Manual Principiante 3.0.0 revisar_EN
Contents
1. 16 3 4 Power Supply S VSECIIa _______ _ _ _ 16 See JE OCIS dnb E PES 17 3 6 Camera module and mOway Videocap 20 RTT TT 2 4 1 mOway Pack InstallatlOR cioceicsee eo eb eese aUo Uus aeos esutevten d Vua 21 4 2 Download a program to 22 d 22 4 5 mOway Videocap drivers installation sess 24 5 mOwayWorld programming eene 23 29 5 2 mOwayWorld 26 Delile POON AW passion cT 26 iier ban mM 26 Dan 21 AO a E E E O 28 2 9 First proeram in THO Wd WOEI esserne 20 JA a _____________ 33 Mon AA OS TTE 34 IA O Bins E 38 D A E E E A EE 40 Such CO O 43 Dn AAS e 43 www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 4 of 47 1 Prologue The dawning of a new era the era of the minirobots Increasingly more mobile robotics applications enter our daily life We can currently find robots which help us with simple tasks like cleaning household floors mowing the lawn or keeping the swimming pool clean As technology keeps improving these s2. O finish time distance limit before continuing with the next action in flowchart Image 37 Movement Free configuration window e Movement Turn In this function drive system will calculate the speed of the motors in order to be able to trace a curve indicating the speed and turning radius Movement Module Turn In this Movement Moudle you can give mOway the command to make a turn Need Help Commands for mOway Wheel Speed Constant Speed 50 s 30 100 Direction e go forward go backward Turning radius Constant Radius E h centimeters 110 29 Turning direction turn right turn left Flowchart Control Commands run 2 continiously until next movement module in flowchart for Constant Time 01 seconds 0 110 25 5 for Constant Distance 0 2 centimeters 0 1 to 25 5 0 finish time distance limit before continuing with the next action in flowchart Image 38 Movement Turn configuration window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 36 of 47 e Movement Rotate With this command mOway will rotate either on its centre or on one of its two wheels Turning direction and rotation speed can be defined Movement Module Rotate in this Movement Module you can let mOway rotate around its own axis rotate center or around one wheel rotate wheel Need he
3. Rev v3 0 0 June 2011 Page 20 of 47 3 6 Camera module and mOway Videocap Thanks to the camera module mOway Camera Board it is possible to display on the computer what mOway is watching Camera board sends images wirelessly to the video mOway Videocap Image 18 Camera module mOway Camera Board Camera module is connected in expansion connector and it is very easy to use with mOwayWorld Video mOway Videocap must be connected to an USB connector of the computer Camera control is performed by Microchip MCP23S08 device which is an input output port managed by SPI A library is provided to make easier for user to develop programs with the camera module The basic functions are the camera ON and OFF and the selection of the transmission channel from de camera to the video mOway Videocap User have to select the same channel from 1 to 4 both in program and mOway Videocap The status of the camera is shown by LED on camera board As interface the device has four pins available for the SPI bus two more pins for controlling the module and another two for the supply NOTE Both camera transmission and RF module transmission are in the same frequency band So that when camera is active RF module reception distance decreases Available in some packs P Available in some packs Option not yet available www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 21 of 47
4. Speed value can be modified Movement Module Straight In this Movement Module you can give mOway the command to move straight Need help Commands for mOway Wheel Speed Constant Speed Direction go forward go backward Flowchart Control commands run continiously until next movement module in flowchart Q for Constant Time 01 E seconds 0 1to 25 5 for Co nstant Distance i 02 centimeters 0 1 to 25 5 O finish time distance limit before continuing with the next action in flowchart W sae Cancel Image 36 Movement Straight configuration window e Movement Free Free movement is similar to straight movement but in this case the speed of each motor can be adjusted separately www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 35 of 47 23 Movement Module Free In this Movement Module you can give mOway the command to move around freely by controlling its two wheels individually Need help Settings Left wheel Speed Right wheel Speed ConstantSpeed ConstsntSpeed _ v 50 H 100 50 i 0 100 Left wheel Direction Right wheel Direction go forward 5 go forward Q go backward Q go backward Flowchart Control commands run 2 continiously until next movement module in flowchart for Constant Time 0 1 seconds 0 1 to 25 5 for Constant Distance E 0 2 5 centimeters 0 110 25 5
5. ConstantValue w 5 5j 0255 VariabData H 2259 ConstantValue 0 5j 9255 Constant Value o E 0 255 ConstantValue 0 5j 9255 Constant Value H 0 255 Constant Value w 0 0255 Constant Value c 0 255 Image 47 Communicate Send configuration window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 46 of 47 e Communicate Receive This module makes it possible to receive a frame from a specific address It must be indicated at least two variables one for collecting the transmitter address and the other for the data If the data sent by the transmitter has been received correctly the output 1s true Otherwise the output is false Before using this conditional the RF communication must be configured using the Communicate Start module the robots taking part in the RF communication must have the same channel and different addresses Communicate Receive a message In this module you can tell Moway to reveice a message from another Moway Need help Commands for mOway VariabTxer Sender direction VariRxed1 Data 0 VariRxed2 Data 1 No Variable Data 2 No Variable Data 3 No Variable Data 4 No Variable Data 5 No Variable Data 6 Variable Data7 w I
