Innoxer User`s Manual
Contents
1. 12 Creating Your First Program 12 How does the Line Follower work 13 Tutorial Programs 15 Ex 1 LEDs 16 Ex 2 Buttons 16 Ex 3 Buzzers 18 Ex 4 Infrared Intensity Measuring 19 Ex 5 Motor Rotation Direction Control 21 Ex 6 Motor Speed Control 23 Ex 7 Follow Line 24 Ex 8 PID Control 28 3 Overview InnoxerTM 8 Line Follower is a wheeled robot designed for the beginners to learn how to navigate it by following a line The InnoxerTM 8 is powered by the BASIC Commander system which is based on an 8 bit microcontroller hence the name InnoxerTM 8 This manual is divided2. Dim Lowtime As Byte 24 Lowtime 10 Hightime High 8 Low 9 High 10 Low 11 Pause Hightime High 8 High 9 High 10 High 11 Pause Lowtime End Sub Ex 7 Follow Line In this program we use the technique that we learned in the exercise of measuring the infrared intensity on how to set the central value of the black line on the white surface in order to find out the line position under the infrared sensors Then we learned how to use the PWM technique to set the motors speeds to keep the Line Follower on the track based on different track conditions The following table shows all the conditions that may be encountered on a track In the table 1 means the black line is detected by the I O pin If 1 appears in two cells it means both I Os have detected the black line in other words the black line is between the two sensors In the Action column it shows the actions to be taken to follow the line Note that case 000 111 and 101 are out of control exceptions In those cases we need to stop the motors to prevent the InnoxerTM 8 Line Follower from running away Case Left P18 Center P17 Right P16 Action 010 0 1 0 Forward 110 1 1 0 Left Turn 100 1 0 0 Sharp Left Turn 25 001 0 0 1 Sharp Right Turn 011 0 1 1 Right Turn 000 0 0 0 Stop 111 1 1 1 Stop 101 1 0 1 Stop After downloading the program to the I
3. Pause 50 Freqout 23 450 587 Re 2 D Pause 50 Add more lines here to complete this music Low 22 turn off LED pin 22 End If Loop End Sub Ex 4 Infrared Intensity Measuring The most important mission of InnoxerTM 8 Line Follower is to find the line and follow it The most common technique is to use infrared light When an infrared LED is used to generate infrared light it will be reflected mostly on a white surface or absorbed mostly on a black one By measuring the intensity of infrared reflection among the several infrared sensors we can tell where the line is and take actions to follow the line 20 In this program we use the RCTIME command to measure RC charging time which is in proportion with the intensity of the infrared reflection The RCTIME command syntax is shown as below RCTIME Pin State Variable The Pin is I O pin number where the Infrared RC circuit is connected On this Line Follower they are connected to pin 16 17 and 18 The State represents the discharge time with value 0 or charging time with value 1 On this Line Follower a charging circuit is deployed therefore the value will be always 1 The Variable is a variable of WORD data type to store the measured charging time or discharging time The number stored in the variable is of 5us unit In this program the values meas
4. Dim RCRightMax RCCenterMax RCLeftMax As Word Dim RCRightMin RCCenterMin RCLeftMin As Word Dim R L As Integer right and left wheel speed Dim Err As Integer deviation Dim IR0 IR1 IR2 IRAll As Byte IR reading status Dim But0 But1 As Byte Key buttons Dim TempR TempC TempL As Word Dim FollowLine Other As Byte Sub main START Pause 1000 Setinitial Low 21 Low 22 Do But0 In 14 press key 14 for calibration But1 In 15 press key 15 to follow line 30 If But0 0 Then Goto CalibrationIR Elseif But1 0 Then Goto Run End IF Loop CalibrationIR High 21 Low 22 Pause 1000 Do IRinitial But0 In 14 Loop Until But0 0 press key 14 to end calibration PerRCRight RCRightMax RCRightMin 3 PerRCCenter RCCenterMax RCCenterMin 3 PerRCLeft RCLeftMax RCLeftMin 3 Goto START Run High 22 Low 21 Do GetRCtime IR intensity with RCTIME commands Select Case IRAll Case 001 Err 50 Case 011 Err 30 Case 010 Err 0 Case 110 Err 30 Case 100 Err 50 End Select PID Loop End Sub 31 Sub Setinitial Setdirport1 amp B11110000 But0 0 But1 0 RCRightMax 0 RCCenterMax 0 RCLeftMax 0 RCRightMin 32767 RCCenterMin 32767 RCLeftMin 32767 RCRight PerRCRight RCCenter PerRCCenter RCLeft PerRCLeft End Sub Sub IRinitial Rctime 16 1
5. End Sub Sub PID Dim Derivative As Integer derivative value Dim PreErr As Integer previous error Dim Control As Integer PID control result Derivative Err PreErr Control KP Err KD Derivative PreErr Err R NORMAL_SPEED_R Control adjust left and right speed 34 L NORMAL_SPEED_L Control If R gt 512 Then check and set left and right max speed R 512 Elseif R lt 512 Then R 512 End If If L gt 512 Then L 512 Elseif L lt 512 Then L 512 End IF MotorControl L R End Sub
