overwritten by the new data Starts to record the track information If Mode has value 1 then the information will be stored in EEPROM which can be retrieved later for route StartRec Mode memorization otherwise if it has value 0 only current recorded section information is available which will be overwritten by the next track section information The recording beep sound at each 16 curve change is generated in both modes StopRec GetRecStatus Status ClrTotalLen GetRateRL Rate GetSecCnt Cnt Stops recording the track information The recording beep sound will not be generated Gets the track recording status and stores in variable Status 0
31. ng from 2048 2047 of route section specified by variable Num ranging from O 255 and stores GetSecMaxG Num Gx Gy i them in variables Gx and Gy Note that this command takes effect if track recording mode is activated Gets the average x and y axial acceleration values ranging from 2048 2047 of route section specified by variable Num ranging from O 255 and stores GetSecAvgG Num Gx Gy f them in variables Gx and Gy Note that this command takes effect if track recording mode is activated SaveCur0G Saves current x and y axial acceleration values 18 detected as the offsets of a standstill position Gets the x and y axial acceleration offset values Load0G Gx Gy stored for standstill position and stores them in variables Gx and Gy ranging from 2048 2047 Sets the x and y axial acceleration offset values Set0G Gx Gy for standstill position by variables Gx and Gy ranging from 2048 2047 Gets the curve direction and radius of the most recently recorded track section and stores them in variables Dir and Radius The return value of Dir will be O or 1 which stands for CCW and CW turning respectively The value of Radius ranges from 0 4294967295 in tachometer counts unit Note that GetRadius Dir Radius this command takes effect if track recording mode is activated otherwise it returns 0 Gets the curve direction and radius of the track section specified by variable Num rang
32. p environment and download through a USB cable to the BASIC Commander If you are not familiar with the BASIC Commander system please refer to the BASIC Commander and innoBASIC Workshop User s Manual for more detailed information Reflective Infrared Sensors In the front of the Innoracer there are 7 reflective infrared sensors which are used to detect the track The right side infrared sensor is used to detect the Start or Stop mark which indicates the beginning and the end of the track The left side infrared sensor is used to detect the curve change marks throughout the whole route The track is divided into segments for route memorization Near each infrared sensor there is a red LED and blue color variant resistor By turning the screws on variant resistors you change the threshold of infrared detection The LED will turn on if the reflection intensity is higher than the threshold otherwise the LED will turn off Due to different signal path and threshold settings the infrared detection by the BASIC Commander might not be exactly the same as that detected by the RacerM1 module Please refer to Tutorial Programs section in the appendix for more information about how to read either digital or analog infrared results Infrared Sensors Calibration Due to the different ambient light and surface material the infrared sensing results may vary under different situations To eliminate the variance calibration is req
33. ranging from O 100 of infrared intensity range You can use this setting to change the infrared sensibility Take a Rate value 60 for example if the infrared intensity is stronger than the 60 say 85 of the possible infrared range it will be regarded as logic 1 meaning a white track is detected otherwise logic 0 meaning white track is not detected Retrieves the threshold percentage value and saves in variable Rate The value ranges from O 100 Please refer to above command for more details Sets the IR sensors track detection method by variable Mode with value 0 for digital mode or 1 for analog mode The default value is O for digital mode Gets the IR sensors track detection method setting and stores in variable Mode of which