Lil`Bot user manual
Contents
1. sess 18 IEN 19 System ei ee u u uuruuu re ee ee ee ee eee ee eee 20 N il ages nn unun Du n u ms 20 EE EE 20 Hardwale TOTOREIAC SERT e RRR R 21 Arduino resource summary T ZI Ed Esa ciis EEN 22 l IAG a u x r r x u E 22 Motor drivers and wheel encoders 23 s i PE TNNT u ETE dae u u n a eae eee ee 24 ergeet 25 moshHhield schematic TO OTT e 26 For more Morid OM EEN 26 2 of 26 Li Bot user manual November 24 2014 Getting started If you have purchased a kit please assemble it according to the assembly instructions available at Lil Bots website http www 1il bot com downloads You must then go through the calibration procedure If you purchased an assembled Lil Bot it is already calibrated and should do a little demo for you right out of the box Here is how to get it started 1 With the robot lying down turn the power switch on 2 Leave the robot undisturbed for a few seconds Lil Bot will beep once to indicate it has performed its internal housekeeping 3 Lift Lil Bot in the upright position and see it come to life It will proceed to fine tune its own balance point and its proximity sensors Let it do its own thing away from obstacles for a few seconds After a few seconds of self c2. Table of Contents eege Calibration cccccccsscccccccccccccccccccscccaccccuccccuecscceascccuceccusescecascecuseccuucsccuascecauscesuuccceuaussecaucsesauecessesseeaes TO coro m OU RO E Ee US Dconiector and 010 ol ones nnn la n hates E k nen ee ree A Eer lla a ee uu en eee na ree ee ae ee Cee UM EI IDA EE EE Ee Eege KE Se ME Programming in theArduino eat eet Ee EE lon EEN Ee E Makine Lil EE Nreliz ivelerietz t bag Ce Gerting started EE E TE Ni EE ET Lil Bot user manual November 24 2014 PROT eA A in C0 t a a a a 10 Blockly original Blocks v is sus Sun uuu s u ss s 10 bk cere u unu nu u aegis re ces es ec pag nn n ET 10 L ec au sauna uyu sayan su naman aan awia yusayusa mahusay y yuana yp a 10 Poo m ere 11 KEE 12 o i x EINE TR L u a ua a u sn 13 Arduino input output ee onn sns M E LK I ML 14 Lobor Kei iu ccs E seca ee usun nunus nunus 15 c SE A EAE AE 15 kt EEN 15 OOP A ID P obat elia uuu tu acsearle et eet Hm Sp ea eles ee saci 16 STE EEN 16 v VXO O 16 Robot emotioris sva aR u u u 17 EEN 17 erregt 17 R y E 18 J Gi OO E 18 FR Ts e c a
3. 61 8IM 218 91 dE bia dE ela R ota A BY R dE Co dE a a R AG V AG Y AG V AG Y AG V D I AN AG V G4V G4V AG Y AG V ACG V AG V ACG V AG YV G V G V G V G4V G V G4V G V AG Y AG V T1 WW n 83 23 93 GA p3 EJ 23 13 CR ani g9 810 ano Information For more www lil bot com http Please visit our website 26 of 26
4. Balancer 6 15 14 gt LJ LilBotDebug J LilBotOid LJ LilBotSketch gt HB gt J proxExample gt Lu PWM gt Sounds Other than the LilBot folder in libraries and the LilBotSketch folder in programs the exact contents of the Arduino installation depends on your system Only those two folders are relevant Now start the Arduino environment and open the LilBotSketch Verify that the program compiles without error Connect Lil Bot to the uss In the Arduino application go to Tools gt Serial Port and select the USB port to which Lil Bot is connected Go to Tools Board and select Arduino Uno which is compatible with Lil Bot Then upload the program and power Lil Bot according to the procedure described in Getting Started If you want to dig much deeper into the robot code you may want to look at the contents of the library files provided This is definitely an advanced code exploration 6 of 26 Li Bot user manual November 24 2014 Minimum robot program Now you are ready to make your robot do nothing other than balancing itself The LilBotSketch contains template code which may be tailored to do just that Enter the following program include Wire h include EEPROM h include lt LilBot h gt LilBot Bot void setup void Bot begin void loop void Bot balance The first few include lines tell the Arduino compiler to load up some libraries of code that is necessary for