6. High 11 Pause 6 motors off about 6ms High 8 both motors on period Low 9 High 10 Low 11 Pause 3 motors on about 6ms End Sub Sub Brake brake subroutine High 8 High 9 27 High 10 High 11 End Sub Sub Stop stop subroutine Low 8 Low 9 Low 10 Low 11 End Sub Sub TurnR left turn subroutine High 8 both motors off period High 9 High 10 High 11 Pause 6 motors off about 6ms High 8 left motor on Low 9 High 10 right motor off High 11 Pause 2 about 2ms End Sub Sub TurnL right turn subroutine High 8 both motors off period High 9 High 10 High 11 Pause 6 motors off about 6ms High 8 left motor off High 9 High 10 right motor on Low 11 Pause 2 about 2ms End Sub 28 Sub TurnR2 sharp right turn subroutine High 8 both motors off period High 9 High 10 High 11 Pause 6 motors off about 6ms High 8 left motor forward Low 9 Low 10 right motor backward High 11 Pause 2 about 2 ms End Sub Sub T
7. After the program is downloaded completely on the Innoxer 8 Line Follower it will be executed automatically The Hello World message will appear in the Terminal Window How does the Line Follower work The Line Follower is always the first project for people who want to explore the robotics world Here are the basic concepts of a Line Follower Motor Speed Control The wheels of a Line Follower are controlled separately by two motors By controlling the direction of current that flows into the motor with an H bridge driving IC we can control 14 the rotation direction of the motor For more details about the use of the H bridge driving IC refer to the Motor Rotation Direction Control section For more precise motion control it is necessary to control also the rotation speed The easiest way to control the motor speed is to use the PWM Pulse Width Modulation technique which controls the circuit on off duty ratio so the current flows through the motor is controlled By setting the two motors with different speed the line follower can change its heading direction Infrared Sensors for Line Tracking Usually the line on a Line Follower track is a black line on the white surface The infrared light is absorbed by the black surfaces So we use an infrared LED as light source to shed on the surface and an infrared detector to measure the intensity of the infrared reflection If the black strip is detected then the refl
8. FREQOUT Pin Duration Frequency The Pin is I O pin number where the buzzer is connected On this Line Follower it is connected to pin 23 The Duration is a constant or variable ranging from 0 to 65535 of unit ms to indicate how long to play a note Frequency is a constant or variable ranging from 0 to 65535 to specify what square wave frequency is to be generated In this program we combine Ex 1 and Ex 2 to create a music instrument program Innoxer 8 Ex 3 Buzzer Functions Control Buzzer to play notes Sub main Dim status As Byte Do status In 14 read button status pin 14 If status 0 Then if button pressed High 21 turn on LED pin 21 Freqout 23 250 523 Do 1 C Freqout 23 250 587 Re 2 D Freqout 23 250 659 Mi 3 E Freqout 23 250 698 Fa 4 F Freqout 23 250 785 Sol 5 G Freqout 23 250 880 La 6 A Freqout 23 250 988 Ti 7 B 19 Freqout 23 250 1047 Do 8 C high Low 21 turn off LED pin 21 End If status In 15 read button status pin 15 If status 0 Then if button pressed High 22 turn on LED pin 22 Freqout 23 200 785 Sol 5 G Pause 50 Freqout 23 200 659 Mi 3 E Pause 50 Freqout 23 450 659 Mi 3 E Pause 50 Freqout 23 200 698 Fa 4 F Pause 50 Freqout 23 200 587 Re 2 D
9. Main microcontroller where user s program is downloaded and executed 8 Power switch Set to position 1 to turn on and 0 to turn off the power 9 Power input connector for the battery holder 10 USB controller IC 11 Mini USB connector for program downloading and debugging 12 Two built in buttons for user s application P14 P15 13 Two built in LEDs for user s application P21 P22 14 Motor power supply Pins labeled L1 L2 are for left side motor and R1 R2 for right side motor They are connected to output pins of the H bridge driver devices P8 to P11 15 Built in Buzzer for user s application P23 16 RES Button for resetting the program execution Note that it is prohibited to press this button during downloading Doing so will result in download failure Pin Assignment Pins Function P0 P7 General purpose I O pins P8 P11 H Bridge Drivers control P12 P13 Unused and not available P14 P15 Built in press buttons P16 P17 P18 Infrared LEDs and sensors 7 P19 P20 Reserved for left and right side infrared detectors P21 P22 Built in LEDs control P23 Built in Buzzer control Assembly Procedures Step 1 Connecting the motor wires Take the red motor power wire and rip the cut plastic insulation Gently twist the strands of copper wire with your fingers Insert the twisted strands into the DC motor power line connector ring and twist it tight