the value 0 is for digital mode or 1 for analog mode SetP Va Setl Val SetD Val Sets the P or D parameter by variable Val The value ranges from 0 255 GetP Val Getl Va GetD Val SetScalar Val GetScalar Val Retrieves the P or D parameter and stores in variable Val The value ranges from 0 255 Sets the PID parameters scalar by variable Val ranging fromO 32 as a multiple of the original PID values However if the given scalar is greater than 32 the PID control function will not be activated Retrieves the PID Scalar setting and stores in variable Val ranging from O 255 Please refer to the above command for more details about scalar SetErrSc
34. rding the marks on the curve change which provides user information to drive the Innoracer as fast as possible in later runs It is specially designed as an entry level platform for users to learn programming motor control line tracking with the unique feature of PID control Product Features gt v v vY v Yv VvV VV VV V v Using the BASIC Commander as controller users can modify their program and download to the Innoracer via a USB cable Four cmdBUS connectors which allow users to add peripheral modules easily such as Sonar module to enrich the functionality 7 fixed infrared sensors for track detection To fit different track requirement 2 position adjustable infrared sensors for start stop and curve change marks detection Infrared calibration button to optimize the infrared detection range Reset button to restart the program Variable resistors to change the infrared detection sensitivity if digital sensor method is employed Four buttons with LEDs for users to define their own functions and indications Built in buzzer controllable through program or used by RacerP1 module to generate beeps when a curve change mark is detected Built in RacerM1 module to control two DC motors with 1024 steps of speed Built in PID control feature in RacerM1 module for better track following capability Scalar parameter to increase the PID numerical resolution for PID fine tune Built in accelerometer to dete
35. rough the RacerM1 module To prevent the Innoracer from running away please keep it off the ground when executing the program Note that the DC motor electric brush wears out when spinning against the mechanical parts the DC motors lifetime is limited Running at a high speed for a long time will further shorten the life of the DC motors Peripheral myM As RacerM1 3 declare Motor Control Module ID Sub Main Dim bKey As Byte variable for stop or brake Dim iVelL iVelR As Integer velocity of left and right motor Do u aieu ee LOOS Debug CLS clear terminal window Debugin Enter Left Motor Speed 1024 1024 iVelL Debug iVelL CR Debugin Enter Right Motor Speed 1024 1024 iVelR Debug iVelR CR myM SetVelAB iVelL iVelR set parameters to RacerM1 module Debugin Enter how to stop 0 Stop 1 Brake bKey Debug bKey CR If bKey 0 Then myM StopDual Stop the car Else myM BrakeDual brake the car ENGATE Keyin Any key to continue testing CHR bKey Loop End Sub Ex 4 Detection with Infrared Sensors There are total 9 infrared sensors used by the innoracer Seven of them are used to detect the position of the track The remaining two are used to detect the Start and Stop mark on the right hand side and the curve change marks on the left hand side This program shows how to read the infrared detection results and displays them in the Terminal Window Note that the in
36. s Pressed In addition to the 4 LEDs there are also 4 buttons on the innoracer board they can be accessed via pin 16 17 18 and 19 of the BASIC Commander I Os If any one of the 4 buttons is pressed the corresponding LED will be lit 21 DEFINE BTN_1 16 DEFINE BTN_2 17 DEFINE BTN_3 18 DEFINE BTN_4 19 Sub Main Dim bCntl As Byte Dim bCnt2 As Byte Dim bCnt3 As Byte ee a Dim bCnt4 As Byte BEGIN Pause 10 10 ms debounce time Detect buttons and jump to labels if pressed Button BTN_1 0 255 20 bCnt1 1 BLINK_LED1 Button BIN_2 0 255 20 bCnt2 1 BLINK_LED2 BUELOM BIN 3 0 25a 20 loCime s IBEN ELEDE Button BTN_4 0 255 20 bCnt4 1 BLINK_LED4 Goto BEGIN loop from beginning BLINK_LED1 TurnOnLED 20 Goto BEGIN BLINK_LED2 TurnOnLED 21 Goto BEGIN BLINK_LED3 TurnOnLED 22 Goto BEGIN BLINK_LED4 TurnOnLED 23 Goto BEGIN End Sub Sub TurnOnLED bLED As Byte High bLED turn on LED Pause 500 Pwd heh OGmOrMomSeCONncs Low bLED eben peice ILIAD Pause 500 wait for 0 5 seconds End Sub Ex 3 Motor Control Using RacerM1 There are two DC motors on the innoracer board This program gives the basics of DC motor control using our featured commands available through the RacerM1 module This program shows how to control the DC motors with the given speed parameters th