6. Ifa black line is detected on the right side FALSE Otherwise w Save Cancel Image 43 Sensors Check Line configuration window e Noise This module has a true output if mOway detects a loud sound It has not any configuration window e Tap This module has a true output if mOway detects a tap or a high acceleration It has not any configuration window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 40 of 47 5 4 3 Data This group of modules make it possible to read write and modify data that mOway robot can provide from sensors and internal memory Data is stored in user defined variables A variable is created by clicking on Variable on the toolbar and then clicking on New variable A name and an initial value have to be defined for this new variable see previous chapter Some of the modules allow to create these variables directly from their configuration window This permits to configure the module with values that can be modified during the execution of the program NOTE Each variable is stored in one byte of mOway s internal memory which means that the value of the variable goes from 0 to 255 e Calculate This module adds or subtract two values First parameter is always a variable and it stores the operation result Second parameter can be a constant or a variable e Reset mOway Data This module initializes time and d
7. 4 First Steps 4 I mOway Pack installation In mOwayPack available in the webpage or in the installation CD you will find the software mOway s libraries test programs and documentations Following setup steps you will have all the resources e Beginner s and User manual o Beginner s manual includes all you need to start working with mOway o User manual contains detailed description of the robot e mOwayWorld software o This software controls all aspects of the robot program download battery charge control radio control management and C or assembler programs download e Reference projects in assembler C and mOwayWorld o Example projects to start working with mOway easily e RFUsb Driver o Driver for RFUsb that allows the communication between robots and PC e mOway Videocap Driver o Driver for mOway Videocap 18 that allows to grab images from mOway camera to display on PC If a security warning message appears during installation please click on install driver anyway 5 Option not yet available 16 Module not available in all kits 7 Module not available in all kits 18 Module not available in all kits www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 22 of 47 MENU CD Setup ED MENU 2 eee nthe CD you are going to finde different resources practices photos and videos Open CD Image 19 CD 4 2 Download a program to mO
8. connector allows the mOway to connect with any commercial modules or electronic circuits the user may choose As shown in the above table it is possible to connect commercial SPI devices On the other hand the RF BZI RF2GH4 module available in the market is totally compatible with mOway and with specific libraries This module enables the mOway to communicate with other robots and with a PC via the RFUsb With this module it is possible to create complex collaboration applications without having to worry about complicated wireless communications 3 Top two color LED has to be switched off to have a valid measure www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 14 of 47 A a E uu Image 12 RF modules into expansion connector 3 3 5 Temperature sensor mOway has installed as a temperature measurer an NTC thermistor from Murata a semiconductor whose electrical variable resistance decreases as temperature increases The sensor 15 located in the front part of the robot very close to obstacle sensor The thermistor is connected to the analog port of the microcontroller so that with a simple reading of the ADC it 1s possible to get the temperature value in that moment and notice any change in it since the last reading 3 3 6 Speaker The CMT 1102 speaker from CUI INC directly connected to the microcontroller is capable to play tones from 250 Hz to 65 KHz 3 3 7 Microphon
9. output of the Sharp PTIOOFOMP receivers are connected to the microcontroller s analog inputs so it can detect the presence of any object digital mode and also measure how far away it 1s analog mode The sensor functions similarly to the line tracking sensor The light emitter generates a 70us pulse which allows the receiver to capture any obstacle using a filtering and amplifying stage Once the signal 1s processed electronically the PIC can measure it by means of the ADC or as a digital input The digital distance range is close to 3cm and a bright environment is recommended to enhance infrared light reflection Image 9 Obstacle detection sensor Due to tolerance two different sensors can differ from each other www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 13 of 47 Image 10 Location of Obstacle Sensor 3 3 3 Light sensor This sensor allows mOway to recognize the light intensity that enters through a small half moon shaped opening on the top part of the chassis Since it is facing forward it enables it to detect where the light source is located and to act accordingly The output of the AVAGO APDS 9002 sensor is connected to the analog port of the microcontroller so that with a simple reading of the ADC we can register the light intensity level and any change in intensity levels based on the last reading Image 11 Location of Light Sensor 3 3 4 Expansion connector This
10. to be found inside mOway Processor Drive system Sensors and indicators group Power supply system An expansion connector Encoder PIC18f86j50 PIC16F687 SPEAKER Encoder Image 1 Diagram of mOway s parts 3 1 Processor mOways are governed by a 4 Mhz PIC18F87J50 microcontroller manufactured by Microchip Technologies the peripherals distributed throughout the whole robot are connected to its input output ports Some of them need a digital input or output others need an analog input or output and others instead are controlled by one of the I2C SPI communication buses The table below describes how the microcontroller pins are distributed www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 8 of 47 3 2 Drive system To be able to move the mOway uses a double servo motor group It includes both an electronic part and a mechanical one The electronic part is mainly in charge of controlling the motor s speed and the mechanical part allow the mOway to move unhindered over different terrains with adequate power Engrane Encoder PIC16F687 Encoder Engrane Image 2 Drive system electronic and mechanical The servo motor group includes different features m Speed control controls the speed of each