10. Turn detected by P18 Sharp Right Turn detected by P16 Tutorial Programs The InnoxerTM 8 Line Follower is an excellent robotics kit for beginners To help beginners be familiar with the built in electronic components and programming skills for sensor and control a series of step by step tutorial programs is provided in this section 16 To maintain the tutorial programs free of error and up to date they are subject to change without notice Visit Innovati website to download the up to date tutorial programs To learn more about the BASIC Commander system refer to the BASIC Commander and innoBASICTM Workshop User s Manual for more information Ex 1 LEDs LEDs are widely used in our daily life and they are also easy electronic devices for beginners to control On the InnoxerTM 8 Line Follower there are two built in LEDs for learning and application purposes They are connected to the I O pin 21 and pin 22 Innoxer 8 Ex 1 LEDs Function LEDs blink alternatively Sub main Do High 21 turn on LED at pin 21 Pause 200 wait 0 2 second Low 21 turn off LED at pin 21 High 22 turn on LED at pin 22 Pause 200 wait 0 2 second Low 22 turn off LED at pin 22 Loop End Sub Ex 2 Buttons Buttons are the most widely used input devices On the InnoxerTM 8 Line Follower two push buttons are built in for lear
11. in four parts The first part contains instructions on how to assemble the InnoxerTM 8 Line Follower The second part shows how to install the InnoBASIC Workshop integrated development environment in the computer to write your program code Only the necessary knowledge about how to run the project will be given in this manual For more detailed information about the BASIC Commander system and the usage of the innoBASIC language refer to BASIC Commander amp innoBASIC Workshop User s Manual The third part is a brief introduction to the line follower fundamentals which will help you understand what a line follower does in order to know how to write Line Follower programs More complicated control techniques can be deployed on the InnoxerTM 8 Line Follower by modifying the sample programs The fourth part of the manual contains several step by step exercises with simple LED button and buzzer control which help you build up your logical thinking Then you will learn how to use infrared sensors to find the line and how to control motors to follow the line With sensing control capabilities and intelligent decision making skills you will be able to use the InnoxerTM 8 Line Follower for more explorations Features With a few steps of assembly InnoxerTM 8 Line Follower is ready as an educational platform for robotics It is equipped with motors wheels battery holder and the following additional features Bui
12. while moving add the support pad as a third wheel on the board The pad is designed to run on smooth surfaces First fasten 11 the Hex Post to the bottom of the board and then screw the support pad to the Hex Post as shown below Then close the flip cap of the pad Step 7 Installing the wheels Place the wheels in the rims and make sure the tire tread directions are the same on each tire After the wheels are assembled insert them to the motor shafts directly Push the wheel as far as it can go while inserting so the wheel will not fall out when running Once the InnoxerTM 8 Line Follower is completely assembled it should look like as shown below Place six AA batteries into the battery holder and the Line Follower is ready to be programmed 12 Installing the InnoBASIC Workshop This section will demonstrate how to install the integrated development system InnoBASIC Workshop and how to use the basic functions such as writing program and editing compiling downloading and debug in the InnoBASIC Workshop environment Insert the supplied CD into the CD ROM drive and follow the on screen instructions to install the innoBASIC Workshop or visit Innovati website to download the latest version of the innoBASIC Workshop After the installation is complete run the innoBASIC Workshop Hardware Installation Connect the USB cable to the PC and the mini USB connector on the Innoxer 8 Line Followe
