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Roboplatforma - User Manual

1. 99 ICS JSC Tyrnet 2015 Table of Contents Installing the Software for ScratchDuino Robokit rrrrrerrns 4 aadel a a E 4 Bai dod ie enor one Oe ee ee er 7 Mac OS FaMi arad aada dadada add 11 Android OS FE AMV ataman E E 12 Connecting ScratchDuino Robokit via Bluetooth for Windows 16 Connecting ScratchDuino Robokit via Bluetooth for Linux 17 Connecting ScratchDuino Robokit via Bluetooth for Mac OS 19 Running Software from a USB Stick without Installation on the Hard Drive 22 Provisions for Implementing the Projects errerrvennereerenenneee ena 25 Connecting ScratchDuino Robokit nverreeenvennennee anna nen nea ne 27 Setting up a Playground for Creative Activity and Contests 30 Sensors Testne and Calibration aut anna a Seeamnateatanden 33 PCAC ING ENG SINS OT A A M E 35 Basic Concepts OF SCralChDUIN GO raisal a a 37 Basic Algorithms of ScratchDuino cccccceeceecceecceecenceeceeecesceeeceseceneeeeeees 40 Co operation of the Sensors and the MOtor cccccceccsecceseeseeseuseeseeeeeesesees 45 TOUCH PEO 0G AEA e A aie seaaaas A 45 ENE DECTECTO merrier tre arrerie m rere Trt 48 PAINE SONS Ol mmm mmm a ut EE 50 EVE SON O arnan E a mamma i 52 Promoting the Community of the Like Minded sessesssessersersresesrrresrrrrsrrrrsren 53 Wik
2. International Day of Robotics 6 Awards for the Participants of the Festival 6 1 Allthe participants shall get the electronic certificates 6 2 Based on the rating of their projects the PARTICIPANTS LAUREATES and WINNERS of the Festival shall be chosen ranked by educational level within the nominations User Manual Elena A Vostrikova Cand Sc Education Chief of Education Development Dept at Additional Vocational Training Institute Novokuznetsk elena vostrikova scratchduino com Leonid S Zakharov programming engineer with Kemerovo Region Department at the Russian Ministry of Interior Novokuznetsk Ekaterina A Lvova engineering team leader of Project ScratchDuino St Petersburg ekaterina lvova scratchduino com ScratchDuino Robokit Translation by Elena Tolstyakova Passed for printing XX XX 2015 1000 copies JSC Tyrnet Reprographics Center Medikov pr 5 7 St Petersburg 197022 Russia
3. Open the ScratchDuino application and when selecting a port see Figs 5 and 6 specify the dev cu Scratchduino XXXXXX DevB port i ou ScratchDuino Analogs le dev cu Bluetooth oMdem Button CT dev cu usbomdem1421 A E fdev cu Scratchduino 000270 DevB Fig 25 Selecting the port for Bluetooth connection Operating the Arduino IDE ScratchDuino Robokit can be programmed not only from ScratchDuino but al so from the Arduino IDE The detailed discussion of this issue is beyond the scope of this Manual Arduino UNO cartridge found in the box is shipped with ready firm ware that is a program is pre loaded in Arduino UNO a special name of the programs written for Arduino is sketch Reprogramming the car 9 tridge may cause the destruction of the original firmware If some other sketch was added to the cartridge the original firmware must be restored to enable the work of ScratchDuino Robokit with ScratchDuino IDE For this you need either to use the CD the firmware file is located in the firmware sduino laboratory robot sduino laboratory robot ino folder or download this file from the file server of the project http files scratchduino ru firmware sduino laboratory robot sduino laboratory robot ino To load the original sketch install the Arduino IDE from the developer s web site https www arduino cc en Main Software Launch Arduino IDE and open via the menu File Open the
4. i ou ScratchDuino 41 the script stops and the motor is switched off on pressing the space bar of the keyboard Implementation 1 Connect Arduino UNO via USB following the instructions from the Con necting ScratchDuino Robokit section 2 Use four commands of ScratchDuino Robokit shown in Fig 45 3 Build five scripts as shown in Fig 52 Each of these scripts is launched by its own command in accordance with the block when space key pressed that contains the condi tion to start 4 Run a trial launch of ScratchDuino Robokit Make sure that it is controlled via the keyboard correctly 5 Run a series of tests on the playground made of one tile Sharp Turn Vary the time of motor being On as shown in Table 3 below Put the results into your own table 6 Save your script in ScratchDuino Robot by selecting in the main menu File Save as Scratch Projects folder filename 7 Disconnect ScratchDuino Robokit from the port For that right click on the Scratch Board panel Select the command to discon nect the port Remove the cable from the Arduino UNO cartridge or from the USB port at your PC 8 Plug in the Bluetooth adapter Fig 14 when space key pressed motor off stop all when Up arrow key pressed motor direction this way motor on for 0 4 secs when down arrow key pressed motor direction that way motor on for secs when right arrow key pressed mot
5. 10 Now create the proper page of ScratchDuino community member at the portal http wiki scratchduino com Take notice that your account name at the top of the page is highlighted red Fig 68 It means that the page has got a title but isn t created yet Click on the account name Fig 67 The name of the page that bears _ your photo Elena Vostrikova Talk Preferences Watchlist Contributions Log out Fig 68 From now on your page has a title but is not created so far 11 You ll get to the page with the message shown in Fig 69 i PAR 0 ScratchDuino m User page Discussion User Elena Vostrikova There is currently no text in this page You can search for this page title in other pages search the related logs or edit this page Fig 69 The page where you are offered to create a personal page Select the link Edit this page 12 A window of a text editor will open Editing User Elena Vostrikova You have followed a link to a page that does not exist yet To create the page start typing in the box below see the help page for more info If you are here by mistake click your browser s back button subst Template Rersonal user page Fig 70 Your page in the Editing mode For members of the community a template of personal page is provided To create a page it is enough to enter the phrase subst Template Personal user page very carefully without any mistake and click the Save page
6. 7N 7 Fig 31 Saving the settings in two different versions of BIOS 24 i FR 0 ScratchDuino a Provisions for Implementing the Projects Kit Components ScratchDuino Robokit is designed to teach students the basic programming skills using the measurement data obtained directly from the ambience The modules on offer allow to create a robotic mechanism able to send information about the environmental conditions to a PC Using the ScratchDuino Robokit the students will get acguainted with the basic microelectronic components as well as with the operation of sensors sensor calibration and configuring and then use this knowledge when creating their own programs Fig 32 Basic components of ScratchDuino Robokit Arduino UNO cartridge wheeled platform joined with cased microelectronic chip attachable sensors i LOL ScratchDuino gt _ gt iss A p P Suu p T Vai Si J 5 10 i 7 v f Fig 33 Kit components 1 two light sensors 2 two touch probes 3 two line detectors 4 a 18 cm long cable 5 housing for four AA batteries 6 one infrared eye sensor 7 two blank modules to implement individual ideas 8 Bluetooth adapter 9 a clamp for 6F22 battery 10 USB stick All the sensors and the chip are protected with a transparent plastic case MI P rd A 26 i ou ScratchDuino Connecting ScratchDuino Robokit 1 Install the software re
7. authors idea is to equip the ScratchDuino Robokit with a video camera shoot ing a film while the protagonist is overcoming a dangerous ravine a a S x a Fig 42 The route for the Canyon project l See https youtu be 0u2x_7InSyo 32 i LOL ScratchDuino Sensors Testing and Calibration To be able to create the projects to modify the ready ones and to construct the new kinds of sensors you need to study the sensors shipped with ScratchDuino Robokit Despite their being standard the sensors in different kits can have their own individual ranges of sensitivity One by one attach your sensors to ScratchDuino Robokit make the measurements as described below and fill Table 1 Putin front of ScratchDuino Robokit at a distance of up to 20 cm a blind alley of an inverted U shape as an obstacle to check the Infrared hereinafter IR Eye Study the relation between the values of analog0 analog3 and analog4 variables at ScratchBoard and the distance to the obstacle Put ScratchDuino Robokit with the line detector attached into three dif ferent positions sequentially on a white surface on a black surface and above the desk s edge Make sure that the values substantially differ for example 3 against 23 Expose the light sensor to the different light sources Simulate night twi light and noon conditions Determine the sensor s range and put the data into Table 1 Repeat this procedure
8. beep sound is played varying the time of the motor being On find the maximal time interval between the line detector checks so that the robot can move as fast as possi ble without dropping from the desk 48 i LOL ScratchDuino 49 Implementation 1 Follow the instructions of the section Connecting via USB 2 Use the endless loop _ to bring the robot to the edge The motor is switched on for 0 1 second then the line detector is checked For such a short time the robot covers a distance less than 1 cm which excludes the risk of dropping down when Up arrow key pressed forever motor direction that way motor on for secs if Analogs sensor value motor direction that way motor on for secs play sound ComputerBeeps1 stop script Fig 55 Script for the project Edge of the Desk 3 Test the script 4 Do the experiments 5 Save the file of the project i LOL ScratchDuino Light Sensor i Theme Night Work j JN Description Demonstration of the ScratchDuino Robokit motion hk se A A A A A A am when it finds a source of bright light using a light sensor and Any approaches the light until it hits a vertical wall then moves backwards for 2 seconds and waits until the light fades When another source of bright light appears in the visibility zone at twilight ScratchDuino Robokit can see a source of bright light within 360 ScratchDuino Robokit moves to the ligh
