Shadow Pneumatic Control Unit
Contents
1. 12 1 Replacing the Batteries c cc cs cs c e c e c e ee eee 20 12 2 What to do if the collar becomes detached during battery replace 23 Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 3 23 Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 4 23 1 Introduction This document covers the operation and instructions of use of an augmented sensing object Designed to mimic a standard 330ml cola can It has 40 independent tactile sensing regions and 10 x 3 axis accelerometers one mounted on each face It is completely wireless running on 4xAAA batteries and communicating with the host via Bluetooth In the following document we will go through step by step some of the things which you may want to do in the course of using this product From changing the batteries to writing simple code to displaying the data in the way you wish The average observed battery time is approximately 90mins It is advisable to have one set of batteries on charge the whole time All example programs and datasheet documentation can be downloaded from the Shadow website at the following address http shadowrobot dnsalias org sensingcan Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 5 23 2 Setting u2. 5 selects the accelerometer Z is setting Node dependent see below The settings number options for the FSRs are as follows Gain settings 1 default 2 l 5 8 10 16 S SAE d example 2625 set the gain on FSR sensor 2 on node 6 to 10 The Accelerometer settings are on the next page Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 16 23 The Setting Number options for the Accelerometer are as follows Accelerometer settings off on default 6g 2g default self test off default self test on ex g052 select the 6g range on the accelerometer on node 10 Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 17 23 10 Data Format Received From the Can amp Transmission IDs The Data returned from the can will be in the following format ID FSR1 FSR2 FSR3 FSR4 ACCX ACCY ACCZ 0000 Each section will be a 16bit number For location and orientation of the FSR s and the accelerometers please read on to the section entitled Sensor Orientations and Locations The Transmission Ids are as follows Sensing Board Number Transmission ID l 0610 2 0720 3 0630 4 0740 5 0650 6 0760 7 0670 8 0780 9 0690 10 07A0 When set on 1g setting the expected range
3. Augmented Sensing Object for Handle Manual The Can Sensing Object amp Shadow obot Company Augmented Sensing Object for Handle Manual Page 2 23 Table of Contents 1 gY e vis TY lt 9 T 7 1 HHHH 4 Z SEUI UP TNC eT T 5 2 1 Relevant Information needed for SCtUP ccceceeeeeeeeeeeeeteeeeeeeeeeeeeneas 5 2 2 Setting up the Can for Unix including use of example code 5 2 3 Setting up for Windows basic SECUP cccecceeeteeeeeeeeeeeeeeeeeteeeteeseuenes 6 2 4 Bluetooth Modual Settings er ee er ee E ee ee A er ee te ere 6 3 Breakdown of the Internal Workings of the Can ssssssss esse ss sss esen sss sss 7 4 Sensing Can COMPONe NUS csccccccceeeeeeeeeeeeeeeeeeeeeeeeeenneeeeeeeeeseeeeeaneeeenaas 8 5 Sensor and Node Numberingd ssssssss sss sss sss ss ses es ses sessssssssssss sss esssss ss sss sss sss 9 O PCB ET ons EEEE 10 Z PCB ScCNEmMatlC crocie 11 8 Program Node Information Flow DiagramM ssssss22222222 n 13 9 Sending Data t the C sissu 15 10 Data Format Received From the Can amp Transmission IDs 17 11 Sensor Orientation and LoOcCatiOn s ssss2s222 2 2520222 202u2 2 2 n 18 11 1 Accelerometer and FSR LOCAtIONS cccccceeeeteeeeeeeeeeeeeeeeeeeeueeeeneaes 18 11 2 Accelerometer Orientation cccccccceseecscuuesuceeceuesauueuueeueursursareans 19 12 General Repairs and Maintenance ssccccennnesccecccnnneeeesscenessenneeeenees 20
4. B is connected to the next by a CANBus interface The board no 1 includes the CAN terminator as well as connecting to the Bluetooth module in the lid Each PCB forms a CAN node and 1s controlled by a PIC 16F2580 The data streaming protocol is explained in sections 9 and 10 The Switch on the top disconnects the batteries from the rest of the electronics The 4x AAA batteries provide 6v to the CANBus For the instructions on how to replace them please refer to Section 12 Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 8 23 4 Sensing Can Components Sensing Panel 1 In addition to other sensing panel functions it also has the CAN terminator and the Power in Plug Lid Assembly Contains Bluetooth and Power Switch N Battery Pack Holds 4x AAA Batteries CANBus Connection Wires i n Mounting Base Sensing Panels 2 10 4x FSR Tactile Sensors and 1x 3 axis accelerometer per board Bluetooth USB adaptor for the PC LM Technologies LM505 Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 9 23 5 Sensor and Node Numbering Board Numbers Node ID Plan View of Can 9 CA090210 CA100210 10 8 CA080210 CA010210 1 7 CA070210 CA020210 2 6 CA060210 CA030210 3 5 CA050210 CA040210 4 Sensor Numbering per Sen
