1 Day Robot Building (MC40A + Aluminum Base) for
Contents
1. BRAIN to think Programming is a way to give the robot the instructions or commands to do the task we required A robot needs both hardware and software components to function Now that we already have the hardware let s move on to the robot s brain i e the programming Cytron provides the line following sample code for MC40A Mini Mobile Robot and this code can be downloaded for FREE Please log on to http www cytron com my viewProduct php pcode MC40A and download MC40A Sample Source Code 1ONov 2010 for your reference Lite Int forward clockwise looking from right wheel l ft forward counter closkwise looking from left wheel a Aa ri l Iri k i me il ee MC40A Sample Coding Motor Control Referring to the coding above to make the robot move forward MR 1 amp ML 2 are set to HIGH Logic 1 The purpose is to make the right wheel move clockwise and the left wheel counter clockwise By doing this the robot will move forward If the robot moves backward or in any other direction please check which motor is moving in the wrong direction and then change the motor terminal 1 e change the positive with the negative terminal of the same motor Or you may change the software as I have suggested earlier by making the HIGH 1 to LOW 0 for the motor required and vice versa One more important step to remember Always check the power that the motor is using Here we are using SPG10 which the r2. Of course you can easily modify this robot base to fit any controller sensor and motor that you wish to use In this article I m going to guide you to assemble a mobile robot using MC40A and make it a simple line following robot How to Assemble Before you start assembling a mobile robot it is always good to plan ahead so that you have a rough idea how your robot is going to operate Base on your idea come out with a sketch or design of your robot Next prepare the components and materials that are needed After that start building the robot from the base to the top and of course from the basic to the details Cytron calls it Robot Head to Toe As for this mobile robot there are a few components that we need to prepare such as MC40A Mini Mobile Robot Controller the new aluminium base LSSO5 Auto calibrating Line Sensor spacers or PCB stands screws SPG 10 micro metal geared motor and WL POL 4610 wheel j j E F a i y 7 F a i r 7 By g F Po F Mobile Robot Parts If you are getting yourself an Edubot 2 0 the mobile robot is ready assembled If you want to build this yourself please ensure you have all the parts e Aluminium Base SPG10 150K MicroGear Motor 1 pair Wheel 1 pair Screw Caster 4 tiny screw to mount Motor which you can get all this in 1 set at here Aluminium Robot Chassis Complete Set e MC40A Mini Mobile Robot Controller Combo 1 e 4 set of PCB Stand 20mm S S e 40cm of wire
3. preferable multicore To setup a robot we usually start building from the base Mount the motor onto the base You are encouraged to get a magnet to hold the screws while assembling the motor as some of the screws used are very TINY Next assemble the front caster by inserting the screw to the hole at the front and lock it with the round cap hex nut After that put on the tire to the motor and then the base is complete Don t forget to solder wires to SPG10 Motor terminal Wire length should be around 10cm Base completed with SPG10 motors Wheel and Screw Castor To make a line following robot LSSO5 auto calibrating line sensor is mounted onto the new aluminium base using the short spacers PCB stand which come with LSSO5 package It should be mounted at the bottom side of aluminium base Also remember to connect the cable wire for the LSSO5 line sensor before assembling the upper part The cable wire 1s important to send the digital signal back to the microcontroller Aluminium base with LSSO5 mounted bottom Next install the long spacers PCB Stand S S 20mm to mount MC40A controller board to the aluminium base Make sure you have solder every accessories you want to add to MC40A such as 2x8 Character LCD connector for UART etc And also power it up to ensure basic function is working before assembling SO that you need not waste time troubleshooting later MC40A Controller Board on Aluminium base Your Mini
4. Mobile Robot is almost ready The next step is to connect the other end of the LSSO5 cable wire to the MC40A controller Make sure that the cable is connected securely to avoid data loss LSS05 cable connected to MC40A Controller Board Lastly insert the motor wire into the motor terminal on the board and again make sure it is securely screwed You need not worry about the terminal connection of DC motor because the direction can be controlled in the software later Motor terminal cable connected to RIGHT M and LEFT M terminal Blue Finally your Mini Mobile Robot hardware is done After supply it with a power source and do some software programming it s ready to go As for the power source you have 2 choices You can power it up using a battery or an adapter power supply Please ensure the voltage is between 7V to 12V Two Cells Li Po battery is a good choice as the voltage is within the operating range If you are using battery BE CAREFUL NOT TO CUT BOTH BATTERY TERMINALS AT THE SAME TIME IT MAY CAUSE AN EXPLOSION for Li Po Line Following Coding Yes I ve assembled my robot but why is it still not moving Ever heard this question before It s commonly asked by beginners A robot is a machine which consists of hardware and software components We have completed the hardware part so now we need to work on the software Why Well besides building the hardware we also need to program the software as the robot needs a