9. Secs point in direction hg move 40 steps vait Secs point in direction 907 move 40 steps wait secs point in direction 907 Fig 54 The way to remove a block from the script 47 i LOL ScratchDuino Line Detector Using one or more line detectors ScratchDuino Robokit is able to pass the routes of tricky configurations Before creating the projects for passing the routes made of basic tiles Fig 40 we ll consider the exercise of the line detec tor in a simple project Edge of the Desk i Theme Edge of the Desk J TA Description Demonstration of the ScratchDuino Robokit motion i 7 ni when the robot detects the edge of a desk a bench using the E yt line detector and moves backwards to a safe distance By exper iments find the maximal speed at which the ScratchDuino Robokit can ap proach the edge and manage to stop in proper time using only the data given by the line detector Playground any flat surface with a sheer edge a desk a bench a fat book etc Reguirements actors ScratchDuino Robokit and virtual actor able to play a beeping sound the line detector is placed in the central socket of the ScratchDuino Robokit which corresponds to a value of Analog3 variable the script starts to run on pressing the up arrow key on detecting the edge ScratchDuino Robokit stops and then moves backwards for 1 second when the robot stops the
10. with the other sensor Its range may differ Press the button of the touch probe Make sure that the variable takes only two values O and 100 Table 1 Probable Sensitivity Ranges of ScratchDuino Robokit s Sensor and Buttons Infrared eye 21 Zones left straightway right Optical sensor line detector 1 Optical sensor line detector 2 21 Photo resistor light sensor 1 BO 56 Photo resistor light sensor 2 95 Contact switch touch probe both sensors i LOL ScratchDuino 34 IR Eye is used to detect the obstacles at a distance up to 20 cm The IR Eye hardware board can be conventionally divided into three parts Fig 43 the central part is responsible for detecting an obstacle in front of ScratchDuino Robokit left and right parts each with two photo transistors and one LED are re sponsible for the obstacles to the left and to the right respectively Fig 43 IR Eye three zones to detect the obstacles The motion of ScratchDuino Robokit is caused by Fig 44 1 two reduction motors with rubber wheels to rotate 2 two ball bearings fastened at the platform fore and aft Fig 44 Motion devices a reduction motor with wheel and a ball bearing All the values read by the sensors except for the touch probe depend on the illumination in the room and the position of the light sources Keep in mind that the power voltage provided by a USB port is 5V It is enough for ScratchDuino R
11. 234 see Fig 10 i PAR 0 ScratchDuino 7 Bsr Onyx A Not visible to AVAILABLE DEVICES To pair with Scratchduino 000251 TAB A744 Type the device s required PIN Scratchduino 000251 1234 Usually 0000 or 1234 j BT PIN contains letters or symbols You may also need to type this Onyx PIN on the other device Jnly visible t Cancel OK PAIRED DEVICES Scratchduino 000251 Fig 10 Establishing the Bluetooth connection between ScratchDuino Robokit and an Android device Launch the ScratchDuino application In its top panel select the item Devices and then Search for devices ScratchDuino application will be automatically joined with ScratchDuino Robokit Fig 11 Scratchduino devices Scratchduino 000251 Cancel E amp ts Connected to Scratchduino 000251 Fig 11 Connecting ScratchDuino Robokit to ScratchDuino application i t i ScratchDuino 7 If you want to help the Project ScratchDuino you are able to do that right from the application Just click the button Donate Thanks Lou ScratchDuino eha Scratchduino m ScratchDuino ScratchDuino RUB569 00 Always Just once With this app you can control ScratchDuino robot writing simple programs Fig 12 How to help the Project ScratchDuino ScratchDuino Robokit Control via Bluetooth ScratchDuino Robokit and a PC can exchange the data via either USB cable or Bluetooth connection Bluetooth allows the
12. Links to all festival projects e Links to all festival projects negotiated by a participation Category party edit preschool education Primary schools 7 10 years Further education 7 10 years Family education 7 10 years Primary school 11 15 years Further education 11 15 years Family education 11 15 years High school 16 17 years High school students 18 23 School teachers e Teachers additional education e Party outside the category Nomination serving festival project edit ScratchDuinoLab e ScratchDuinoPobotKit e ScratchDuinoLab modification ScratchDuinoPobotKit modification Description of the festival project What you should know the participants who want to test your project You can add screenshots videos photo reports and other materials that prove the relevance of the project edit Link to download the festival project edit Active link to the file in sb Categories Project ScratchDuino 2016 Fig 76 A template page for a project portfolio i ra i ScratchDuino Ja Next it is important to fulfill all the sections of the portfolio Below a ready portfolio in editing mode is shown Name of author s of the project and the reference s of person s on the page http http wiki scratchduino com User Elena Vostrikova Participant category Not categorized Nomination to submitthe project ScratchDuinoRobokit Description oft
13. PC and the Robokit to communicate when they are within the distance 10 m from each other the distance depends on the obstacles and the noise In case of Bluetooth connection ScratchDuino Robokit is powered by a battery of 6F22 type Crone or by four AA batteries or using special adapters shipped with the kit Fig 13 Fig 13 A clamp for 6F22 battery and the housing for four AA batteries i LOL ScratchDuino NOTE When powered by batteries the Robokit wheels are rotating faster than when powered via USB the power voltage given by a USB socket is 5V J for peripheral devices against 9V of a 6F22 battery The kit includes a Bluetooth adapter connected to the USB port of a PC or a notebook Fig 14 Fig 14 Bluetooth adapter Before starting to work switch the jumpers located at the bottom of ScratchDuino Robokit into the Bluetooth position In this case ScratchDuino Robokit can be powered from both USB and batteries Take notice of the name given to ScratchDuino Robokit in Fig 15 it is Scratchduino 000279 Under this name the device is detected Bluetooth Scratchduino 000279 Fig 15 Position of the jumpers for Bluetooth connection i PAR E 0 ScratchDuino M Connecting ScratchDuino Robokit via Bluetooth for Windows Plug the Bluetooth adapter into a USB port The icon of Bluetooth will appear on the taskbar in the notification area Right click the icon and select Add a Device The PC will fin
14. USER MANUAL i ScratchDuino ScratchDuino Robokit St Petersburg 2015 JSC Tyrnet ScratchDuino Robokit St Petersburg JSC Tyrnet 2015 Printed by the order of JSC Tyrnet Reviewers Professor Irina B Gotskaya EdD Chairperson of IT Education Methodology Dept at Herzen State Pedagogical University St Petersburg Vuriy A Vinnitskiy Cand Sc Education IT teacher CEO Deputy over Exper imental Work at School Ne 169 with intensive study of English language St Petersburg Elena A Vostrikova ScratchDuino Robokit User Manual Elena A Vostrikova Leonid S Zakharov Ekaterina A Lvova St Petersburg Reprographics Center of JSC Tyrnet 2015 0p This User Manual is intended for school teachers educators or parents us ers of ScratchDuino Robokit which is an electronic kit of light sensor line de tector touch probe the infrared eye sensor and modules to create your own sensors The manual provides instructions on installing the software for the four major operating systems OS a list of components in the box description of the sen sors brief information about ScratchDuino and Scratch software examples of working scripts instructions on registering and placing individual projects at wiki scratchduino com as well as the cases of organizing children s and adults cooperation within the framework of the festival ScratchDuino Libre Robot
15. Wiki Mail scratchduino email address confirmation Someone probably you from IP address 94 199 78 161 has registered an account Fig 63 The subject of the message in your Inbox folder PAR 0 ScratchDuino m Someone probably you from IF address 94 199 78 161 has registered an account Elena Vostrikova with this email address on scratchduino To confirm that this account really does belong to you and activate Pl email features on seratcheuino open this link in your browser http Awiki scratchduina saiad ecial ConfrmE mail 61360afc 60eafafea2419deo4 696c5 Fig 64 The body of the message in your Inbox folder 6 On clicking the link in the message you get to the project website at a page with the wording shown in Fig 65 Special page Confirm email address Your email address has now been confirmed Fig 65 The page appearing after the confirmation of your email address 7 Proceed with creating your personal page where you can upload your pro jects for the sake of ideas exchange and discussions Many of the members of ScratchDuino Wiki portal have never met each other so it would be nice to place at the page a photo portrait of yours It is advisable to choose the one showing you in a good mood as making the robotic projects is a pleasure after all The size of the photo file must not exceed 2MB Accepted are file formats PNG GIF JPG JPEG 8 Select the link Upload file in the left menu of th
16. an be John Doe John Doe etc Avoid the impersonal names Click the Create account button Create account Already have an account Log in To help protect against automated account creation please answer the question that appears below more info Are you robot no Username Elena Vostrikova Password eesesesee Retype password e sese Email elena vostrikova scratchc Email address is optional but is needed for password resets should you forget your password Real name Elena Vostrikova Real name is optional If you choose to provide it this will be used for giving you attribution for your work Remember my login on this browser for a maximum of 180 days Create account Fig 61 The fields to fill in at creating an account 4 If all the fields are filled correctly you will see a notification similar to shown in Fig 62 Login successful A confirmation code was sent to your email address This code is not reguired to log in but you will need to provide it before enabling any email based features in the wiki Welcome Elena Vostrikova Your account has been created You can change your scratchduino preferences if you wish Return to Main Page Fig 62 A notification about successful creation of an account 5 Check your Inbox and make sure that the message has not got into Junk Mail The sample body of the message sent to your email address is shown in Fig 64 Click the link within the message Media