11. 50 05 1007 Rotation Mode Rotate about the center of Moway left CCW Y Rotate on a wheel right wheel forward i Flowchart Control commands run C continiously until next movement module in flowchart for Constant Time 01 5 seconds 0 110 25 5 9 for Constant Angle 180 0 degrees 3 610 360 finish time angle limit before continuing with the next action in flowchart Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 32 of 47 amp Movement Module Straight In this Movement Module you can give mOway the command to move straight Need help Commands for mOway Wheel Speed ConstantSpeed w 20 1002 Direction e go forward go backward Flowchart Control commands run 2 continiously until next movement module in flowchart for Constant Time 01 seconds 0 1 to 25 5 for Constant Distance n2 centimeters 0 1 to 25 5 O finish time distance limit before continuing with the next action in flowchart Image 33 Movement and Rotation configuration Image 34 End of first program in mOwayWorld www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 33 of 47 5 4 Modules The mOway programming consist of functions or actions that control the robot Modules are these functions or actions that mOway can carry out moving read
12. MOWAY S BEGINNER MANUAL Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 2 of 47 Copyright c 2010 Bizintek Innova S L Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 2 0 or any later version published by the Free Software Foundation with no Invariant Sections no Front Cover Texts and no Back Cover Texts A copy of the license is included in the section entitled GNU Free Documentation License www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 3 of 47 Index UND TT a 3 EE Uu T 4 PE din NCMO 6 3 TROD OU IO 7 Dali CC 7 SEMEN Sy Sh eee serene 8 3 3 Sensor and indicators 9 Io ___4______4 _ _ __ UNE UE 10 29 942 Obstacl detection 12 Io 13 2 244 Expansion CODEC IOE o 13 LOM CLAUS SC MS 14 De CREE Uu 14 Sods MOTON Tm 14 STEEP rss 15 15 3 3 10 __ __ ____ _ 15 3 3 11 Terevnigalbbm 15 3 3 12 mere 16 3 3 13 laica M
13. ce and the detector are arranged in the same direction to be able to detect by using the reflective IR beam the light reflected in the terrain In the images below the three possible cases can be observed 1 Clear surface A white surface reflects all the infrared light and therefore we obtain a low voltage reading at the transistor s output when in regular mode www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 11 of 47 Image 5 Line tracking sensor on a clear surface Colored surface A colored surface reflects part of the emitted light obtaining an intermediate voltage at the microcontroller s analog channel input This way colors are easily identified i Image 6 Line tracking sensor on colored surface 1 Dark surface A dark surface reflects very little light obtaining a high voltage reading at the sensor s output i Image 7 Line tracking sensor on dark surface Due to CNY70 tolerance two different sensor can differ www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 12 of 47 Image Location of line sensors 3 3 2 Obstacle detection sensors Similar to line tracking sensors obstacle detection sensors also use infrared light to detect objects located in front of the mOway The sensor includes two infrared light emitting source Kingbright KPA3010 F3C and four receivers placed on both sides of mOway The
14. dicate that the hardware 1s installed e Check if mOway s software has detected the mOway Videocap www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 25 of 47 5 mOwayWorld programming mOwayWorld application allows to design programs by means of flowchart diagrams so that mOway robot can be programmed very easily Different modules represent functions that control robot s sensors and actuators These modules are joined by means of arrows to define the program flow Previous programming knowledge is not essential to use flowchart programming 5 1 Creating a Project The first step to start to use mOwayWorld is to create a new project by clicking on the New project icon A name for the project and a path to save it must be chosen The option Activity Diagram Graphical must be selected New Project Ctri N a Disconnected CI Image 23 mOwayWorld initial screen www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 26 of 47 5 2 mOwayWorld workspace The following lines describe the different parts of mOwayWorld workspace 5 2 I Toolbar Toolbar allows the user to manage the project edit the flowchart create variables program mOway robot and many other functions ES x olg amp Image 24 Toolbar 5 2 2 Flowchart Editor The Flowchart Editor window is where modules are placed and connected to d
15. e The CMC 5042PF AC microphone from CUI INC enables the robot to detect sounds from 100 Hz to 20 KHz The output is directly connect to an analog input of the microcontroller so that it 1s capable to detect not only if there is sound or not digital mode but also the intensity of the sound with a simple reading of the ADC analog mode Temperature measured by the sensor can be 5 C higher than external temperature www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 15 of 47 3 3 8 Accelerometer An accelerometer is a device that measures acceleration and the gravity induced forces the movement and rotation There are many types of accelerometers most of them based on piezoelectric crystals but their size is too big Because of that it was tried to design a small device in the field of microelectronics which might improve the applicability Then the MEMS Microelectromechanical Systems accelerometers were created An easy way to create an accelerometer is measuring changes in a capacitor Capacitors can work as sensors or as actuators In the case of mOway it 1s a capacitive accelerometer which consists of two capacitors displaced in differential mode whose electrical capacity changes as the acceleration varies By measuring X Y Z axes of the MMA7455L accelerometer from FREESCALE Semiconductor it is possible to know if mOway is correctly positioned inverted or tilted 3 3 9 Battery