5. the generated hex file to the MC40A board Make sure the PIC used is PIC16F887 Before your robot learns how to walk make sure it knows how to watch the line Let s move on to line sensor LSSO5 calibration Calibrating Line Following Sensor LSS05 Why does my robot not run according to line although I have already programmed it This is because the line sensor may not giving the correct value So how do we calibrate it Let s see how to deal with it I guarantee you are going to love it Check for the RED circle in the following figure This is the external push button on MC40A that we are going to use to calibrate the LSSO5 line sensor To calibrate the line sensor you only need to push it ONCE then swing your LSSO5 sensor left and right repeatedly with the sensor facing the line Please keep the distance between robot and floor constant during calibration Do not lift the base The sensor is automatically calibrated so there is no need for us to worry about the calibration procedure The indicator LEDs will blink while calibrating After the indicator LEDs stop blinking it s DONE Now it has learned to see mee ee LSS05 Calibration Push Button Well it s not finished yet The sensor also comes with extra 2 modes namely dark line following mode and bright line following mode It s easy to change the mode Dark line following mode Press the button twice within 1 5 second Then the sensor indicator LEDs wil
6. 1 Day Robot Building MC40A Aluminum Base for Edubot 2 0 Have you ever thought of making a mobile robot in 1 day Now you have the chance with MC40A Mini Mobile Robot Controller some accessories Let s have fun Introduction Cytron launched 1 Day Robot Challenge 1DRC during MURoC 2011 in UniMAP Ten finalists selected from Cytron s facebook fans successfully built their line following robot within the time limitation From the photos below we can see that the participants were using scrapped PCB board as their robot base They were required to use a hand drill to make holes to mount the main controller board and motors This took quite some time and might endanger the user if not handled it carefully The robots built by participants during 1DRC 1 Day Robot Challenge and bought back for free Making holes on scrapped PCB board To help users build their robot in an easier way Cytron has come out with a new aluminium base which only requires users to screw in everything without the need to modify This brand new aluminium robot base also comes with a pretty COOL shape It is designed to support e SK40C PIC Starter Kit e MC40A Mini Mobile Robot Controller e Arduino main boards Duemilanove or Uno e LSSO5 Auto calibrating Line Sensor e SPG10 DC Geared Motor e MD10C 10A motor driver Furthermore users are allowed to install extra sensors such as limit switch to the mobile robot to further improve the robot operation
7. ecommended supply voltage is 5V So we may connect the jumper 5 JP5 to Vin But if you re planning to use higher power motor or external power for motor you will need to connect the external power to Vmotor terminal and connect the jumper 5 JP5 to Vmotor Please refer to MC40A User Manual for more information about the power supply selection and absolute maximum ratings Motor Power Input Terminal and Selection Jumper We have made the robot move but still it does not do line following yet To make it perform line following please refer to the code below In the code we can see that the LSSO5 line sensor is connected to LEFT RA3 M_ LEFT RA4 MIDDLE RAS M_ RIGHT REO and RIGHT RE1 Each of this sensors will send data output in digital form to the microcontroller according to the line sensed Afterwhich the microcontroller will tell the motor which way to turn or move and also the speed The motor speed is controlled by the Pulse Width Modulation PWM by setting between minimum 0 to maximum 255 if M LEFT 0 amp amp MIDDLE L 4 amp M RIGHT else if M LEFT 1 amp amp MIDDLE 1 amp amp M_ RIGHT motor l20 2 else if M LEFT i amp MIDDLE 1 amp amp M RIGHT motor 200 120 MC40A Sample Coding Line Following To program the robot connect the UICOOB programmer to the ICSP programmer socket on the MC40A board Open MPLAB and also the code that you have downloaded earlier Compile the program and write
8. l light up when it detects a dark surface Bright line following mode Press the push button 3 times within 1 5 second The sensor indicator LEDs with light up when it detects a bright surface Now your mobile robot is fully functional and ready to go Put it on the line and test it Sometimes you might need to recalibrate the sensor if the sensor senses dirt on the line surface during previous calibration Well that s all for 1 Day Robot Building Wish you have learned something new Enjoy and give it a try
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