17. and Install Result In a few seconds two icons will appear at the desktop or in the applica tion list of the Start button depending on individual setup Scratch and ScratchDuinoRobot Fig 1 4 ScratchDuino 0 3 Scratch A ScratchDuino Robot Fig 1 The icons to appear To operate ScratchDuino Robokit the software ScratchDuinoRobot is intended To launch click the Robot icon es i ou ScratchDuino 2 How to install the driver run the executable windows ScratchDuino drivers exe from CD or download it from the file server and run Inthe dialog boxes of the Installation Wizard click Yes then Next Install and Finish ScratchDuine USB driver ju Completing the Device Driver Installation Wizard The drivers were successfully installed on this computer You can now connect your device to this computer If your device came with instructions please read them first Driver Name Status Arduino Sd www arduin Ready to use V Arduino LLC www ardui Ready to use v libusb win32 libusb0 lib Ready to use Fig 2 Dialog boxes of Installation Wizard A note for users You will not find any Arduino IDE software either on the CD or on the file server of the project This is intentional as with Arduino IDE installed it is possible to reprogram the pre programmed Arduino UNO cartridge Hence to avoid confusions we do not recommend Arduino IDE installatio
18. atchDuino Fig 73 Your page with personal content PAR 0 ScratchDuino m Click on the category Community members ScratchDuino and you ll get to the page with the list of those who have created their pages and are preparing or are ready to upload their projects Now you can explore the community mem bers pages and participate in the discussions on completed projects i ScratchDuino 60 wiki scratchduino com Uploading a Project If you have created a project that you think exciting and you are ready to share it with the community then send your brainchild to the annual ScratchDuino Libre Robotics Festival At your personal page in the Editing mode add a name of the page to place your project at For this you need to type in the name adherent to following conventions 1 The name must begin with the word Project 2 After a blank space mention the nomination relevant to your project 3 The name must be unique and not coinciding with the name of any other project To ensure this go to Category Projects and check if the name is not used by anybody else An example of such a name follows Project ScratchDuinoRobokit blackline 4 Click the button Save page User page Discussion User Elena Vostrikova City Novokuznetsk amp Russia School municipal autonomous educational institution of additional education Training Institute Position department manager My contribution to the pro
19. button As a result your page will be created with a standard content Fig 71 User Elena Vostrikova I City Here write your region and city settlement ScratchDuino i community School Please write the name of their school Give a link peaked y Position Adult members of the community are writing a post and providing a link to a personal blog site Children can delete this line cratchUuino There must be My contribution to the project ScratchDuino your Name asa A A E 2 signature to a Here post links to your portfolio pages with creative projects phoi Example e project ScratchDuinoLab gameship Replace the example in the pages of his projects My discussion of creative projects of other members of the community ScratchDuino Here post links to pages portfolio of creative projects of other members of the community ScratchDuino in the discussion of which you took part until 31 December Usually these are the projects that you like or projects that you would like to improve Category Community members ScratchDuino Fig 71 Standard content of your page 13 Go to the Edit tab Fill in the mandatory lines at Personal page of Communi ty member ScratchDuino Replace the filename Logo 1024be1 300x54 png with the filename of your own photo Instead of Community member ScratchDuino type in your Name and Surname etc For example in the Editing mode a personal page can be made as follows File 11 04 2015 jpg
20. cally Remember the number of the COM port It is the port you ll need to select 4 in ScratchDuinoRobot In Fig 3 Arduino UNO matches the port COM9 i LOL ScratchDuino Linux OS Family There are three ways to install the ScratchDuino Robokit soft ware for GNU Linux OS family Use the CD shipped with the kit Download the packages from the file server of the project http files scratchduino ru Install from a dedicated repository containing the installation packages for ScratchDuino Robokit software install scratch_1 4 and virtual machine squeak vm via the official reposito ries of your Linux distribution or download from the developer s website In such a case Scratch will not work with a serial port and therefore you will not be able to program ScratchDuino Robokit via ScratchDuino software Please note that that the version of the package for the virtual machine squeak vm based on which Scratch 1 4 operates must be 4 0 3 2202 ScratchDuino software is based on Scratch 1 4 It is not recommended to Installation from the CD The packages for installing the software under an OS of Linux family are on the CD in the linux folder Installation packages are built for some of the most common Linux distribu tions RHEL CentOS Fedora Scientific Linux Ubuntu Debian openSUSE SLED and found in a folder with the appropriate name mentioning the version of the distribution If there is no di
21. ckage gnome session fallback for Ubuntu 14 04 and later gnome session flashback so that the WM choice would be available at the login window Fig 4 Select desktop environment lt 2 GNOME Flashback Compiz 2 GNOME Flashback Metacity Ubuntu Default Fig 4 Login window When logging in select the Metacity WM i ra i ScratchDuino A Connecting ScratchDuino Robokit and Selecting a Port in ScratchDuino Launch ScratchDuino from the GUI or from the console In the ScratchDuino window that pops up select the blue block Sensing then right click on the block Sensor and select show ScratchBoard watcher Fig 5 Based on Scratch from the MIT Media Lab Motion Control Looks Sensing Sound Operators Pen Variables touching gt sensot Ol help touching color 4 ET LSA YEASTS LOE EET SP PUES TASE TST RLY LEE show ScratchBoard watcher color is touching 4 enable remote sensor connections Fig 5 Right click menu of the block sensor Then right click on the grey background and choose select serial usb port Fig 6 Fig 6 Right click menu of the ScratchBoard Select dev ttyACMO in the drop down list i PAR 0 ScratchDuino A Mac OS Family To install the software for Mac OS it is possible to use the CD shipped with ScratchDuino Robokit or to download the installa tion files from the file server of the project There is no need to install the drivers f
22. d all available objects Select the desired one in our case Scratchduino 000279 and click Next Add a Device aa tay kd a Allow a Device tc Show Bluetool Windows will continue to look for new devices and display them here soo Receive a File Join a Personal A Open Settings Remove Icon 8 Ol Fig 16 The interface of Bluetooth manager To ensure the security of Bluetooth connection you ll be asked to provide a PIN code which is 1234 Select Enter the device s pairing code and type 1234 in the textbox 0 add a devie 9VVXCEEKKEEEEEEEEEEEEML 3 2 nada device Create a pairing code for me The device has a keypad device with a code Check for one on the device or in the device manual gt Pair without a code fin tle device such as a mouse does not require a e Connection How can I tell if my device has a pairing code What if can t find the device pairing code ws coat e ere Fig 17 Device pairing The port for the Bluetooth connection can be found through the Device Manager in our case it is COM13 Select this port when working with ScratchDuinoRobot software Fig 18 A EA F Network adapters Ports COM amp LPT od Communications Port COM1 e ms Standard Serial over Bluetooth ink COM13 oe l Fig 18 Port of connection i ra i ScratchDuino M Connecting ScratchDuino Robokit via Bluetooth for Linux To operat
23. e ScratchDuino Robokit via Bluetooth connection under an OS of Linux family we recommend to install the Bluetooth manager Blueman and work through it Plug the Bluetooth adapter into USB port of your PC and switch the jump ers located at the bottom of ScratchDuino Robokit into Bluetooth position Fig 15 Right click the Bluetooth icon and select Devices In the window that appears click Search In a few seconds the device Scratchduino XXX will be de tected Fig 19 Bluetooth Devices Adapter Device View Help devic 22 A Scratchduino 000279 Setup Send s 98 03 31 50 1E FC A 08 2 A 0l 2ZC FA 60 28 14 08 26 AT 20 00 09 1A 18 32 Fig 19 The GUI of Blueman To communicate with ScratchDuino Robokit click the bunch of keys icon and enter the PIN code 1234 cy Adapter Device View Help i Pairing request ri Fi m Search k lt gt E Setup Pairing reguest for device Whio Seratchduino 000279 n 98 03 31 50 1E FC Enter PIN code for authentication Pe O Show input Create pairing with the device 98 D3 31 50 1E FC FA 60 28 14 08 2B aes 14 06 26 20 00 09 1A 18 32 Unknown 20 00 09 14 18 32 Cancel Fig 20 Device pairing i PAR 0 ScratchDuino m Next you need to specify the way of connection via a serial port On a suc cessful connection you ll be notified
24. e portal At the page that opens find and click the upper button Upload file Browse your PC to choose the appropriate photo file This file will be displayed at the page However it isn t uploaded yet At the bottom left of the page find the Upload file button Click it i PAR z 0 ScratchDuino a Special page Go Search Upload file Use the form below to upload files To view or search previously uploaded files go to the list of uploaded files re uploads are also logged in the upload log deletions in the deletion log To include a file in a page use a link in one of the following forms e File File jpg to use the full version of the file File File png 200px thumb left alt text to use a 200 pixel wide rendition ina box in the left margin with alt text as description e Media File ogg for directly linking to the file without displaying t r Source file Source filename Upload file Maximum file size 2 MB a file on your computer Permitted file types png gif jpg jpeg 11 04 2015 jog 550 x 807 148 KB r File description Destination filename 11 04 2015 jpg Summary Licensing None selected Upload options Watch this file Ignore any warnings Fig 66 The Upload file buttons freer 9 As a result the page with the uploaded file will look like shown in Fig 67 Copy the title of the page In our example it is File 11 04 2015 jpg