16. e battery can be charged via a computer s USB port through the mOway s MINI US B B port There 15 no need to wait for the battery to be completely discharged Advanced users only www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 17 of 47 as it can be plugged in any time since these batteries do not have memory effect also known as lazy battery effect These batteries are a perfect power source for mOway due to their small size lightness and flexibility Battery duration depends to a great extent on the active sensors and the amount of time the motors are used Charging lasts about 2h Power supply system controls two LED located in the back part of the robot Green LED indicates that mOway is switched on and red LED indicates that the battery is charging When the battery is full red LED will switch off Image 15 Charging red and switched on green 3 3 RF module and RF Usb RF module allows communicate with other mOways or with PC using RFUsb These LEDs can t be controlled by the user 8 This LED can swap between on and off when the battery is fully charge because there is energy consumption when mOway is plugged Available in some packs 10 Available in some packs www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 18 of 47 Image 16 RF module RF module is connected in expansion connector and it is very easy to use with mOwayW
17. e expansion ports as inputs or outputs Commands for mOway Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 Input Input Input Input Input Input Direction Output Output Output Output Output Output InitValue On 1 On 1 e on cy A Image 44 Module IO Configuration configuration window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 44 of 47 e Module IO Set Output This module sets on resets off or toggles expansion connector pins that are configured as outputs WARNING Set Output values only can be assigned for pins configured as outputs leaving other lines with No change value If a value is assigned to an input this may damage the robot irreversibly g IO Module Set Output In this module you can set on off or toggle expansion output ports Settings Line 1 Value Line 2 Value Line 3 Value Line 4 Value Line 5 Value Line 6 Value om ___ Image 45 Module IO Set Output configuration window e Module IO Check Input This module checks the digital value of one of the eight pins of the expansion connector It compares if the value of the selected pin 15 equal or different lt gt to on 1 or off 0 e Communicate Start This module configures the robot in order to establish a radiofrequency RF co
18. evelop the program When new project is created this window is empty except for the starting point In flow diagrams there 1s always a starting point from which the program begins Flowchart Main Image 25 Flowchart Editor window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 27 of 47 5 2 3 Toolbox On the left side of the workspace we can find the Toolbox section Here there are all the modules to control mOway such as movement actions checking sensors communication and so on Modules are grouped by their type of function Actions Sensors Data Flowchart Control and Expansion connector Image 26 Toolbox section A module is inserted by just dragging and dropping it in the flowchart editor This module function can be configured by making double click on it Some modules are grouped by a more specific type Movement Sound This is represented by a little black arrow in the toolbox module types www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 28 of 47 5 2 4 Arrows Modules execution order 15 established by means of arrows In order to connect the modules following steps must be taken e Place the cursor over a module until red and white marks appear Click on one of these marks e Click on one of the next module mark Image 27 Arrow drawing In order to describe a loop the procedure is similar but in th
19. ghts This module allows to operate on mOway s LED diodes You can turn them on turn them off or make them blink Light Module In the Light Module you can control mOway s four LED lights Switch them on off or let them blink Need help Commands for mOway Front pm On a Top green Let Blink Brake Turn Off No Change Image 41 Lights configuration window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 38 of 47 5 4 2 Sensors Check This group of modules allows to get the mOway s sensors values These are conditional modules so that they have two different outputs if the condition configured in the module is true the output will be true green mark in the flowchart Otherwise if the condition 15 false the output will be false red cross in the flowchart e Obstacle This module checks the digital value of the four obstacle sensors Each sensor can perform one of the following conditions o obstacle detected o no obstacle detected o detection inactive In addition it allows to check the AND or OR boolean operation If AND option is checked all the conditions must be true to get a true output On the other hand if OR 15 checked just one of all the condition has to be true to get a true output Sensors Obstacle Detection Configure mOways four different obstacle sensors and connect them with t
20. he and or operator to set the condition for a true and false output Need help Settings Left Central Sensor Right Central Sensor Obstacle detected ive E Obstacle detected B Left Side Sensor Right Side Sensor No Obstacle ii Detection inactive 9 AND Q OR Output TRUE If obstacle detected on upper right corner AND no obstacle detected on right corner FALSE Otherwise w Save X Cancel Image 42 Sensors Check Obstacles configuration window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 39 of 47 e ine This module checks the digital value of line sensors This module 1s very useful for making mOway follow a line black or white on the floor detect boundaries etc Each sensor can perform one of the following conditions o black line detection o white line detection o detection inactive In addition it allows to check the AND or OR boolean operation If AND option is checked all the conditions must be true to get a true output On the other hand if OR 15 checked just one of all the condition has to be true to get a true output Sensors Line Detection Configure mOways two line detection sensors and connect them with and or operator to set the condition for a true and false output Need help Commands for mOway Left Line Sensor Right Line Sensor BlackLine White Line 9 AND OR Output TRUE