5. Lil Bot user manual l0g B279 ge p ped oia uteH 7 eve Jet JSN pue NOW 708 Tt Q g es ha sasuao 7 540 SUDWWOD N E Je a 1077 d43u SUSITT Q ext g a4eug uot4ngt4a33g SUDWWOJ a t3e8a4j ayy wapuN p se i 6 911 s9tqogog ve 93s mid E StlI8M D pue out34e 9 t oBI satjatqueng 0 tzueg wy Aq coun outnpag ubtsop eutbPtag 9021 037 atop AN x1 ABT 601 gt 218 Bor 1198 DZ V A AS AT XI A S B Antp ES e SP b GE LAWN 3 BDI o TI amp 601 ch go OdN 4922 OdN 4922 S B Jni 8 5 BIDI D or Gr 13800293Wd NZ gt eld d ETDI e case Jj nl 80 Aezzng 2 IN9 20 V V za 9 33 go S13 ZHW9T 919 8123 13 D I AG HuUGqS go 70S 10 c D I gt AC _ Odd INI AS 19S gt AC NWI LNI AG UIS D Q c gg 1o 5 II ao O QgUl go gt EDV po v UIS co a S 90 ro n Ul C B0O INT T2 S B jupl 98eT ANOT g13 aaax s13S3M zi 210 Eg res AT qe uen gU d nnt ETO si D Dis Ir xQ CO ooog00 000 Tax WOaSntst DI33 JOA genee b Hoi lN2OE2IJ 4009 6202HW 9D923434B5B C 178 9IC cose dau cosa I A at at TIN 17 Jld 613 HI 219 LIN V V ig PIC HESNAS HSNAS 9c S B A 131 bo T xL ZA N7 Man cd To SIN XM uo13ngusng Y T gt spesy dSII 13539 HESNAS HSnAS be GIC V T O AS cO mem x lt 22 of 26 November 24 2014 Lil Bot user Manual Motor drivers and wheel encoders p JO 2 o
6. blocks Click on the Arduino tab and be amazed by Lil Blocks awesome power Some code was created by translating your blocks into a complete Arduino program ready to compile and upload Just as in the Arduino example above only one side of a square needs to be described Lil Bot will repeat the pattern continuously If you are interested in finding out how the Arduino code works please refer to the previous section For more information on BlocklyDuino http www gasolin idv tw public blockly demos blocklyduino index html You may want to visit Blockly s page https blockly games appspot com The Hour of Code is a great and lively introduction to coding using Blockly and other languages http code org 9 of 26 Li Bot user manual November 24 2014 Programming reference Blockly original blocks Blockly provides a rich set of blocks which can be mapped to many programming languages In this case Lil Blocks and BlocklyDuino are mapped to Arduino C C Lil Blocks also supports the Lil Bot hardware The general blocks that are part of Lil Blocks include provisions for variables controls loops math and Boolean logic Those are summarized in this section Variables Block Action Declare item as Number value Declare a variable Only Number integer is supported X item Rename variable New variable Set a previously declared variable to a value Use a variable value H 8 Math Block Act
7. g TEM 6E TEJ E E V E E V E E AS 128 V NI EAOJ A9IB T L B UIA TED COBO JUgI cOBO Jhl Q AS US Ges ves 1 C S vas case Jni g NI EAOJ AE E AE E SE AEN S B ABS Ju2 2 EED xI ABI si AET lt gt V 9E2 E E ob v AS AS AS case JNT EEN bed NWI INI 209 INI lal 4 K NWI LNT Slee ER 1NDdI l xI ABI xI ABI S 9 NdU E sea een V V V V AE E AE E DE E DE E 24 of 26 November 24 2014 Lil Bot user manual Power supply ENICLLNM p JO p obeg m utxeH J 4emod 908 117 911 sotqzogoy Jell qS 4ut4d3003 gId Pins Jon p snun cease dyu bY Sasa dyu Sbd 9 21 d u Oe case dyu bey T ABT THN 604 AH 98eT ANBI SEP D X H dl UND dl GND evt 9vt C888 Jnl 8 6v2 Xl 26E Bv 9021 dn8I 9021 dn8I XI vel SDB0O Jnl 8 943 AEN OND OND 4non Kach lt C ge373no4 ut C ge373nO4 ut NE E v b AH AE E 2TTT E22 105 gl beg C U 2411I E22 105 evn Ev Ern AS asnas BEER Iba T IN 2dUUP2H Sg xl ABI era N 2dUUEDH tdf SI AET cba YOIMS J4 ptIS pIlI rus uamod usyjO AO II OS I nj wou4 25 of 26 November 24 2014 Lil Bot user Manual emoShield schematic Ge area M pl1 rtrusou c08D 218 op op op o4 o o6 6 o9 o9 os 9711 sot30oqos 4eII 3S lt oG oG o2 AOI CN op op og lt oE oE os CM 70 7es Ag
8. systematically The XML tab contains an XML representation of the blocks It is the format used to save your work In order to save your block program click Save XML A new browser tab will open with the XML code for your blocks You may save it to your computer using the browser Save As command usually in the File menu choosing Page Source for the file format and choosing a file name and location on your computer To load up previously saved blocks click Load XML and select the file you saved previously Clicking on Discard will delete all the blocks in the work area 8 of 26 Li Bot user manual November 24 2014 The Arduino tab contains the Arduino code that results from your Lil Blocks program When there is no block at all in the work area there already is some minimal code It looks like this Lil Blocks Lil Blocks web based visual programming editor for Lil Bot Blocks Arduino XML include lt LilBot h gt include lt Wire h gt include lt EEPROM h gt LilBot Bot void setupO Bot beginQ void loopO Bot balance Using the cursor copy all the code and paste it into a blank Arduino project Upload the program onto your Lil Bot using the steps described in the previous section Again this is minimal code that will just let the robot stay balanced As you add blocks to your program code will be added in the loop function Making Lil Bot do a square figure Assemble the following