25. ed to boot your PC from the USB stick This option has the following ad vantages ScratchDuino Robokit is ready to work with a PC that runs any OS which Saves you time for software installation Once that the USB stick is plugged in you can run the ScratchDuino software in a few minutes and start to do your programming following the instructions on page XX Figs 5 and 6 You get a full fledged working version of a Linux OS without modifying the hard disk of your PC that remains untouched However this method has certain drawbacks the OS boots relatively slowly the number of rewriting cycles for USB sticks is limited from 10 000 to 100 000 depending on the make The lifetime of a USB stick under a heavy us age is not very long Therefore if you need to use the ScratchDuino Robokit on a regular basis for example at training courses you ll be better off in case of installation on the hard disk Below there is a step by step beginner guide on booting the software from a USB drive 1 Plug the USB stick in and boot or reboot your PC 2 When the BIOS starts booting a list of the keyboard keys shows at the screen for a rather short time that are able to get you into the Boot Menu Typically these are F2 F8 F10 F12 and Delete The keys are displayed at the screen with the vendor s logo For a one time changing the boot order it s bet ter to use the Boot Menu otherwise you should change the BIOS sett
26. elect the sound Dog1 in the Animal folder Then select the block play sound in the Sound group A drop down list shows only the uploaded sounds Sound tab ScratchDuino Robokit has no audio system and the command play sound is to be done by virtual Actor Before building your script you need to enable the sound effect In the i PAR 0 ScratchDuino kl Co operation of the Sensors and the Motor Touch Probe We go on with the algorithms and start studying the sensors Branching algorithms An algorithm is called branching if it has several options to choose for a further action The choice can be simple in case of two alterna tive options or complicated when there are more than two options Fig 50 Fig 50 A complicated choice The moment of a choice is called the branching point Branching is one of the three basic structures of algorithms along with the linear flow of commands and the loop All the programming languages have special operators or com mands conditional operators to implement an action depending on a stat ed condition ScratchDuino has three conditional operators in its Control group complete branching IF THEN ELSE incomplete branching IF THEN and pause WAIT UNTIL Fig 51 Fig 51 Conditional operators in ScratchDuino Theme Getting around an Object 2 Description ScratchDuino Robokit like in the previous project Cat travels around an object The
27. fer to the section Installing the Software for ScratchDuino Robokit of this Manual 2 Make the ScratchDuino Robokit assembly Join the Arduino UNO cartridge in a transparent case with the wheeled platform Connect the Arduino UNO cartridge with the PC via the USB cable Put the jumpers at the bottom of ScratchDuino Robokit into a proper po sition according to the selected option of connection At any option ScratchDuino Robokit can be additionally powered from the batteries Remember the name of ScratchDuino Robokit in Fig 34 it is Scratchduino 000144 The device will be given this name on detecting in case of Bluetooth connection USB Bluetooth Scratchduino 000144 Fig 34 Two operation modes of ScratchDuino Robokit 3 Check the COM port at which Arduino UNO is installed refer to the sec tion Installing the Software for ScratchDuino Robokit of this Manual ScratchDuino 4 Launch the application Hii see Fig 35 i LOL ScratchDuino 28 a rat tat tat Scratch Based on Scratch from the MIT Lab sz fl File Edit Help Motion Control Sprite1 JJ Ars Looks Sensing move steps turn y degrees turn degrees point in direction Elik motor direction this way motor on for secs go to glide secs to x 0 y change x by set x to 0 change y by set y to 0 motor direction that way x 970 y 733 New sprite sY EX PX Sprite
28. firmware file Fig 26 0 sduino laboratory robot Arduino File Edit Sketch Tools Help M sduino laboratory robot il ff digital input pin define BUTTON 12 define button crestl 8 define button crest2 9 define button crest3 19 define button crestd 11 Fig 26 GUI of Arduino IDE PAR 0 ScratchDuino M Connect the cartridge to your PC via the USB cable Using the GUI make sure to select Arduino UNO and the correct port for the device Fig 27 USE Help Auto Format 7 o8 0020 Archive Sketch Fix Encoding amp Reload Serial Monitor it 38 M Board AN Arduino Une Serial Port Muuli Cuemilanove or M Arduinna Pierimila MPuemil Fig 27 Selecting a version of Arduino To load the firmware into your cartridge click the Upload icon Fig 28 On suc cess you will see a notification Done uploading sauino laboratory Sketch Tools Help Upload o laboratory robat f digital input pin define BUTTON 12 define button_crestl1 8 define button crest 5 define button crests 19 define button crest4 11 Fig 28 Uploading a sketch i ou ScratchDuino Running Software from a USB Stick without Installation on the Hard Drive In the kit there is a USB stick with a ready version of a Linux operating system OS installed The OS includes an Arduino UNO driver and the software of Scratch and ScratchDuino To start working with ScratchDuino Robokit you on ly ne
29. for secs play sound Dogil 4 Test the script 5 S the file of th ject ave tne the OT the projec Fig 52 An algorithm with branching How to build a block checking a condition Fig 52 shows the blocks checking a condition Such block is built as follows you drag one after another the block IF THEN from the Control group a logical expression from the Operators group and the sensor value from the Sensing group see Fig 53 46 i LOL ScratchDuino Analogs sensor value 24 Fig 53 How to build a block checking a condition The numeric value can be changed in the Edit field The comparison character gt or lt can be changed by a right click when the mouse pointer is hovering over it Editing the script If you need to remove a block from a ready script the rule Detach at the bot tom is used As an example to remove a block from the script in Fig 54 the block is marked by a red arrow you have to 1 tear away the piece of the script below the block that you want to remove putting this piece aside 2 tear away the said block in the same way 3 bring back the former torn away piece and snap it to the bottom of the upper piece of the script wait A Secs point in direction hg move 40 steps wait 25 1 1 point in direction 907 move 60 steps point in direction 90 Y move 60 steps wait ED Secs point in direction O Y wait AD
30. he project Demonstration of the motion of ScratchDuino Robokit that uses the line probe mounted in the central socket analog 3 to detect a black line and travels along the line Project Field Made ofthe tiles Straight Line and Smooth Turn Link to download the project https goo gl GgWnOp Active link to a sb file Category Project Category ScratchDuino 2016 Click the button Save page From now on your project is available for the whole community The com ments can be read and written at the project page atthe Discussion tab i ou ScratchDuino Rules on Discussing the Projects at wiki scratchduino com The Festival is not a contest but a live exchange of ideas findings and ready projects as well as a permanent search of the best ways to introduce the libre robotics That is why along with the number and the quality of the projects up loaded the Expert Group will consider also the number and the quality of the discussions led by a participant The discussion is always a dialogue one person puts questions and another person answers If somebody has left a question for you at the Discussion tab Fig 77 or there are criticisms or ideas offered to make your project better it is considered a good practice to thank for the question and give a detailed an swer to agree with a criticism or retort against it to consider and accept de cline the suggestions Page Discussion Editing Talk P
31. i Portal of Project ScratchDuino Signing UP cccceceeseeceeseeseeeeeeseeeees 53 wiki scratchduino com Uploading a Project srerrrserersnnes 60 Rules on Discussing the Projects at wiki scratchduino com 63 Information Sources for Project ScratchDuino rereeeneeneeeenaennee 66 jooge OA A 67 Statutes of ScratchDuino Libre Robotics Festival c cccccscecececcscsceeeeeecs 67 i LOL ScratchDuino Installing the Software for ScratchDuino Robokit Windows OS Family To work successfully with ScratchDuino Robokit under Windows it a is necessary to install the visual programming environment for Scratch 1 4 software for ScratchDuino Robokit robot and Arduino UNO driver In addition advanced users might want to install Arduino IDE the integrated developer s environment for Arduino UNO The software can be obtained from the CD shipped with ScratchDuino Robokit from the file server of the project http files scratchduino ru Installation from the CD or from the File Server of the Project 1 How to install Scratch Run the installation file windows Scratchduino exe from the CD or download and run the installation file from the file server Result both Scratch and ScratchDuinoRobot will be installed The Installation Wizard will ask you to choose a language choose Eng lish then press Ok Next
32. ings 3 On pressing the proper key the Boot Menu window appears Fig 29 22 i LOL ScratchDuino Please select boot device Select a Boot First device Floppy SATA SM 5T3500410AS LS128 General USB CDROM SMI USB DISK 1100 USBoHDD Legacy LAN BoiSpare ana aarpyanm c Gnowukm Enter Net up TL Move Enter Accept ESC Exit Fig 29 Choice of bootable devices in the Boot Menu Select the option with the USB stick name among the available options Wait for the OS to boot It takes some time Launch ScratchDuino see Figs 5 and 6 Op oY Do not unplug the USB stick before shutting down your PC In the early versions of BIOS there is no boot menu In this case you can change the BIOS settings to enable booting from a USB device Be careful when changing the settings A mistake can cause the software or hardware failure Every vendor has its own idea of the BIOS menu layout but most of the BIOS menus include the general settings power mode time and date boot order in Advanced BIOS Features or BIOS Features and so on 1 ScratchDuino Boot Virus Detection Fig 30 Windows to select the boot order in two different versions of BIOS 8 Early versions of BIOS do not support mouse input You have to navigate the menu using the keyboard 9 On selecting the bootable device as USB save the changes and close the BIOS settings window Fig 31 SAVE to CMOS and EXIT