21. hone value to a variable Value goes from 0 silence to 255 loud noise o Temperature assigns the robot temperature value to a variable Value goes from 0 C to 255 C o Battery assigns battery level to a variable Value goes from 0 to 100 e Compare This group of modules allows to compare a variable or a sensor value with another value constant value or user variable The following are the comparison operators equal different lt gt greater gt greater or equal gt less less or equal lt o Data compares a variable with a constant value or a user variable o Time compares elapsed time Values goes from 0 1 to 25 5 seconds www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 42 of 47 o Speed compares one of the wheels speed value Values goes from stopped to 100 maximum speed o Distance assigns distance value covered by mOway to a variable Value goes from 0 to 255 centimetres o Angle compares the value of mOway turning angle Value goes from 0 0 degrees to 100 corresponding to 360 degrees o Brightness compares the light sensor value Value goes from 0 dark to 100 light o Line assigns one of the line sensors value to a variable Value goes from 0 white colour detection to 100 black colour detection o Obstacle compares one of the obstacle sensors value to a variable Value goes from 0 no detection to 100 cl
22. ing sensors transmission of radiofrequency messages etc These modules are grouped depending on their function For more flexible programs some modules allows to use variables for some of their values for example speed value pause time read sensor values etc A variable contains a value that can change during the execution of the program These variables can be created from some modules They can also be defined from the toolbar by clicking on Variables and then clicking on New variable A name and an initial value have to be selected New Variable Variables Image 35 A new variable creation Each of the modules included in mOwayWorld are described below www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 34 of 47 5 4 I Moway Actions This group of modules allows to control mOway s actuators engines speaker and LEDs Functions of these modules can be performed for a user defined period of time or distance if the finish time distance limit before continuing with the next action in flowchart option are selected If this option is not selected the function will be executed indefinitely until another module changes the current function e Movement Straight mOway robot has two motors one in each wheel These give it a great flexibility in its movements Movement straight command makes mOway to go forward or backward describing a straight line trajectory
23. is case the arrow starts on a module mark and finishes on another mark of the same block Image 28 Arrow drawing for a loop If more precision is needed the connector tool is very useful To activate it click on Connect tool icon in the toolbar www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 29 of 47 5 3 First program in mOwayWorld In order to develop your first program first you must create a project see previous chapter This first basic program will make mOway avoid obstacles 1 Oncea new project 15 created the program starts with a 2 second delay Just add a Pause module and configure it with a constant value of 2 2 The command to make green LED blink is added with the Lights module Configuration of both modules are shown below Light Module In the Light Module you can control mOway s four LED lights Switch them on off or let them blink Need help Commands for mOway SI Here the application programmer have to write a little description of Front No Change _ Top green Let Blink the window i No Change Top red No Change Settings Pause time Constant Time 200 seconds 0 0510 12 Y P EM 5 9 lt 9 99 ws Cancel Image 29 Pause and LED configuration 3 The end of the program is added Finish module so that the applicatio
24. istance counters stored in mOway s internal memory e Assign Variable This group of modules allows to assign a value to a user defined variable This value can be constant or the analog value of mOway s sensors o Value assigns a constant value to a variable o Time assigns elapsed time to a variable Value goes from 0 to 255 tenths of a second o Speed assigns the speed value of one of the wheels to a variable Value goes from 0 stopped to 255 maximum speed www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 41 of 47 o Distance assigns distance value covered by mOway to a variable Value goes from 0 to 255 centimetres o Angle assigns the value of mOway turning angle to a variable Value goes from 0 0 degrees to 100 corresponding to 360 degrees o Brightness assigns the light sensor value to a variable Value goes from 0 dark to 100 light o Line assigns one of the line sensors value to a variable Value goes from 0 white colour detection to 255 black colour detection o Obstacle assigns one of the obstacle sensors value to a variable Value goes from 0 no detection to 100 closest detection o Accelerometer assigns one of accelerometer axis value to a variable Value goes from 0 negative acceleration limit to 255 positive acceleration limit When there is not acceleration the value is 127 range mid point o Noise assigns microp