9. alibration it will run whatever Arduino user commands were last programmed Calibration Lil Bot needs to be calibrated every time the balance point changes significantly for instance if you add or remove shields or accessories You may also redo the calibration if you have any doubt about the balancing Please read the entire sequence before starting calibration Once the calibration procedure has begun it must be completed in a timely manner you only have a few seconds It is very important to perform this step as precisely as possible since that will affect the robot s balance and precise rotations 1 2 Start with Lil Bot powered down and lying on a stable horizontal surface Power the robot up while holding the car button down Hold the cat button down until two low beeps are heard Those indicate calibration mode Lift the robot up and rotate it along its vertical axis along the main board s length and put it down in the same resting position gently The rotation may be in either direction This must be completed with the robot back at rest before three low beeps are heard Repeat the procedure if you ran out of time This calibrates the gyroscope for precise robot rotations Bring Lil Bot vertically onto its wheels and feel its balance point between your fingers You must be able to hold it in balance very gently feeling no force forward or backward between your fingers Holding this balance point must be achieved before
10. beg C x vwin utXeH 2 SAopooue TUM pue aentAap ao30u 308 119 911 sot30qos Jell qsS A N LN x1 ABZ LIPG9dOM deg n N N3IO02N3 FFO Un94I uo UnB62 COBO JnI Q 223 J30 98v 2 UO 6bb I Xl EPI DAC 92M AUCBb JO UNDE StSaue shy E vg Wat 22M V TIJAG STM L 119694DH G Ten T JADINI FFO YBNIAT uo YNB62 S B JNT TT FAS V JjJO N9Bb 2 T 6 DE 922 UO AGbb I GT x1 AEDT TtFAG V T2d TtFAS AUCBb AO UNDE StSaua shy T AET E2M V TtFAG ffe AIT ees c I mI H L L A N d4H222904 5 d sT e P 9 e lt 801 6E TIHUVbZ AEE pen Dee u231 5 3015 cease 4nt a Can 622 y 7 AH AH AURA b J NTAUP 4030u JUD TY EC Ee Te Sasa 4nt a END A L t A A ec SBa jJnI DQ GER AAPA K 601 S g 201 d4H222904 Oe LH 9I AEE can ben B2M N s g HdnI B IA AH Nm NAPA T 823 J NTAP A4o030u 73937 uo31ms YOTS een mE Mm 91 Jngeci 9821 anar Wa p AH AT S 6 V AS lt AG c 23 of 26 November 24 2014 Lil Bot user Manual Sensors Wa JO E obeg wing WICH 7 S4uaua240juta4 eotueu2au euot4dg S4JOoSues 204 117 911 Ssotqogoy JellI 3S u es unu ala uda ge PES dzu X1 30d dzu X1 30d dzu AT 30d a I d SJUTUdJ00F 31 e3euaaijlu AAA Gau EG I W ul XEM N YSI wuow 92 Jjneger Od INI SE xl 166 P EPIIIS cEB N TEN V AE E BE E case Jni
11. bstacleHandler leftObstacle void leftObstacle void Arduino example leftObstacleHandler leftObstacle void leftObstacle void Bot turn 90 0 19 of 26 November 24 2014 Action Defines the handler function in case a left obstacle has been detected Remark Define the first line in setup Lil Bot user manual System blocks Wait November 24 2014 Lil Bot cannot use the Arduino delay function because that would halt the balancing Bot wait pauses the user program but periodically invokes the balancing code so as to continue balancing while waiting Lil Block Arduino Action Lil Blocks example Arduino example Bot wait 1000 Balance Bot wait int milliseconds Pause the user program for the specified duration in milliseconds but continue invoking balancing code This function is required only in unusual situations If there is any chance the processor might be caught up in tight loops it might lose track of the balancing In such a case this function should be called periodically more often than every ten milliseconds for the software to catch up with the balancing Lil Block Arduino Bot balance void balance Lil Blocks example Arduino example while digitalRead 6 LOW ds while 7 7 Ceo 6 E e i d s Bot balance 20 of 26 Action Calls the balancing code Once every 10 milliseconds this call computes robot balanc