5. By AEJ 1 2 3 4 Sensing Object for Handle Can 17 6 10 Page 12 23 Augmented Sensing Object for Handle Manual _ MCP1702T 5002E CB C10 4 7uF 5Vd CANI CAN2 R18 100R Optional SGND Optional SEA C22 luF R2 R4 4x 330R spf 1 Sats 2 sa 1 Sst po Title HANDLE sensing object 2 Size Number Revision A4 2 1 3 Date 09 06 2010 Sheet 2 of 2 File D Repositories Power supply SchDoc Drawn By AEJ 1 2 3 4 The Shadow Robot Company Ltd 2010 Sensing Object for Handle Can 17 6 10 Augmented Sensing Object for Handle Manual 8 Program Node Information Flow Diagram BT node CAN nodes Initialise Initialise node node Rx amp process CAN data Measure amp CAN Tx local data Rx amp process CAN data Check CAN amp BT rx Reset data counters Measure amp CAN Tx local data Store local data Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 14 23 BT node In Initialise node the node s configuration is restored and its devices set up The rest of the code consists of two loops asynchronous wait for timer flag and synchronous The timer flag is set every millisecond In the asynchronous loop the CAN bus is checked for data from the other nodes along with the Bluetooth module for transmission requests or node co
6. an 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 22 23 5 Replace the batteries and slide the battery block back inside the can Be careful not to pinch any of the internal wires 6 Screw the lid and base bolts back in The long one goes in the lid and you re done Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 23 23 12 2 What to do if the collar becomes detached during battery replace If at any stage the collar slips off the top of the side panels don t panic By applying a gentle pressure on the collar towards the base and wriggling slightly they should located back into the slots With the lid off 1t sometimes helps to put your finger inside and push the side panels out slightly See pictures below Illustration 1 Underside View of the collar Illustration 2 Replacing the Collar Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010
7. nfiguration In the synchronous loop the program first checks if there is a transmission request tx OK and new data for the node that data 1s requested for If the answer is yes to both the data is sent to the Bluetooth module and the flags for transmission request and new data are reset If the answer is no to either or both the CAN bus and Bluetooth are checked for data Finally measurements are taken from the local FSR sensors and the accelerometer and the data stored for later transmission CAN nodes The Initialise node block is the same as in BT node as 1s the basic structure with the asynchronous and synchronous loops In the asynchronous loop the CAN bus 1s checked for configuration messages In the synchronous loop measurements are taken from the local FSR sensors and the accelerometer and the data sent on the CAN bus Finally the CAN bus is checked again for configuration messages Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 15 23 9 Sending Data to the Can To change the settings for the FSR sensors or the accelerometers send 4 ASCII characters to the BT module with the following formatting oXYZ where The g not case sensitive is there to indicate that settings data follows X is node The node number can be 0 9 0 is for node 10 Y is sensor Sensor number 1 4 selects FSR sensor 1 4 on the node selected and
8. of the accelerometer data will be lg gt 0 gt 1g 0400 gt 0800 gt 0c00 An example data stream would look like the following Without the spaces 0610 0003 0A40 0638 1789 0005 03cd 07cb 0838 0000 Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 18 23 11 Sensor Orientation and Location 11 1 Accelerometer and FSR Locations Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 19 23 11 2 Accelerometer Orientation Centre of Can Accelerometer Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 20 23 12 General Repairs and Maintenance 12 1 Replacing the Batteries 1 Remove the top bolt using a 3mm hex driver 2 Remove the top lid leaving the collar in place If the collar is removed as well it is OK but a little harder to reassemble Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 21 23 3 Holding the collar in place with one hand tip the can upside down Used the 3mm Hex driver to remove the other bolt in the base 4 Whilst continuing to hold the collar carefully slide the battery block out of the centre of the can Sensing Object for Handle C