25. level The robot has a LiPo cell battery rechargeable For proper operation of the microcontroller the battery 1s connected to one of its analog inputs through a splitter Thus with a reading of the ADC battery level can be measured 3 3 10 Front LED The front LED 1s a white LED placed on the front side of mOway The output of the OSRAM LW A6SG LED is connected to a digital output of the microcontroller 3 3 11 two color LED This double indicator and the light sensor share the same opening on the top part of the robot They are connected to two microcontroller digital outputs Please note that since they share the same opening as the light sensor it is fundamental to switch them off when wanting to perform a light intensity reading www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 16 of 47 Image 13 Robot with Front LED and red LED switched on 3 3 12 Brake LED The brake LED is double indicator placed on the back side of mOway The output is connected to one digital outputs of the microcontroller Image 14 Brake LED location Switch on green LED 3 3 13 Free Pad mOway has implemented a free Pad to allow expert users to connect their electronics It is accessible opening the robot and it s located near brake LED 3 4 Power Supply System mOway s battery is located inside and accessible only by disassembling the product It is a small rechargeable LiPo cell Th
26. llation CD lt 6 or floppy disk insert it now What do you want the wizard to do 9 Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue Image 20 Driver installation Wizard Now the installation process will begin Found New Hardware Wizard Please wait while the wizard installs the software 7 18 Moway RF USB libusb0 A CAWINDOWS system32 Image 21 Windows XP driver installation e Assistant will then indicate that the hardware 15 installed www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 24 of 47 Completing the Found New Hardware Wizard The wizard has finished installing the software for Moway RF USB Click Finish to close the wizard Image 22 Driver installed in Windows XP e Check if mOway s software has detected the RFUsb 4 5 mOway Videocap drivers installation As with RFUsb device a driver that it s included in mOwayPack is required to use video capturer e The first time the mOway Videocap is connected the PC will detect it as a new device Driver installation runs automatically If it doesn t an Assistant for new hardware found message will be displayed Select the No not this time option e In the following window select the recommended option Install software automatically Now the installation process will begin e Assistant will then in
27. lp Commands for mOway Rotate Speed ConstantSpeed 50 0 100 Rotation Mode 9 Rotate about the center of Moway lright cw 8 Rotate on a Moway wheel right wheel forward hd Flowchart Control commands run continiously until next movement module in flowchart for for Constant Angle 3 6 H degrees 3 610 360 Constant Time seconds 0 1 to 25 5 0 finish time anale limit before continuing with the next action in flowchart Image 39 Movement Rotate configuration window e Movement Stop This command stops mOway s engines e Sound Play This function allows mOway to emit tones from 250 Hz to 65 KHz It is possible to define the time that the speaker will be activated www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 37 of 47 Sound Module In the Sound Module you can tell mOway to play a tone at a specific frequency Need help Commands for mOway Frequency Constant Frequency gt 244 14 herzios 244 14 to 62499 84 Flowchart Control Commands run 2 continiously until next sound module in flowchart for Constant Time 01 seconds 0 1 to 25 5 O finish time distance limit before continuing with the next action in flowchart w Save X Cancel Image 40 Sound Play configuration window e Sound Stop Stops the speaker sound e Li
28. mage 48 Communicate Receive configuration window www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 47 of 47 www moway robot com
29. mall devices which blend mechanics electronics and software are performing more and more complex tasks They are slowly introducing themselves into our lives in a useful manner and reducing the burden of unpleasant jobs It s not too far fetched to think that the revolution which took place in the IT or telecommunications fields will be repeated with robotics in the next decade Enough technology is currently available to manufacture these devices and society is also ready to receive them in the market Yet a specific catalyst 1s needed to start this revolution People also need to be ready and prepared to identify in what fields microrobotics may have an opportunity and which new applications may be interesting to implement Up till now processors weren t able to move But today things have changed Software is one of the fundamental elements in the world of mobile robotics The main difference between developing a program for these robots and running it with a personal computer is interaction with the environment The environment isn t changing randomly in PC applications so decision making and programming are simplified On the other hand when running commands for a minirobot application usually the result is unknown therefore algorithms have to consider situations with a wider range of possibilities some of them unexpected The mOway robots are tools specifically designed for teaching and research Their purpose 15 to bring the world of aut
30. mmunication An identification for the robot and a communication channel must be selected For establish a communication between two mOways they must be configured with the same channel and a different identification for each one If the configurations is correct the output is true Otherwise the output is false www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 45 of 47 Communicate Start In this module you can configure communication parameters Commands for mOway Mowayld 1 Communication Chanel 10 Image 46 Communicate Start configuration window Communicate Stop This module stops the RF communication It has not any configuration window e Communicate Send This module makes it possible to transmit a frame to a specific address The address of the receptor and the data which can consists of constants or variables must be indicated 1n the frame If the sent data has been received by the receptor the output 1s true Otherwise the output 15 false Before using this conditional the RF communication must be configured using the Communicate Start module AII the robots taking part in the RF communication must have the same channel and different addresses Communicate Send message In this module you can tell moway to send a message to another Moway Need help Commands for mOway Moway receptor Direction H 0 255