12. d handler block is placed The user only needs to place the blocks that will handle the exception e g turning back when a front obstacle has been detected Event handlers are not recursive during event handling obstacle detection is disabled The Lil Bot hardware provides for edge detection e g coming to the edge of a tabletop but the software is not implemented Please refer to the library source code in LilBot cpp for a possible implementation Front obstacle Lil Block Arduino Action if front obstacle frontObstacleHandler frontObstacle Defines the handler function in bs void frontObstacle void case a front obstacle has been detected Lil Blocks example Arduino example Remark frontObstacleHandler frontObstacle ine i if front obstacle Define the first line in setup void frontObstacle void W TUM 180 Bot turn 180 0 Right obstacle Lil Block Arduino Action rightObstacleHandler rightObstacle Defines the handler function in if right obstacle b b void rightObstacle void case a right obstacie Nas been detected Lil Blocks example Arduino example Remark mem rightObstacleHandler rightObstacle Define the first line in setup if right obstacle E void rightObstacle void do turn 90 Bot turn 90 0 18 of 26 Li Bot user manual Left obstacle Lil Block if left obstacle Lil Blocks example if left obstacle do turn KA Arduino leftO
13. encoders the battery voltage reaches below 6 123V 875mV per cell the LED blinks as a low battery indicator The Arduino circuitry is powered by 5V which is either regulated from the battery voltage when the power switch is on or taken from the USB when Lil Bot is connected to the computer The proximity sensor and the IMU gyroscope and accelerometer chip are powered at 3 3V regulated from the 5V supply USB connector and power The uss port allows programming Lil Bot from an Arduino environment It also powers Lil Bot so that when the power switch is turned off the following circuits can operate from the usB provided 5V source The Arduino portion of Lil Bot including the LED The buzzer The wheel encoders he proximity sensor The mu A of 26 Li Bot user manual November 24 2014 The motor drivers require the full battery voltage to operate For experimental purposes an unpopulated DC to DC converter circuit based on Analog Devices ADP1613 switcher controller is provided on Lil Bors printed circuit board Arduino hardware Lil Bot is build around the Arduino Uno architecture and is software and hardware compatible Please refer to the hardware reference section for implementation details Just like the Arduino Uno Lil Bot accepts shields of the same form factor Its emoShield is one such shield Other shields can be added provided no resource conflict exists Proximity sensor The pro
14. ing for about 2 milliseconds before returning Remarks Wait for Arduino digital input 6 to go high This is a potentially infinite loop The user must remember to call the balancing code Li Bot user manual November 24 2014 Hardware reference Arduino resource summary Lil Bot is hardware and software compatible with the Arduino Uno The table below describes the utilization of Arduino Uno resources for Lil Bot operation Digital O Serial receiver connected othe USB meee OOO O OOOO Digal Serial transmitter connected to the USB ime ce Digital er wheel encoderineerrupeinput JL Digital __ Rightwheel encoder interruptinpat Py Digital 7 Accelerometer and gyroscope interrupeline pole Digital 7__ Motor driver direction ouput Digital 8 Motor driver direction output Digital Marion Digital 10__ Motor driverwaroumput Doll Bezero C E Analog 1 Banery volagemeasurementinput 7 Andog2 NNotued May be reused as analog input or digital i o Analog 3 May be reused as analog input or digital i o Analog 4 PC SDA bus line May be used to attach other I C peripherals Analog 5 PC SCL bus line May be used to attach other I C peripherals Schematics and other relevant documents are at Lil Bots website http www 1il bot com downloads Much useful information is also available from Arduino http arduino cc en Main ArduinoBoardUno 21 of 26 November 24 2014