9. or until the installation is complete When the installation is complete plug in the USB Bluetooth adaptor and turn the can on using the switch on the top Clicking on find device will start a search for the adaptor Once connected to your PC you can use a terminal program to read the streaming data e g realterm or hyperterminal 2 4 Bluetooth Module Settings See the Roving Networks Bluetooth Product User Manual for instructions for the RN 41 Bluetooth module Here are some useful commands from the manual Enter command mode must be done within 60s of power up lt r gt Exit command mode lt enter gt I Performs an inquiry scan 10 sec and returns addresses of any devices in range This remote address can be used to bond the module to a specific Bluetooth dongle SR lt number gt Store remote address E g SR 001986002C16 SX lt 0 1 gt If set the device will only accept connections from the device that matches the stored remote address It is a good idea to set this 1f more Bluetooth devices are in range SU lt rate gt Set the baud rate SU 11 sets the rate to 115 2K D Display basic settings Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 7 23 3 Breakdown of the Internal Workings of the Can The Can is broken down into 10 identical slices Each one of these slices has 4x FSR sensors and 1x 3 axis accelerometer Each PC
10. p the Can The Can will be supplied with batteries already installed Remove it from the packaging and stand it in front of you 2 1 Relevant Information needed for setup The pairing code for the Bluetooth device 1s 1234 The baud rate 1s 112500 2 2 Setting up the Can for Unix including use of example code On a Linux computer with Bluetooth drivers installed the following steps can be taken to get data from the device 1 Turn on the Sensing Can 2 Bind the Bluetooth module to rfcomm with sudo rfcomm bind 0 lt ID gt 1 to check the ID of the blutooth module enter GB in command mode E g lt ID gt 00 06 66 03 9C 4F 3 Runa program to send ascii characters to the device to get data back The bluetooth serial c program sends a space character to the device and then receives and displays the data The following script does the same in a terminal window sleep 1 j while true j do echo n gt dev fd 3 sudo head o 18 lt x dev fd 3 od t x2 wl8 v done 3 lt gt dev rfcomm0 Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 6 23 2 3 Setting up for Windows basic setup Next you will have to install the Bluetooth program on your computer If you are using a windows PC you can download it from here http www lm technologies com home product_support 3833 It is important that you do not connect the USB Bluetooth adapt
11. sing Panel Top of Can Sensor 4 Tactile FSR Sensor 3 Tactile FSR Sensor 2 Tactile FSR Sensor 1 Tactile FSR Bottom of Can Sensor 5 3 Axis Accelerometer Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Augmented Sensing Object for Handle Manual Page 10 23 6 PCB Layout L Programimng conn Oe S G g PGA ADC uC Silk top Top layer Mid top CAN ctrl OSC l Mid bottom Bottom layer Silk bottom SUd regulator Accelerometer g Sa regulator Bluetooth conn Sensing Object for Handle Can 17 6 10 The Shadow Robot Company Ltd 2010 Page 11 23 Augmented Sensing Object for Handle Manual 7 PCB Schematic The Shadow Robot Company Ltd 2010 A S Z O N z Z fa Q an Zz 5Vd 5Vd Z 3S S MICROCONTROLLER ER B U3 E gt GE a cS acc 4 s LIK ett eE 28 CS ADC S j gt CS PGA K N G d D4 Q C19 ES mn 3 R17 Jut GND 5Vd 330R CSX750FCC10 000M UT 100nF CSX750FCC10 000M UT 18 R19 Re 10K ACCELEROMETER ae 20 CANTX S 21 CANRX 4 22 lt 3 24 POC 3 I5 PGD PAE E MCP2551 G S a INT ACC CO TIOSO TI3CKI 0 C 10 KC LUE lt mE Ser oe 12 SOMI 29 pa P G O MOSI F G 4 UARTMO o SOND 215 UART 80 SGND ee i r n PIC18F2580 I ML P SGND D Title i 3 HANDLE sensing object 2 Size Number Revision me 1 1 3 Date 09 06 2010 Sheet 1 of 2 File D Repositories HANDLE_SO2 SchDoc Drawn
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