31. motor Time control controls the time for each command with a 100 ms precision 3 Traveled distance control Controls the distance traveled by each command with a precision of 1 mm aprox 4 General speedometer counts distances traveled since the initial command 5 Angle control controls the angle when the mOway rotates p The microcontroller sends the I2C command to the drive system that controls the motors and therefore releasing the main microcontroller so it can carry out other tasks Speed control is carried out by means of proportional control with negative feedback from the encoders signal The illustration displays the controlling system The microcontroller feeds the motors through an H bridge controlled by pulse width modulation signals Wheel rotation 1s monitored by an encoding sticker and infrared sensor When the sticker shows its black segment the logical output shall be 1 www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 9 of 47 and when it shows the white sector the output shall be 0 The microcontroller analyzes these signals it can determine the exact wheel speed by measuring the pulse width and acts on the motors This way the mOway will be able to keep the speed constant on any surface PIC16F687 eT 7 Mecanic Diver system Image 3 Motor control To send a movement command to the robot via the main microcontroller all we need to do i
32. n can be compiled 4 The program is compiled and recorded into the robot clicking on Program mOway button in the toolbox shown in the next image 5 Test the program and check that after waiting 2 second the green LED lights up www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 30 of 47 Image 30 Flowchart of the program and Program mOway button 6 In order to detect obstacles four Sensor Check Obstacle has to be added and configured one for each obstacle sensor Configure mOways four different obstacle sensors and connect them with the and or operator to set the condition for a true and false output Need help Settings Right Central Sensor Detection inactive Left Central Sensor Detection inactive E Obstacle detected n EN Left Side Sensor 1 1 A Right Side Sensor S peers J Configure mOways four different obstacle sensors and connect them with the and or operator to set the condition for a true and false output Need help Settings Left Central Sensor Detection inactive Left Side Sensor Detection inactive M Right Central Sensor Obstacle detected Right Side Sensor Detection inactive Configure mOways four different obstacle sensors and connect them with the and or operator to set the condition for a true and false output Need help Settings Left Central Sensor Obstacle detec
33. onomous robots closer to the teaching centers mOway s main purpose is to be a useful tool for those who are being introduced for the first time to the world of the minirobots as well as for those who are already experienced and wish to perform complex collaborative robotic applications mOway aims to stimulate enthusiasm for this new and exciting branch of engineering in a prompt and enjoyable way through the practical exercises included in this manual An easy and entertaining way to learn This book s purpose to be mOway s Manual and not a comprehensive book on minirobotics This manual has been implemented to assist learning how to use mOway It provides some basic notions on using mOway and its functions in a quick and clear manner www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 5 of 47 This manual is divided in two parts The first part includes a description of the elements which form part of the robot and their functioning The second part of the manual includes a series of practical exercises that can be executed with mOway www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 6 of 47 2 What is mOway mOway is an autonomous programmable small robot designed mainly to perform practical minirobotics applications It provides a perfect hardware platform for those wishing to take their first steps within the world of mobile robots as well as f
34. or those who have already worked with minirobots and want to develop more complex applications The mOway robot is equipped with a series of sensors which aid it to move in a real environment It also includes a drive unit which allows it to move over smooth terrain commanded by I2C communications bus these peripherals are connected to a microcontroller responsible for governing the robot This small robot incorporates I2C SPI expansion bus options As an example a wireless communications module a video camera or a prototype card can be connected to it as well as any other device considered interesting to perform a certain task mOway s external design is very compact intended to move with grace and style avoiding standstills due to obstacles or corners This small mobile device has been fittingly called a pocket robot mOway is a perfect tool for those who want to both learn and teach minirobotics The user will be pleasantly surprised by the speed in achieving results even if this 1s the first time he she comes into contact with mobile robots www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 7 of 47 3 Robot mOway This chapter describes each of the parts that constitute the mOway It is important to highlight that it 1s not necessary to know the total functioning of the robot to be able to program it at least not at the level of detail explained here The following elements are