15. ion Immediate integer value Perform an operation Addition subtraction multiplication division and raising to a power are supported Produce a random number from zero to the number specified not included i ST H Seed the random number generator 10 of 26 Lil Bot V user manual November 24 2014 Logic Block Action Perform a logic operation Perform a comparison Negate a logic statement Always false 11 of 26 LilBot user manual November 24 2014 Control Block Action Loop with index counter count with ER from x to 4 Build if else if else statement block else if else if Iterate a block of code while a condition is true or false Equivalent to C break or continue statement break out d break out continue with next iteration 12 of 26 LilBot user manual November 24 2014 Procedures Block Action Create a procedure block which does not return a value and declare its parameters parameters variable X variable variable Z Call a procedure block that does not return a value do procedure Create a procedure block which returns a value and declare its parameters variable e variable D Return a value from a procedure if a condition is met do procedure Call a procedure block that returns a value a b 13 of 26 Lil Pot user manual Arduino input output blocks November 24 2014 Lil Blocks includes m
16. its and then make a quarter turn left Repeating this pattern will result in the robot going in a square figure Now upload the program in the same manner as before 7 of 26 Lil Bot user manual November 24 2014 Programming in Lil Blocks Getting started and a minimum robot program Lil Blocks is a port of Fred Lin s BlocklyDuino a port of Blockly that creates Arduino code Blockly is a creation of Neil Fraser at Google Blockly is the Hour of Codes language of choice In order to use Lil Blocks you must have the Arduino installation working as described in the section above including the Lil Bot library You may then use Lil Blocks by visiting the Lil Blocks web page No additional installation is necessary Please open the link below and bookmark it for easy access from your browser Your browser must have JavaScript enabled http www lil bot com lilblocks The Lil Blocks page looks like this Lil www lil bot com lilblocks T nnan Lil Blocks gt web based visual programming editor for Lil Bot Blocks Arduino XML Discard Save XML Load XML In Out Control Math Logic lilBot move lilBot system lilBot emo lilBot sound lilBot event Variables Procedures J The Blocks tab which is selected when you first open the page contains a menu of blocks for you to build programs Please take time to familiarize yourself with the various kinds of blocks Further chapters in this manual go through the blocks
17. ost of BlocklyDuinos original Arduino blocks This includes blocks that read and write to and from digital and analog Arduino pins and a block that prints to the console The delay block which maps the Arduino delay function was replaced with a wait block which maps to Bot wait Please refer to the wait block s description for more explanation as to why it was replaced Block IW DR IB Eur HIGH Y HIGH LOW X 6 12 13 AO A2 A3 MIA ETE 6 Kri HIGH V HIGH LOW 4 HIGH Y HIGH LOW AnalogRead PIN ag V AO A2 A3 AnalogWrite PIN J value e Action Print to the console The output is available on a terminal connected to the Lil Bot uss e g the Arduino console Turn the LED on HIGH or off Low The led is periodically updated by the Lil Bot software to indicate battery status Read the state of a digital input pin Only the pins not used by Lil Bot are available Set an output pin high or low Obtain the numerical equivalent of the HIGH or Low state Measure the voltage at an analog input pin Only the analog input pins not used by Lil Bot are available Set a PWM output pin to a value Digital pin 6 is the only PwM capable pin that isn t used by LA Bot 14 of 26 Lil Bot user manual November 24 2014 Robot movement Go Lil Block Arduino Action Bot go long rawUnits Go straight for the specified number of odometry units Lil Blocks example Arduino example Rema
18. rks Bot go 5000 The odometry is provided by the wheel go 1 5000 encoders It is not calibrated Turn Lil Block Arduino Action Bot rotate double angle Turn left positive or right negative a specified number of degrees Lil Blocks example Arduino example Bot rotate 90 0 uM 90 Stop Lil Block Arduino Action Bot stop void Stop when an obstacle has been detected Lil Blocks example Arduino example Remark j void frontObstacle void The robot stops by itself after completing if front obstacle Bot stop motion commands This command is required only for exception handling 15 of 26 Lil Bot user manual November 24 2014 Robot sounds Sound Lil Block Arduino Action Bot sound int soundLine Make one astromech droid sound sound sequence based on a line number from 0 to 48 Lil Blocks example Arduino example Remarks Bot sound random 0 48 Each sound line is stored in a table as four parameters duration start tone end tone pause duration See library source code for details Say Lil Block Arduino Action Bot say char phrase Translate ASCII text into astromech Lil Blocks example Arduino example Remark Bot say Hello world See the library source code for the A Hello world sound mapping algorithm 16 of 26 Lil Bot user manual November 24 2014 Robot emotions Emote Lil Block Arduino Action emote 77777 Bot emote short int emotion Express a robo