33. ite printer and join them in the required order with glue 30 i ou ScratchDuino Winding Right Line Sharp Turn J Smooth Turn 31 Side Road Crossroad Inverted y 7 Right Line Inverted Inverted 6 Smooth Turn Crossroad Fig 40 Tiles to pave the playground 3 Contests and training in the Labyrinth a maze nomination are carried out in a field made of compartments A basic compartment of the labyrinth oc cupies an area of size 300x300 mm its height is 100 mm or taller START FINISH Fig 41 A simple labyrinth for ScratchDuino Robokit 1200x600x130 mm i ou ScratchDuino IR Eye lets the ScratchDuino Robokit traverse a simple labyrinth which can be made of a lightweight and endurable material for example foamed plastic A plan view of such a labyrinth is shown in Fig 41 The playground is a hallmark of robot competitions its general configuration has been kept for years only its details sometimes vary ScratchDuino Robokit helps to get ready for more complicated competitions in the Labyrinth and Tra jectory nominations 4 Except for the contests the playground of ScratchDuino Robokit can be used at implementing creative projects In this case the dimensions and the shape of the playground is limited by author s imagination only For example Fig 42 shows a piece of an unusual shape for a creative project Canyon The
34. ject ScratchDuino Project ScratchDuinoLab gameship Project ScratchDuinoRobotkit blackline Elena ei Vostrikova My discussion of creative projects of other members of the community ScratchDuino null Category Community members ScratchDuino Fig 74 The page of project portfolio has got a name but hasn t been created yet Click the newly created link and go to the Editing mode for the new page i PAR E 0 ScratchDuino m Editing Project ScratchDuinoRobotKit blackline m ki subst Template Festival project ScratchDuino Fig 75 Editing mode for a new page For the Festival participants the template is provided to make the deployment of a project portfolio easy To create the page it would be enough to type in very carefully without mistakes the phrase subst Template Festival project ScratchDuino and click the Save page button As a result the portfolio of the project will be deployed Project ScratchDuinoRobotkit blackline Contents hide t Name of author s of the project and the reference s of person s on the page http http wiki scratchduino com 2 Category party 3 Nomination serving festival project 4 Description of the festival project 5 Link to download the festival project Name of author s of the project and the reference s of person s on the page hittp http wiki scratchduino com edit On the personal page should contain e Full Name e Photo is desirable e
35. l if on edge bounce x position y position direction Fig 35 The ScratchDuino environment 1 ScratchBoard the panel that shows the data from the sensors 2 the Block Palette groups of commands 3 the Script Area 4 commands from the Motion group 5 a Virtual Actor Sprite 6 background of the current stage a white box 7 the Sprites Panel 8 the Stage area 5 Select the buttons group Sensing then the block sensor at the bottom right click it and in the window that appears select a command show Scratch Board watcher Fig 36 help show ScratchBoard watcher enable remote sensor connections Fig 36 Right click menu of the block sensor i PAR 0 ScratchDuino m 6 Right click on the grey background and choose select serial USB port Fig 37 off Analogo EAW Analogi MET Fig 37 Right click menu of ScratchBoard 7 Attach a sensor for example the light sensor to ScratchDuino Robokit Note that the numeric values at the ScratchBoard have been changed Fig 38 shows the relation of the sockets at the platform and the values of variables off Analogi E Analogi ET Analog E Analog EM Analog4 ET Analogs E Button E A GEI Fig 38 Sensors panel BEFORE and AFTER attachment of two sensors and mapping of the sensors i ou ScratchDuino Setting up a Playground for Creative Activity and Contests ScratchDuino Robokit i
36. motion starts on pressing the but Aa y ton touch probe by a human intervention as a Start com mand Playground any flat surface of a size 500x500 mm with an object in the middle of a size 120x120 mm to travel around i ou ScratchDuino Requirements Actors ScratchDuino Robokit and a virtual actor able to play a sound of barking the script starts to run on pressing the up arrow key the motion is initiated by pressing the button of the touch probe on getting around the object the ScratchDuino Robokit must stop by it self when reaches the starting point approximately each time the ScratchDuino Robokit changes the direction of its motion the virtual actor barks like a dog the script stops and the motor is switched off on pressing the space bar of the keyboard Implementation 1 Follow the instructions of the sec tion Connecting via USB when space key pressed motor off 2 Use Fig 52 to modify the script st op all 3 As you can see the incomplete when Up arrow key pressed branching was added to the Analog3 sensor value 1 00 ready script with the condition to check the value read by the touch probe This value is taken from the connected ScratchDuino Robokit As per the Se PRAY SERBIA To requirement the script runs when the fhotor on foe y 55 v es button at the probe is pressed motor direction this way motor on
37. motor is running 0 01 then 0 5 sec t 3 Why analog value is compared first with the number 6 and then the number 18 A script would work on a narrow strip Remarks The line is too wide Everything else is good Suggestions It would be better to use variables Waiting for your new projects x Fig 78 An example of a discussion page in Editing mode You might begin your questions with When How Where Why Is it right to believe that What if Is it possible to At which line of the script etc The advisable introductory phrases for your comments might be as follows It would be better if On clicking point to a mistake that the author has not noticed It s a pity that is missing etc You should make your suggestions as if you are in the stead of the author There is always a way of getting the project better We are looking for the best solutions together so any useful idea to help the author is welcomed i LOL ScratchDuino 65 Page Discussion Talk Project ScratchDuinoRobotKit blackline Hello Elena could not itself create such a script My questions 1 Why the motor is running 0 01 then 0 5 sec 2 3 Why analog value is compared first with the number 6 and then the number 18 3 A script would work on a narrow strip Remarks 1 The line is too wide 2 Everything else is good Suggestions 1 It would be better to use variables Waiti
38. n If ScratchDuino Robokit model 000242 is connected to the PC via USB the motor must be On for 2 seconds to turn right by 90 If the same mod el is connected to the PC via Bluetooth and is powered by a voltage of 7 6V the motor must only be On for 0 9 seconds to turn right by 90 You can use the built in Bluetooth adapter of your PC if there is no such adapter use the one shipped with the kit For this test a 7 6V lithium polymer battery was used depending on the state of charge it gives a voltage of 6 6 8 4V i PAR 2 ScratchDuino Ja When the power voltage increases the rotation rate of the motor increas es drastically The success at a contest depends both on the script quality and on the technical state of the Actor Loop algorithms A loop is a series of commands to be repeated until a specified condition becomes true Thanks to the operators controlling the loop the script can be done much shorter ScratchDuino provides the blocks for four kinds of loops unconditioned endless with a counter with a pre condition and with a post condition Fig 48 repeat repeat until et Fig 48 Scratch blocks for loops Theme Getting around an Object TE Description Demonstration of the ScratchDuino Robokit motion lt when getting around an object Explore the relation between the is lpi time of motor being On and the covered distance Use a virtual 0 actor to play a sound on the actions of Sc
39. n for inexperienced users However if you do realize what you re dealing with you can happily install the Arduino IDE software from the developer s website see the next section i ou ScratchDuino How to Install the Arduino IDE Software from the Developer s Website Download the fresh version of the Arduino IDE software from the developer s website https www arduino cc en Main Software and follow the installa tion instructions https www arduino cc en Guide Windows How to Connect ScratchDuino Robokit via USB Cable Plug the USB cable shipped along with ScratchDuino Robokit into the USB port of the PC and into the Arduino UNO cartridge To ensure the communication between the ScratchduinoRobot and ScratchDuino Robokit you need to know the number of serial port connecting ScratchDuino Robokit to the PC For this purpose go to Device Manager usually found at Control Panel a Device Manager Eile Action View Help e 7 H EI 4 electrotop ip Batteries Biometric Devices J Bluetooth Radios Computer c Disk drives A Display adapters ot DVD CD ROM drives ss Human Interface Devices cw IDE ATA ATAPI controllers IEEE 1394 Bus host controllers Keyboards JA Mice and other pointing devices A Monitors a Network adapters 4 9 Por OM amp LPT A Processors Fig 3 A snapshot of Device Manager window showing the number of serial COM port to which Arduino UNO is connected automati
40. ng for your new projectsl Daria Zinovieva talk 14 16 8 August 2015 MSK Fig 79 An example of a discussion page in Read mode The Expert Group of the Festival does not deal with the anonymous mes sages Having your message complete always click the button Your signa ture and timestamp i ou ScratchDuino Information Sources for Project ScratchDuino ScratchDuino official website File server ScratchDuino Wiki ScratchDuino Group at Google ScratchDuino video channel at YouTube Group at VKontakte social network Personal blog of Yuriy Vinnitskiy Russian speaking help desk http www scratchduino com http files scratchduino ru http wiki scratchduino com https goo gl uVRm6D https goo gl Y5jDz8 http vk com scratchduino https sc169 wordpress com support scratchduino ru 66 i PAR 0 ScratchDuino M Appendix Statutes of ScratchDuino Libre Robotics Festival 1 General Provisions All Russia International in case of foreign participants festival ScratchDuino Libre Robotics hereinafter the Festival shall be held annually in accordance with the state policy concerning the development of educational robotics and lifelong IT education in the Russian Federation Founders of the Festival JSC Tyrnet and partners The objectives of the Festival are generalization and promotion of the experience of applying the libre ro botics introduction of libre robotic