37. sseseecsscsecsecsecsecnees Ex 7 Analog Infrared Readings sscsssscscisosesscascsnsensenneoserovisersensvecnees 10 11 15 21 21 23 24 25 26 29 Appendix B Sample Course Map cccscscseccscessesseseesseesesesseeseeeceecaes Appendix C Revision History ccscssecsecsecesscsecessesscseescesceteceeesseceeees Ex Ex Ex Ex Ex Ex Ex Ex Ex 8 Normalization Basics s lt zccsusisetaostecnsissisvenaneceaneesavensntaanisevantiaie 9 Track Detection Using Polynomial Interpolation 10 PID Control BASICS senansa nnnocacna nenda ii 11 PID Control Using RacerM1 Digital Mode ccceeee 12 PID Control Using RacerM1 Analog Mode 0cee 13 Using the 2 Axis accelerOMetel c ccccccsesseseescseececsecsesseees 14 Route Memorization concesiutnuressdrioonesnesiatinvinnvemuinntesinatexasnxantnnies 15 Retrieving Route Information ccccceecececeeseesesseesseees 16 Acceleration snsesseesssesssesesesssrsesreesssecsssecsesseossusessernesersenensns 30 33 36 37 39 39 41 42 46 47 Product Overview Innoracer is controlled by the BASIC Commander and featured with two built in modules namely RacerM1 and RacerP1 module The RacerM1 module is used to sense the track and control the motors to follow the track The RacerP1 module is used to memorize the route by reco
38. uired For the Innoracer there are two kinds of calibration digital and analog The first one is to change the infrared sensors detection threshold by adjusting the blue variant resistor Turn clock wise to increase the threshold level which means the sensitivity is decreased Each infrared sensor is accompanied with an LED which will be lit if the infrared intensity detected is higher than the threshold Note that this calibration process only affects the threshold of LEDs and the infrared detection results read by the BASIC Commander through its I Os The second one is to press the CAL_BTN button for at least 5 seconds a red LED near the CAL_BTN will be lit to indicate the calibration in process Put the Innoracer on the track and move it back and forth slowly with all the infrared sensors passing the black and white area of the track several times Press the CAL_BTN button once again to finish the calibration process and the LED will turn off The infrared detection range of each infrared sensor is measured and normalized internally for analog infrared intensity sensing use Note that the analog calibration affects the sensing results of the RacerM1 module only Buzzer The buzzer is mainly used to generate automatically a 0 2 seconds recording beep sound each time a curve change mark is detected during the route memorization process The buzzer is controlled through the built in RacerP1 module commands Please refer to PacerP1 mo
39. unit To start the timer a low to high transient needs to be issued by P12 of BASIC Commander When the timer times out a high level signal can be issued and can be 17 read from P13 of BASIC Commander To clear the P13 high level signal a low to high transient needs to be issued again by P12 of BASIC Commander Retrieves the timer time out frequency setting and GetTimer Freq stores in variable Freq ranging from O 1000 in 10 Hz unit Infrared Sensing Command Gets the start stop and curve change marks detect result and stores in variable JR ranging from 0 3 where bit O stands for the start stop mark and bit 1 GetIR R IR for the curve change mark Take the white marks for example if start stop mark or curve change mark is detected their corresponding bit will be 1 Accelerometer Commands Gets x and y axial acceleration values ranging from GetG Gx Gy 2048 2047 and stores them in variables Gx and Gy Gets the maximum x and y axial acceleration values ranging from 2048 2047 and stores them in GetMaxG Gx Gy variables Gx and Gy Note that this command takes effect if track recording mode is activated Gets the average x and y axial acceleration values ranging from 2048 2047 and stores them in GetAvgG Gx Gy variables Gx and Gy Note that this command takes effect if track recording mode is activated Gets the maximum x and y axial acceleration values rangi