13. Innoxer 8 Line Follower Instruction Manual Document Rev 1 4 June 17 2013 1 Trademark Innovati and BASIC Commander are registered trademarks of Innovati Inc InnoBASIC cmdBUS and Innoxer are trademarks of Innovati Inc Copyright 2012 by Innovati Inc All Rights Reserved Due to continual product improvements Innovati reserves the right to make modifications to its products without prior notice Innovati does not recommend the use of its products for application that may present a risk to human life due to malfunction or otherwise No part of this publication may be reproduced or transmitted in any form or by any means without the expressed written permission of Innovati Inc Disclaimer Full responsibility for any applications using Innovati products rests firmly with the user and as such Innovati will not be held responsible for any damages that may occur when using Innovati products This includes damage to equipment or property personal damage to life or health damage caused by loss of profits goodwill or otherwise Innovati products should not be used for any life saving applications as Innovati s products are designed for experimental or prototyping purposes only Innovati is not responsible for any safety communication or other related regulations It is advised that children under the age of 14 should only conduct experiments under parental or adult supervision Er
14. TempR Rctime 17 1 TempC Rctime 18 1 TempL High 16 High 17 High 18 If TempR gt RCRightMax Then RCRightMax TempR End IF If TempR lt RCRightMin Then RCRightMin TempR End IF If TempC gt RCCenterMax Then RCCenterMax TempC End IF If TempC lt RCCenterMin Then RCCenterMin TempC End IF If TempL gt RCLeftMax Then RCLeftMax TempL 32 End IF If TempL lt RCLeftMin Then RCLeftMin TempL End IF End Sub Sub GetRCtime Rctime 16 1 TempR Rctime 17 1 TempC Rctime 18 1 TempL High 16 High 17 High 18 If TempR gt RCRight Then IR0 1 ELSE IR0 0 End IF If TempC gt RCCenter Then IR1 1 ELSE IR1 0 End IF If TempL gt RCLeft Then IR2 1 ELSE IR2 0 End IF IRAll IR2 100 IR1 10 IR0 End Sub Sub GetButton But0 In 0 But1 In 1 33 End Sub Sub MotorControl SpeedL As Long SpeedR As Long Dim Speed As Word Dim Motor As Byte If SpeedR gt 0 Then Motor amp B11110111 ELSE Motor amp B11111011 SpeedR SpeedR End IF If SpeedL gt 0 Then Motor Motor And amp B11111101 ELSE Motor Motor And amp B11111110 SpeedL SpeedL End IF For Speed 1 To 512 If Speed gt SpeedR Then Motor Motor And amp B11110011 End IF If Speed gt SpeedL Then Motor Motor And amp B11111100 End IF Writeport1 Motor Next
15. as shown below If you have a soldering iron you can use it to secure the joint Follow the same steps for the black wire To be consistent with the control of motors in the tutorial programs later follow the color order as shown below If the two wires are exchanged the wheel will rotate reversely Apply same steps for the second motor 8 Step 2 Installing the DC motors Place the two straps of double sided foam tape on the board onto the area marked with white line and then remove the upper cover of the tape for use Carefully place the DC motor on the double sided tape Make sure the DC motor is placed correctly with the screw head on the top side facing outward at the edge of the board as shown in the figure below Otherwise the wheels will rotate reversely as expected in the tutorial programs Insert a cable tie through the board and the gear box and then tighten the cable tie to secure the DC motor as shown below Similarly insert another cable tie through the board and the ring of the gear box and tighten the cable tie to secure the DC motor as shown below Make sure that the motors are fixed on the board firmly and safely Cut the excess part of the cable ties 9 Repeat the same steps to install the second DC motor on the board When finished it would look like as shown below Step 3 Installing the battery holder To secure the battery holder on board place the Velcro sticky back tape on the central ar
16. ave connected the pins and installed the motors as described in the assembly section the left wheel will move forward Similarly we can set the pins to either STOP or BRAKE the DC motor For the STOP condition the motor will stop gradually due to the residue inductive current For the BRAKE condition the motor stops immediately as the residue inductive current will be grounded However in our Line Follower application you can hardly see the difference between the two cases You may use either setting to stop the motor This program shows how to control the rotation directions of the motors by inputting the command via the Terminal Window If the motors do not rotate as expected check the assembly procedure again Innoxer 8 Input Output P8 P9 L1 L2 LEFT WHEEL 0 0 STOP 0 1 L H BACKWARD 1 0 H L FORWARD 1 1 L L BRAKE Input Output P10 P11 R1 R2 RIGHT WHEEL 0 0 STOP 0 1 L H BACKWARD 1 0 H L FORWARD 1 1 L L BRAKE 22 Ex 5 Motor Rotation Direction Control Function Use H Bridge to control motors Sub main Dim i As Byte Debug Input number to control motors CR Debug 1 forward CR Debug 2 backward CR Debug 3 turn right CR Debug 4 turn left CR Debug 5 brake CR Do D