41. nstration of the ScratchDuino Robokit motion t ite when it detects an obstacle using IR Eye and travels along he 8 a Playground the arena which is an area bounded with a hollow cylinder as a fence of a 100 mm height Requirements the Actor is ScratchDuino Robokit IR Eye sensors must be attached to the left right and central sockets of ScratchDuino Robokit which corresponds to the values of variables Analogo Analog4 and Analog3 the script starts on pressing the key up arrow the script stops and the motor is switched off on pressing the space bar of the keyboard the Actor makes a lap around the arena Implementation when Up arrow key pressed when space key pressed forever motor off motor direction this way stop all motor on for secs if AnalogOd sensor value 85 repeat until AnalogO sensor value motor direction right motor on for secs Fig 58 Script for the project Arena gt See the video of working script at https goo gl photos xGqDPZGMLJc77z7C9 i ou ScratchDuino Promoting the Community of the Like Minded Each lucky owner of ScratchDuino Robokit project constructor be it a teacher or parents with time starts to feel some disappointment what is next As a rule their ideas of creating new projects quickly come to an end However if there is a place where you can show off your projects and get them comment ed or watch the
42. nts of the Festival are being chosen ranked by educa tional level within the nominations Stage 3 Final February 7 International Day of Robotics the best participants of the Festival are announced and awarded 3 2 The examination of the projects shall be made within two or four in case of such kinds of projects nominations taking into account the educational level ScratchDuino Lab ScratchDuino Robokit ScratchDuino Lab modification ScratchDuino Robokit modification 3 3 The participants themselves shall upload their projects to the portal http wiki scratchduino com as a project portfolio with mandatory indica tion of the participant category Category Projects Category ScratchDuino 2016 3 4 The projects submitted shall have no feedback review of the Expert Group 3 5 The names ofthe best participants of the Festival shall be placed atthe homepage of the Festival website 4 Selection Criteria To Choose the Best Participants of the Festival number and quality of the projects submitted number and quality of the discussions held by the participant on the pro jects of other people i PAR 0 ScratchDuino p 5 The Festival Schedule 5 1 The project portfolio is to be placed at http wiki scratchduino com by oo JA 20 5 2 The list of the best participants mentioning their awards is to be published at the homepage of the Festival website on February 7
43. obokit to work but its speed will be not very great The volt age can be raised by an extra power source a 6F22 battery or four AA batter ies or an accumulator The kit includes two ready devices that can be used in case of USB connection to provide additional power In case of Bluetooth i PAR 0 ScratchDuino M connection a power source is a must to have because the Scratch Duino Robokit cannot move without the batteries When the power voltage in creases the speed of ScratchDuino Robokit increases too 5V can produce deviations or will not work at all when Scratch Duino Robokit is powered with an extra source as well as in the case of Bluetooth connection It is important to know that an algorithm developed for a USB connection Attaching the Sensors All the sensors of ScratchDuino Robokit are held in place by neodymium mag nets There are five universal sockets at the platform usable for all sensors Fig 38 It makes the work much easier at the beginning Touch probes and line detectors because of their functionality are protruding by 4 cm beyond the ScratchDuino Robokit platform When filling Table 1 the problematic situa tions shown in Table 2 are possible Table 2 Testing the Sensors of ScratchDuino Robokit Troubleshooting A sensor does not Check the contact between the sensor and the plat send the due values form Make sure that the sensor has three legs and a to ScratchBoard in f
44. or Arduino Mac On the CD the installation file is in the mac ScratchDuino dmg folder The link to download from the file server is http files scratchduino ru Software Mac ScratchDuino dmg To install the software just open Scratch dmg and drag the ScratchDuino folder into the Application folder Fig 7 eoo Jsbuino E gt j Application SDuino ScratchDuino Fig 7 The window looks like that Open Application in a file manager go to the ScratchDuino folder and run the executable Fig 8 0 00 2 Applications EEA Date Modified Size i Kind QuickTime Player 26 06 2013 13 52 33 8 MB Applicatior _ Reminders 26 06 2013 13 52 10 5 MB Applicatior Safari 26 06 2013 13 52 30 MB Applicatior Y ScratchDuino Ceroans 23 30 Folder gt Help 14 11 2013 21 42 Folder license txt 14 11 2013 21 19 1 KB Plain curr locale 14 11 2013 21 19 Folder gt LD Media 14 11 2013 21 42 Folder gt Projects 23 01 2014 15 32 Folder README txt 14 11 2013 21 19 5 KB Plain curr G2 Scratch image 11 11 2013 12 29 5 7 MB Squea ge M Scratch ini 14 11 2013 21 19 228 bytes Unix E le 14 11 2013 21 19 6MB Applicatio IN AT 2012 Ane cc TAO Anntiessi Chima L Macintosh HD Applications ScratchDuino 15 ScratchDuino Fig 8 Running the executable In the Scratch window that appears select the blue block Sensing then right click on the block sensor
45. or direction right motor on for 0 4 secs when left arrow key pressed motor direction left motor on for 0 4 Secs Fig 47 Linear algorithm Scripts to control ScratchDuino Robokit from the keyboard 9 Connect the Arduino UNO cartridge to a power source using the block for connecting AA batteries PAR 0 ScratchDuino m 10 Connect the Bluetooth refer to the section Installing the Software for ScratchDuino Robokit of this Manual When asked for a password type 1234 11 Check the Bluetooth port with the Device Manager Fig 18 Follow the instruction from the section Connecting with the jumpers in the Bluetooth position 12 Open the script you have saved before File gt Open Scratch Projects Folder filename Run a trial launch of ScratchDuino Robokit Make sure that it is controlled via the keyboard and Bluetooth 13 Run a series of tests on the playground made of one basic tile Sharp Turn varying the time of motor being On as shown in Table 3 Put the results into your own table Table 3 Relation between the Time of ScratchDuino Robokit Motor Being On and the Turning Angle Time in seconds specified by the block motor direc tion Right When connected When connected via USB 5V via Bluetooth 7 6V Turning Turning angle degrees Number of the Number of the right arrow angle right arrow pressings degrees pressings Conclusio
46. or on for 0 5 secs repeat until 50 Analog3 sensor value if Analag0 sensor value Birra Analog4 motor direction right motor on for secs else motor direction left motor on for secs motor direction this way motor on for 0 5 secs motor direction that way motor on for secs wait until 50 Anaiog4 sensor value Fig 57 Script for the pro ject Night Work 2 Testing the light sensors see Table 1 has shown that their sensitivity ranges differ significantly therefore an adjusting ratio of 1 27 is introduced 3 To determine the direction to the light source more precisely the ScratchDuino Robokit is slightly modified between the sensors two blinders are inserted which are two cardboard pieces of a size 70x35 mm put on the left hand and the right hand sides of the touch probe i e between it and the light sensors Fig 56 4 To increase the contact angle a little spring is fixed at the ending of the touch probe as a bumper It is a useful modification of the touch probe The robot approaches the light source at a small angle The touch probe triggers only with the ee contact at 90 5 With the modifications as simple as these the Actor performs a rather complicated task The script is shown in Fig 57 See the video of working script at https goo gl photos tDwto2Q7s6U9ALI4A i LOL ScratchDuino 52 IR Eye Sensor Theme Areng FA Description Demo
47. or the sprites consists of 125 commands while for the stage there are 85 of them For ScratchDuino Robokit the authors have created four additional commands in the Motion group Fig 45 This set allows for the im plementation of a vast variety of algorithms All the ScratchDuino commands are found at the top left pane of the program window the Block Palette dis tributed into eight groups The groups are highlighted with different colours Motion with 4 additional commands Looks Sound Pen Control Sensing Operators and Variables The highlighted groups are used by both Scratch and ScratchDuino Robokit actors Projects in ScratchDuino consist of several scripts for different actors see Fig 46 38 i PAR 0 ScratchDuino o Playground for ScratchDuino PROJECT Robokit in ScratchDuino ScratchDuino Robokit sorte lef Stage Script 1 Costume 1 Costume 2 Costume Script Script 2 Stop Fig 46 The structure of a project in ScratchDuino Highlighted is the mandatory part The rest depends on the author s design To describe the projects in ScratchDuino the following pattern is used theme description playground requirements to meet description of the project progressing and or explanations for the script the picture of the script PAR 0 ScratchDuino m Basic Algorithms of ScratchDuino The algorithms can be divided into three kinds a
48. ors to implement the algorithms An algorithm is an exact step by step instruction determining the behaviour of the Actor s that brings the data taken for example from the ScratchDuino Robokit sensors to a required result Development of an algorithm is a creative process An algorithm can be represented as a script Scripts in Scratch and in ScratchDuino are made of ready blocks commands re sembling the bricks of Lego This syntax is quite intuitive To make a script you have to join several blocks just snap them together in the Script Area The blocks and the order they follow each other are important because they define what an Actor is going to do Actors in Scratch are depicted by sprites Sprite is a supernatural creature an elf while the space where the events are happening is a Stage The Stage can be an Actor too The stories in Scratch are described using the algorithms ScratchDuino keeps the whole functionality of Scratch but adds a new kind of Actor ScratchDuino Robokit that is acting at the Playground see the section Setting up the Playground for Creative Activity and contests For ScratchDuino Robokit ScratchDuino adds four motor on for secs special commands that only the Robokit is able to run Fig 45 The options of the motor direction command are the ways to deal with the motors motor direction this way Fig 45 Four extra commands for This way both wheels start to rota