19. robot operation The LilBot library contains the balancing code sensor operation sound and emoShield routines etc in short all that LilBot needs to operate without the user having to figure it all out from scratch The next line reads LilBot Bot it is called instantiation In the LilBot library there is a C class named LilBot which says how a good Lil Bot should behave Now we are telling the compiler that there exists such a robot of the LilBot class which we are going to name Bot for short All subsequent mention of out robot will refer to its name Bot An Arduino program contains two main functions setup and loop The first function runs once after the power has been turned on or after the reset button has been pushed In this case it is used to initialize all the hardware balancing parameters etc before anything useful can happen After setup has run once the loop function is executed indefinitely At a minimum we want our robot to stay upright and keep balancing which is what the Bot balance function is for Making Lil Bot do a square figure Making Lil Bot go in a square figure is almost as simple Enter the same code as above but replace the loop function as follows void loop void Bot go 5000 Bot rotate 90 0 Since the loop function is repeated indefinitely it is not necessary to describe each side of the square Just tell the robot to go straight for a number of odometry un
20. rom the polarity of the motor control signals and the extent of motion from the number of transitions emoShield The emoShield is based on yet another IFC device the CAT9555 i o expander Sixteen different logic outputs are required to form all the different robot expressions Lil Bot is capable of Since the Arduino Uno does not provide enough digital outputs this device is programmed from the I C bus to control sixteen outputs which power the emoShield s branches of LEDs 5 of 26 Lil Bot user manual November 24 2014 Programming in the Arduino environment Installation In order to program Lil Bot please install the latest Arduino development environment by following the instructions provided Here is a link to the Arduino download area http arduino cc en Main Software Then download the latest Lil Bot software by visiting the Lil Bot download area http www 1il bot com downloads Copy the LilBot library folder to your Arduino library area and copy the LilBotSketch folder to your Arduino program area When you are done your Arduino folders should look something like this Y A libraries gt J wSWire Y Ld programs gt j BluetoothSerial gt botEmo gt LJ Build081314 gt Build083014 gt 0 Build093014 gt J Build100414 gt J ChessBoard gt Colors gt LJ DigitalWriteSerial gt Ei Gyro gt 3 HMC5883L gt LU i2cScan gt jcsi1143 gt L3 LilBot gt LilBot
21. sasusst q bao suouuo2a t1ea4277 303444 oc oc Ov Sed asua2t Q E YY TTHY SUPEYS uot4ngta33g suouuoj a t38ea4j ayy aepun p se l j E S 5 ABI B 4epeau outnpag B JA pe u outnpag ol a IC bC AG QI 4epeeu outnpag 92 ABAT X B EC oNa A Lan Pr call BAAL ER SSA a1 O A AA A u y A C qG 61 DW C f LNI T OS C C U U UT YU U C C 1 A A C j 07 8 070 Y C G U C S U U U U j i s etor s 92 arr j C C jj M lj eIOI VIS Eg ds RAR CSR EES DEER N eT IIOI oY RASE ET 2101 SS ll UL od AA BL G p OI CS 0 I10 0 j y CR T 2001 BAA C r r O Oy M y A CT lll 2801 9 4apeaH A Aje dL LLRLLLLLLLBLLLLLL ALLLLLI S SET cu e 2c AS SEN SR DER DESS DS DS f j 8 Ont lane EAE j j T j i 001 2x09 2eI LY C D f ES lt 0 y Tr i201 MM L c Pv l F rhI E E E 8001 oon ABBT x 8 SSS6 Ac V AG V n IN Qva BEC 9EG PEG gea bed 820 920 bed 90 amp D amp D D D D D N GR GR GR GR N 961 961 A A a a is dE dE dE dE d i D i Ga bd is ed Ta GEI dE SEG EEG Ted 620 de Sea Eat 2bb Ted Shp 610 2pp 10 2pp SIG Lat era etd 8a 961 ba 2a WK SK WR BK WM MK BM MK OM K K K WK SK WK SK WOM WK SA SIM ETA T 64 EM ggi oza BIG 910 etd TIG 6a 2a ca EI Td Siz GI2 GI2 Sic GI2 Sic Sic GI2 Sle R evi D evi D evi amp evi D amp amp amp R R NS bea EZA eed T2 pos