40. values are for tutorial purpose 26 only You may try to find your own ERR value as the feedback for better tracking performance Peripheral myM As RacerM1 3 declare module ID DEFINE CEN SED R 210 right wheel central speed DEFINE CEN_SPD_L 210 left wheel central speed DEFINE ERR1 111 error values DEFINE ERR2 71 DEFINE ERR3 45 DEFINE ERR4 21 DEFINE ERR5 9 DEFINE ERR6 3 DEFINE ERR7 0 DEFINE ERR8 3 DEFINE ERR9 9 DEFINE ERR10 21 DEFINE ERR11 45 DEFINE ERR12 75 DEFINE ERR13 111 Sub Stop subroutine to stop motors myM BrakeDual End Sub Sub Main Dim Sensor As Byte detection results Dim R L Err As Integer right left speed and error Pause 2000 wait for 2 seconds Do infinite Loop Sensor Readport 0 read port 0 PO P7 Sensor Sensor And amp H7F mask unused P7 data Select Case Sensor error look up table Case amp B0111111 3 mer IEVRAL Case amp B0011111 3 ete EERRE Case amp B1011111 g Erri TERRS Case Case Case Case Case Case Case Case Case Case Case Stop amp Bl amp B1 amp B1 amp B1 amp B1 amp B1 amp B1 amp B1 amp B1 amp B1 amp B1 00111 LOSA 10011 e he HK B 1001 11001 TON 11100 KILLO e he he BP hH B LLLI Goto FINISH est ll End Select R CEN_SPD_R Err C
41. works When the Innoracer is running over the track the infrared reflection intensity detected by the sensors resembles a normal distribution bell shape However the normal distribution function is not easy to solve so we use the central part of a parabola to resemble the normal distribution The parabola is represented by the polynomial y ax bx c From the infrared readings of 7 IR sensors we use the 3 highest infrared readings to solve the polynomial and to get the coefficients a b and c The vertex of a parabola indicates the center of the track which can be calculated by the formula x b 2a with the highest IR sensor as the origin of the coordinates Note that to solve the polynomial we need 3 highest readings which are more significant to resemble the actual intensity distribution precisely However if the highest reading comes from the rightmost or leftmost IR sensor the third highest reading infrared sensor next to it does not exist In that case we must take the next 30 highest the fourth infrared sensor reading to solve the polynomial Unfortunately the accuracy of resembling with a parabola decreases rapidly if the track is getting closer to the 1 and 7 infrared sensors Peripheral myM As RacerM1 3 declare module ID Sub Main Dim i As Byte loop index Dim bNum 2 As Byte max IR IDs Dim wARY 13 As Word Dim dwNorm 6 As Dword calibrated values Dim dwVal 2 As Dword Ymax IR value buffer Di
42. ze Ml parameters bIr Readport 0 Loop Until Pause 3000 myM1 SpdCtrlOn 0 Do Loop End Sub bIr And amp B1000 Svart PID reimcie IL infinite loop Ex 13 Using the 2 Axis Accelerometer There is a two axis accelerometer on the Innoracer which is used by the RacerP1 track in the middle module to measure the x and y axis acceleration force to calculate the curve radius and direction for route memorization This program shows the basics using the RacerP1 module Peripheral myPl As RacerPl 4 i Sub Main Dim iX iY As Integer Debug CLS Do myP1 GetG ix iY DEPUGRCS RIOYA lle tame Debug CSRXY 1 3 Y Loop End Sub Debug CSRXY 1 1 Acceleration values declare module ID get X and Y axis acceleration values CSRXY 4 2 3D EC5R iX display values CSRXY 4 3 DI Ex 14 Route Memorization Route memorization is an important feature for Innoracer so it can run as fast as CRIN A V possible on straight line This program shows how to record the track information through the RacerP1 module You may notice that we use two modules namely RacerM1 and RacerP1 modules through which both the PID control and route memorization are executed at the same time under the control of BASIC 39 Commander Peripheral myMl As RacerM1l 3 declare module ID Peripheral myPl As RacerPl 4
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