49. ourth extra leg shipped with the kit to create and the way shown attach the new sensors has not magnetically stuck to at Fig 38 them by a chance Make the contacts clean The new devices have no such problem but with time the contacts pick up dirt and or become oxidized Perhaps all five sockets were occupied by the sensors at the moment of connection and reading a large vol ume of data caused a conflict Remove all sensors dis connect the port by the right hand button of Scratch Board mouse reconnect the port and attach all the necessary sensors one after other The measurements Determine the range of sensitivity for each sensor sepa by the identical sen rately and put it in Table 1 At scripting take into ac sors differ count the peculiarities of your model While the wheels are A new model should not have such problem but if the rotating the ScratchDuino Robokit experiences a heavy load during i ou ScratchDuino 36 Troubleshooting ScratchDuino Robokit stays motionless One of the wheels is rotating faster than other The battery charge is over very soon IR Eye gives incon sistent responses It is impossible to dis cover a clear charac teristic its exploitation then its parts become bent which dis turbs the adherence of the wheels and the surface The road clearance is as small as 4 mm that s why it is not recommended to give the platform much pressure from above Red
50. ratchDuino Robokit Playground any flat surface of a size 500x500 mm with an object in the middle of a size 120x120 mm to be travelled around Requirements Actors ScratchDuino Robokit and a virtual actor able to play a sound of barking the script starts to run on pressing the up arrow key on getting around the object the ScratchDuino Robokit must stop by it self when reaches the starting point approximately each time the ScratchDuino Robokit changes the direction of its motion the virtual actor barks like a dog the script stops and the motor is switched off on pressing the space bar of the keyboard Implementation 1 Follow the instructions of the section Connecting via USB i LOL ScratchDuino 44 2 Use Fig 49 to build the script when space key pressed motor off stop all when Up arrow key pressed repeat motor direction this way motor on for secs motor direction left motor on for 0 55 secs play sound Dogi Fig 49 A loop 3 It is easy to notice that getting around an object needs a series of commands to be repeated motor direction this way motor on for _ secs motor direction left motor on for __ secs play sound Dog1 4 By experiments find the time in seconds that the actor needs to pass one side of a polygon if the connection to the PC is via USB 5 Save the file of the project Sound tab select the button Import and s
51. ready projects of other people your creativity gets a new im petus The Internet communities are just about that and they resemble the thematic clubs where there are no differences caused by the age or the level of Skills For Project ScratchDuino the place for such socializing is the Wiki portal wiki scratchduino com In this section we consider the recommendations for new members of this community Wiki Portal of Project ScratchDuino Signing up 1 Navigate to http wiki scratchduino com and in the top right corner find a link Log in Create an account Fig 59 wiki scratchduino com wiki Main_Page Login c Fig 59 Signing up at http wiki scratchduino com 2 The login page opens where you are going to enter your login and password later on For the first time select the link Create an account Fig 60 Log in create account Log in Don t have an account Create an account You must have cookies enabled to log in to scratchduino Username Password Remember my login on this browser for a maximum of 180 days Log in Forgotten your login details Fig 60 Login page with the link to get to creating of an account 3 Fill in the information about yourself Keep in mind that the login of your ac count is going to represent you at the website By this reason choose the login i LOL ScratchDuino 54 as your nickname that makes you recognizable For example if your name is John Doe your login c
52. repositories home scratchduino XXXXXXX repodata repomd xml key enabled 1 for Debian and Ubuntu add a line to the file etc apt sources list deb http download opensuse org repositories home scratchduino XXXXXXX Linux distribution Minor versions of the packages may differ slightly from In all cases XXXXXXX must be replaced with the name and version of your those shown in the Manual i LOL ScratchDuino For Deb based distributions install the packages scratch 1 4 0 7 sgueak vm 4 0 3 and squeak plugins scratch scratchduino from the added repository For RPM based distributions install the packages squeak vm 4 0 3 scratch 1 4 0 7 and scratchduino from the added repository Post Installation Configuring After successful installation of the software to operate ScratchDuino Robokit you will need to make some post installation configuring Arduino UNO is accessed via dev ttyACM lt number gt By default the dev tty devices are available to the users from the dialout group only There fore the user who is going to work with ScratchDuino Robokit must belong to the dialout group Add the user to the dialout group If your Linux distribution is either Ubuntu 12 04 and later or an Ubuntu based distribution for example Mint you need to check your windows man ager WM By default it is Compiz Unfortunately Compiz can cause conflicts with Scratch That s why it is recommended to install the pa
53. roject ScratchDuinoRobotkit blackline You have followed a link to a page that does not exist yet To create the page start typing in the box below Fig 77 The Discussion tab at the page of project portfolio To not reduce the discussion to just a mutual exchange of emoticons or rather meaningless sentences like Great or Cool we would suggest a 3 2 1 strategy It means that you have to put THREE questions give TWO criticisms and offer ONE improvement An example of a discussion following such strate gy is shown in Fig 79 On completing your message click the Your signature and timestamp button You will see a character string Then click the Save the page button You should be nice and polite with the people especially as you are a perfect stranger for them When discussing a project avoid the harsh phrases like Your stuff is nonsense in favour of something like This idea needs certain refinement It is not easy to start developing a worthy project at once and it is important to encourage the newbies A friendly word can lend them wings 63 i LOL ScratchDuino 64 Page Discussion Editing Talk Project ScratchDuinoRobotKit blackline You have followed a link to a page that does not exist yet To create the page start typing in the box below se BZ s oN pa Your signature with timestamp Hello Elena I could not itself create such a script My guestions t Why the
54. s a dynamic Actor It is important to cater for the condi tions that show it off at its best We ll consider various playgrounds for ScratchDuino Robokit keeping in mind its dimensions 160x140 mm Fig 39 road clearance 4mm and maximal turning radius when the protruding sensors touch probe or line detector are attached 130 mm as well as a tolerance of 50 mm for manoeuvering ECN f Po doom Fig 39 Dimensions of ScratchDuino Robokit without protruding sensors 1 Testing of ScratchDuino Robokit For this purpose it is enough to have a relatively flat surface area no less than 300x300 mm Your first testing ground for ScratchDuino Robokit can be a desk a bench or an uncluttered place on the floor Surround a desk or a bench with a kind of parapet to prevent the de vice from dropping down 2 Contests and training in the Trajectory nomination Basic component for the ScratchDuino Robokit playground is a 300x300 mm square tile ScratchDuino Robokit is able to travel a route Fig 40 using the line detector Variation of the line thickness from 25 to 50 mm affects the travel time Dur ing the development of the algorithms it is possible to relate the line thickness and the robot s speed with each other At a contest both the fact of passing the route and the travel time count The complicated routes can be made as a pat tern of the tiles For training purposes it is enough to print out the tiles using a black and wh
55. s into the curriculums of primary and sec ondary educational institutions as well as in the family form and for self education Participants of the Festival educators students and creative teams of adults and children ranked by their skills and education level 2 The Organization of the Festival 2 1 The preparation and holding of the Festival shall be carried out by an Or ganizing Committee 2 2 The Organizing Committee shall makea list of the Expert Group notify about the schedule the procedure and the results of the Festival examine the projects submitted to the Festival promote the best participants of the Festival 3 The Content and the Procedure of the Festival 3 1 The Festival shall be held in 3 stages Stage 1 Grassroots September December the Festival participants are registering on the website http wiki scratchduino ru and uploading the portfolio of their festival pro jects i ou ScratchDuino the Festival participants study each other s projects make their com ments and put questions to the authors the participants put their applications into a self registration sheet at a page of the Festival website ScratchDuino Group at Google https goo gl UVRm6D runs consulta tive workshops the information about the Festival is published by the mass media Stage 2 Expertise January the Expert Group is working the best participa
56. s of their structure linear branching and loop We ll consider each of them below Linear algorithm is such one for which all the commands are done one after another and only once Its script is a sequence of blocks following from top to bottom in the order of their performing In ScratchDuino the virtual actor Cat always implements KGE a certain command in the same way For example the turn 90 degrees command always causes the Cat to turn clock wise as shown onthe right ScratchDuino Robokit would turn right by 90 depending on the voltage that powers the rotation of the motors the quality of Bluetooth connection motor beingin a working order the time specified for the motor to be on Theme Control by Arrow Keys Description Demonstration of robot s motion its speed and its capability of manoeuvering at the turns Playground the tile Sharp Turn from the set of tiles shown in Fig 40 Requirements the Actor is ScratchDuino Robokit the Actor s motion to the left to the right forward motor this way and backward motor that way is controlled by the left arrow right arrow up arrow and down arrow keys it is needed to determine how long the motor should work to make the robot turn by 90 by a right angle to the right in case of different ways of con nection via USB and Bluetooth and varied voltage 5 9V