35. orld L Image 17 RFUsb The BZI RF2GHA radio frequency communications module is based on the nRF24L01 transceptor manufactured by Nordic Semiconductors This integrated circuit has been fitted with all the logic required to establish wireless bidirectional communications with acknowledgement of receipt Communications with the microcontroller is made via an SPI bus The main characteristics of the BZI RF2GH4 module are as follows Low consumption Working frequency 2 4GHz Transmitting power between 18 and 0 dBm Transmission speed between 1 and 2 Mbps 128 in transmission channels selectable by the SPI bus In addition to the CI nRF24L01 the BZI RF2GHA is also fitted with all the associated electronics for its correct operation plus a microstrip antenna on the same l Option not yet available www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 19 of 47 board with the impedance adaptation network In this way the user can forget completely about the hardware required to implement the radio part of his application As interface the device has four pins available for the SPI bus two more pins for controlling the module and another two for the supply In order to facilitate the handling of the module a number of libraries have been developed to simplify and shorten the development time of wireless applications with these modules www moway robot com Title mOway Beginner Manual
36. osest detection o Accelerometer compares one of accelerometer axis value Value goes from 2g negative acceleration limit to 2g positive acceleration limit When there is not acceleration the value is 0 NOTE 2 value is 9 81m s o Noise compares microphone value Value goes from 0 silence to 100 loud noise o Temperature compares the robot temperature value Value goes from 0 C to 255 C o Battery compares battery level Value goes from 0 to 100 www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 43 of 47 5 4 4 Flowchart Control e Pause This module allows to insert a pause in the program with a duration set in multiples of 0 05 seconds The pause parameter may be a constant or a variable e Finish This module sets the program end If the program consist of an infinite loop this module is not necessary 5 4 5 Expansion This group of functions allows to control the expansion connector of mOway robot either to use radiofrequency RF communication or user expansion modules WARNING Only advanced users can use the pinout configuration Any incorrect connection of electronic elements to the expansion connector may damage the robot irreversibly e Module IO Configure This module configures the expansion connector pins as inputs or outputs and assigns a initial value for outputs 223 IO Module Configuration In this module you can configur
37. s send the movement command parameters To this end some libraries were designed in assembly and C language to simplify communications through some functions which are responsible for I2C communications The format for these frames 18 explained in the motors and drive system library section The table below describes connections between the main PCB and the servo motor unit 3 3 Sensor and indicators group This group consists of different luminous sensors and indicators connected to the mOway microprocessor through which the robot interacts with the external world Two line tracking sensors Four obstacle detection sensors A light sensor An expansion connector Four LED diodes Temperature sensor www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 10 of 47 Speaker Microphone Accelerometer Battery level PIC18f86j50 SPEAKER Image 4 Sensors and indicators group 3 3 1 Line sensors The line tracking sensors are two reflection optocouplers mounted on the top front part of the robot They use infrared light reflection to detect the color of the terrain at the point where the robot 1s These two sensors are connected to two microcontroller analog ports so strong terrain contrasts like white lines on black backgrounds can be detected They are also capable of distinguishing different tones The Vishay CNY70 sensor has a compact construction where the emitting light sour
38. ted Right Central Sensor Detection inactive Left Side Sensor i Right Side Sensor Detection inactive Detection inactive Configure mOways four different obstacle sensors and connect them with the and or operator to set the condition for a true and false output Need help Settings Left Central Sensor Right Central Sensor Detection inactive Detection inactive Left Side Sensor 6 A Right Side Sensor Detection inactive Obstacle detected Image 31 Check Obstacles configuration www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 31 of 47 7 Condition modules have a true output and false output If the condition 1s true obstacle detected the corresponding LED lights up otherwise it remains off 6 Test the program and check that the front LEDs light up when an obstacle 15 detected Image 32 First mOwayWorld program obstacle detection 9 We add movement to the robot straight on indefinitely until an obstacle is found 10 When an obstacle 15 found a command 15 sent to the robot to rotate 180 The robot will continue to move in a straight line when the rotation 1s completed www moway robot com 23 Movement Module Rotate in this Movement Module you can let mOway rotate around its own axis rotate center or around one wheel rotate wheel Need help Commands for mOway Rotate Speed ConstantSpeed w
39. way Download process is always executed in mOwayWorld This application can download to the robot mOwayWorld projects assembler projects compiled with Mplab o gputils and C C18 compiler projects Steps to download a program to mOway e Connect mOway to the PC through USB The robot doesn t need any driver e Open mOwayWorld application e Open or create a project in mOwayWorld or import a HEX file from assembler or C project e Click download bottom If a HEX file has been imported the download progress will start automatically e Disconnect the robot and check the project mOwayPack provide 8 compiled projects 3 to check sensors 3 to check the drive system and 2 programs that are explained in the next section 4 3 RF Usb instalation e This is a device that allows to communicate the PC and mOway A driver that it s included in mOwayPack is required e The first time the RFUsb is connected the PC will detect it as a new device and an Assistant for new hardware found message will be displayed Select the No not this time option gt Option not yet available www moway robot com Title mOway Beginner Manual Rev v3 0 0 June 2011 Page 23 of 47 e In the following window select the recommended option Install software automatically Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for Moway RF USB 9 If your hardware came with an insta
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