22. t emotion on the d happy emoShield These codes are available blank face afraid Bor anny amused Bot blankFace angry Bot afraid blissful Bot amused cool crying Bot angry disappointed Bot blissful embarrassed Bot cool mper Bot crying naughty neutral Bot disappointed nonplussed Bot embarrassed outraged Bot impatient proud Bot ht resigned mec sad Bot neutral sarcastic Bot nonplussed shocked Bot outraged smiling Hor F very sad S winking Bot resigned Bot sad Bot sarcastic Bot shocked Bot smiling Bot verySad Bot winking Lil Blocks example Arduino example Bot emote Bot happy emote happy Emote by number Lil Block Arduino Action BVN Bot emoteByNumber int index Expresses a robot emotion on JOPE d the emoShield based on an index value from 0 to 22 Lil Blocks example Arduino example Bot emoteByNumber random 0 22 emoteByNumber A 17 of 26 Lil Bot user manual November 24 2014 Robot events Obstacle detection causes the user program to be interrupted by an optional event handler callback function In Arduino the user must declare and define the handler functions explicitly This is done first by declaring the function e g frontObstacleHandler frontObstacle in setup and then defining code for the function declared in this case frontObstacle Handler functions take no parameter and return no value In Lil Blocks this is done automatically when the desire
23. two high beeps are heard Hold the balance as gently and precisely as possible until three high beeps are heard If the robot was not balanced properly the entire time between the two high beeps and the three high beeps repeat the entire procedure Let Lil Bot go It may go a few inches forward and back while it is learning to balance itself At the end of this last phase it will play four musical tones indicating that calibration has been completed and the calibration parameters have been stored into EEPROM permanent memory It will then proceed with whatever it is holding in its program memory 3 of 26 Li Bot user manual Getting to know your robot Battery pack and power supply Lil Bot requires seven AA batteries The preferred non rechargeable type is alkaline For rechargeable batteries nickel metal hydride NiMH batteries are ideally suited The motors are powered by a nominal 10 5V battery voltage As the batteries discharge software compensates the lower voltage by increasing the PWM duty cycle in reverse proportion with the battery voltage The battery voltage can be as low as 6V for Lil Bot to operate When Edge detection November 24 2014 lq Battery pack USB connector Power switch Arduino compatible CPU Arduino shield header z Side detection IR LEDs Buzzer Q RR Gyroscope and accelerometer LY P h k i Proximity sensor A re Motor drivers Low cost wheel
24. ximity sensor is based on Silicon Labs Sil143 It is an extremely versatile I C device Lil Bot uses three LEDs to detect front right and left obstacles and edges Obstacle detection is accomplished by measuring infrared light emitted by an LED and reflected into the Sil143 The right and left LEDs have very broad radiant angles Thus when the same amount of light is reflected from both LEDs a front obstacle is inferred Current software does not implement edge detection Buzzer The buzzer allows Lil Bot to emit chirps patterned after astromech droid sounds Its bandwidth is from a few hundred hertz to about 3kHz Gyroscope and accelerometer The imu is Invensense s six axis MPU 6050 three axis gyroscope and three axis accelerometer This I C device is programmed to take one set of measurements every ten milliseconds which is the period of the balancing cycle The software takes approximately two milliseconds to compute updated motor commands and leaves the remaining time until the next imu measurement for user programs Lil Bots right and left turns are controlled by one axis of the gyroscope Wheel encoders The wheel encoders help determine Lil Bots backward and forward motion A slot switch reads dark and transparent patterns from the encoder wheel At each transition from transparent to opaque and back a rising or falling logical signal is transmitted to the Arduino as an interrupt The software infers the direction of motion f
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