57. stribution you need select a distribution closest to the desired For example to install ScratchDuino on Linux Mint 17 use the packages from the linux xUbuntu14 04 folder For Deb based distributions install the packages scratch 1 4 0 7 squeak vm 4 0 3 squeak plugins scratch and scratchduino For RPM based distributions install the packages squeak vm 4 0 3 scratch 1 4 0 6 and scratchduino i LOL ScratchDuino After the successful installation you will find the launcher icons for Scratch Si COW ScratchDuino at your graphical desktop You can run Scratch and ScratchDuino from the console for this type or scratchduinol respectively at the command prompt Installation from the File Server of the Project The installation is similar to the installation from the CD Download the packag es that match your Linux distribution from http files scratchduino ru Software Linux and install them Installation from a Repository Add the repository for your distribution as described below for openSUSE and SLE type in the console the line http download opensuse org repositories home scratchduino XXXXXXX ScratchDuino for CentOS RHEL Fedora add a file etc yum repos d scratchduino repo with the following contents scratchduino name ScratchDuino type rpm md baseurl http download opensuse org repositories home scratchduino XXXXXXX gpgcheck 1 gpgkey http download opensuse org
58. t again Repeat several times until the script is stopped Playground any flat surface shaped as a rectangle of a size 600x300 mm and two sources of bright light placed along the diagonal of the rectangle It is pos sible to use one light source and relocate it as needed Reguirements the Actor is ScratchDuino Robokit the light sensors are put in the left and right sockets of ScratchDuino Robokit which corresponds to the values of Analog0 and Analog4 variables the touch probe is put in the central socket which corresponds to a value of Analog3 variable the script starts to run on pressing the up arrow key on finding a source of bright light the Actor starts turning to this direc tion When the direction is determined the Actor approaches the light source when the touch probe hits an obstacle the Actor stops and then moves backwards for 2 seconds when the light is shining the Actor stands still if the light fades the Actor starts to search for another source of bright light the script stops and the motor is switched off on pressing the space bar of the keyboard 50 i LOLS ScratchDuino Implementation 1 Follow the instructions of the section Connecting via USB Fig 56 The line probe with a bumper and the blinders for the light sensors when Up arrow key pressed forever repeat until 40 Analogi sensor value motor direction left mot
59. te forward ScratchDuino Robokit That way both wheels start to rotate backward in the Motion group Right or Left one wheel left or right one corre 9 spondingly starts to rotate forward 21 i ou ScratchDuino Mentioning the direction is not enough The command motor direction must be followed by the command motor on for _ secs The seconds can be ex pressed as integers or with fractions Sprites either created by the users or downloaded or found in a sprite library are the Actors that operate within the project Many projects include as a min imum one sprite that can move around the project screen unlike the stage Except for running the commands a sprite can change its costume The ap pearance of a sprite can be changed directly or with the commands in the scripts editing area To change a costume you need to go to the Costumes tab found next to the Scripts and Sounds tabs The Costumes tab contains the whole list of costumes and the costumes can be modified or imported from a sprite library or from your PC You can create and add a new costume as well The Stage includes a set of images that are background for the sprites actions On launching the program a background image is ready it is a white rectangle 480 pixel wide and 360 pixel high A pixel is a dot a minimal component of rasterized computer graphics For ScratchDuino Robokit a playground in a real world is to be built The command set f
60. tect ing the device click Continue and in the next window click the button Passcode Option select the item Use a specific passcode and enter the code 1234 800 Bluetooth Setup Assistant Welcome to the Bluetooth Setup Assistant When your device appears in the list select it and click Continue If you don t see your device in the list make sure it is powered on and discoverable For more information see the documentation that came with your device Devices Type Searching for devices one found Bluetooth Setup Assistant For most Bluetooth devices we can automatically pair with the device Some devices may use other passcode options See the documentation that came with your Bluetooth device if you are having trouble pairing The selected option may be ignored if the device is Simple Secure Pairing capable Automatically generate a passcode Some Bluetooth devices use a passcode that Is created automatically p Use a specific passcode 123 34 Use this option if your Bluetooth device requires a specific passcode _ Do not use a passcode with this device Mast Bluetooth devices require that you use a passcode Some Bluetooth devices such as certain Bluetooth printers do not require a passcode Cancel OK pairing attempt Refer to the manual that came with the device When ready click Continue to try again Passcode Options Go Back Continue Fig 24 Bluetooth pairing
61. that the Scratchduino XXX device is avail able via the dev rfcommX where X is the port number for example rfcomm0 Bluetooth Devices ji i 27 14 hh i Help szit v R Setup fa send File EJ Serial port connected Serial port service on device Scratchduino 000279 98 D3 31 50 1E FC FA 60 28 14 08 2B Unknown FA 60 28 14 08 2B n mr mr A am Scratchduino 000279 now will be available via dev rfcommo Fig 21 Selection of a serial port When working with ScratchDuino software and selecting the port Figs 5 6 and 22 specify dev rfcommX off Analogt ET Analogi ET Analog ET Button ET A IC Fig 22 Selection of a serial port Depending on your version of Blueman package the GUI of Bluetooth man ager might be slightly different from the one shown in this Manual i LOL ScratchDuino 19 Connecting ScratchDuino Robokit via Bluetooth for Mac OS Switch the jumpers located at the bottom of ScratchDuino Robokit into the Bluetooth position Fig 15 Click on the Bluetooth icon and select Set Up Blue tooth Device ry a A p iscoverabie Turn Bluetooth Off Send File Browse Device Set Up Bluetooth Device Open Bluetooth Preferences Fig 23 GUI of the Mac OS Bluetooth Manager After 5 20 seconds the PC will have detected the Scratchduino XXX device the number XXX can be found at the bottom of ScratchDuino Robokit On de
62. thumb 100px left Elena Vostrikova i ra i ScratchDuino m City https en wikipedia org wiki Novokuznetsk Novokuznetsk Russia School http ipknk ru municipal autonomous educational insti tution of additional education Training Institute Position department manager My contribution to the project ScratchDuino Project ScratchDuinolab gameship My discussion of creative projects of other members of the ScratchDuino community null Category Community members ScratchDuino 14 Click the button Save page For the sake of security the system will ask you to enter a codeword Fig 72 Type it in and click the button Save page again Your edit includes new external links To help protect against automated spam please answer the question that appears below more info Are you robot NO Fig 72 A check to ensure that the portal is addressed by a human and not by a bot On saving the changes a standard page will be your very own and individual User page Discussion User Elena Vostrikova City Novokuznetsk Russia School municipal autonomous educational institution of additional education Training Institute Position department manager My contribution to the project ScratchDuino Project ScratchDuinoLab gameship My discussion of creative projects of other members of the community ScratchDuino Elena rra Vostrikova null Category Community members Scr
63. uction motor wheel anchor is a standalone module as of its attachment and powering and each wheel should be considered as an independent device One of the wheels could be damaged because of a loading weight Avoid the manual turning of the wheels If ScratchDuino Robokit is not at work disconnect the power source Even when the device is idling the bat teries are discharging if connected The quality of measurements will be better if you install the deflecting plates along the lines shown in Fig 43 A deflector is made of pressboard coated with metalized adhesive tape which like a looking glass reflects the IR rays only in its own area This simple idea allows to cre ate the projects for traversing the labyrinths see the details in the section concerning IR Eye Report about your problems to the ScratchDuino Group at Google https goo g uVRm6D Make use of the web community abilities i ou ScratchDuino Basic Concepts of ScratchDuino Scratch is a computer model of the real world Its environment with the items of graphical user interface GUI is shown in Fig 35 The world of Scratch consists of many objects the word object stems from Latin objectum which means a thing populating a common space The objects are anything that exists in the nature people animals wind snow tree sun letters ice cream candies and all and last but not least the ScratchDuino Robokit The objects can also be Act
64. value and select show ScratchBoard watcher see Fig 5 Then right click on the grey background and choose select serial USB port see Fig 6 Select dev cu usbmodem1411 in the drop down list i LOL ScratchDuino Android OS Family 12 Mobile devices running the Android OS work with ScratchDuino Robokit by means of ScratchDuino application via Bluetooth connection NOTE To work via Bluetooth switch the jumpers located at the bottom of ScratchDuino Robokit see the section ScratchDuino Robokit Control via Bluetooth To install the ScratchDuino software find in Google Play the ScratchDuino application and click INSTALL see the left picture in Fig 9 follow the instructions of the Installation Wizard After the installation click the OPEN button see the right picture in Fig 9 fi LOL ScratchDuino l Scratchduino ScratchDuino ScratchDuino 10 Downloads 62 Education Similar With this app you can control ScratchDuino robot writing simple programs M m 18 03 Lou ScratchDuino gis Scratchduino ScratchDuino ScratchDuino UNINSTALL OPEN 100 2 Downloads Education Similar With this app you can control ScratchDuino robot writing simple programs Fig 9 Getting ScratchDuino from Google Play In the menu Android device settings activate Bluetooth and search for Bluetooth devices When the ScratchDuino Robokit is detected type in the PIN code 1

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