17. ea on the board Then place the Velcro tape on the edge side of the battery holder Place the battery holder on the central area as shown below Do not insert the batteries until the InnoxerTM 8 Line Follower is assembled completely Step 4 Connecting the wires to the board To be consistent with the tutorial programs connect the left motor power wires to the central connector pins with the red wire on pin L1 and black wire on pin L2 Connect the right motor power wires with red wire on pin R2 and black wire on pin R1 Otherwise the motors will rotate reversely to the settings in the tutorial programs 10 Connect the battery holder wires to the power input connector as shown below Use a cable tie to tie up the wires neatly Step 5 Installing the Infrared insulation tube A line following course can have black surface with white lines or vice versa By measuring the infrared intensity reflected from a surface we can distinguish the white and black color on the course To ensure the infrared light detected by the infrared detector is reflected from the course but not leaking from the infrared LED next to it it is necessary to add an insulation tube to the infrared LEDs Heat shrink tubes are used as the insulator Cut three pieces of heat shrink tubes of 7mm length and cover the infrared LEDs all the way to the bottom as shown below Step 6 Installing the support wheel pad To keep the InnoxerTM 8 Line Follower steady
18. ebugin i Select Case i Case 1 forward High 8 Low 9 High 10 Low 11 Case 2 backward Low 8 High 9 Low 10 High 11 Case 3 turn right High 8 Low 9 Low 10 High 11 Case 4 turn left Low 8 High 9 High 10 Low 11 Case 5 brake High 8 High 9 23 High 10 High 11 End Select Loop End Sub Ex 6 Motor Speed Control In order to have a more precise control of the direction we also need to control the rotation speed of the DC motor The rotation speed is in proportion with the current flows into the motor coil The PWM Pulse Width Modulation is a commonly used technique for controlling the power delivered to the motor The following program demonstrates how to write PWM as a subroutine which performs a specific task when it is invoked It is a useful programming technique to reduce the program size by reusing the repeated program code and also to make the program code easy to maintain You will see more subroutines in the following programs Innoxer 8 Ex 6 Motor Speed Control Function Use PWM method to control forward speed Sub main Dim Speed As Byte Debug Please enter speed ranging 1 10 Do Keyin Speed Debug CSRXY 1 2 Speed Speed CLREOL Forward Speed Loop End Sub Sub Forward Hightime As Byte
19. ection intensity will be low for the white area the reflection intensity will be high To track a line usually we need three pairs of infrared LEDs and sensors By checking the reflection intensity of the three detectors we will know the location of the line under the Line Follower By changing the speed of the two motors we can keep the black line under the center of three sensors There are more advanced analog methods to calculate more accurately the black line location and more advanced PID control theories to improve the tracking stability Line Tracking To track a line we need to place at least two infrared sensors on the left and right side of the line to keep the line in the center of the line follower For more complicated course conditions we need three infrared sensors which can detect a broken line or an intersection For faster line following applications more IR sensors can be used for example five sensors to keep track of the line The following drawings show the typical course conditions By reading the status of infrared sensors we know the line curving direction ahead and change motor speeds to keep the line follower on the track For more details about the use of the H bridge driving IC and line tracking refer to the Motor Rotation Direction Control section 15 Straight Line detected by P17 Derail not detected Left Turn detected by P17 and P18 Right Turn detected by P17 and P16 Sharp Left
20. lt in BASIC Commander system as controller USB interface for program downloading and debugging 8 General Purpose Digital I Os 14 dedicated I Os for built in device access Built in H bridge driver devices 4 6 Pin cmdBUSTM connector for Innovati s smart module interface Part List Item Illustration Qty Control Board Chassis 1 DC Motor with Gear Box 2 Wheels amp Tires 2 6 AA battery Holder Batteries not included 1 Cable Ties 8 Motor Power Wires 4 Support Pad Set 1 Velcro Tapes Pair 1 5 Double sided Foam Tape 2 Heat Shrink Tube 1 Mini USB Cable 1 Electric Tape 1 CD 1 Board Layout This section illustrates the different parts of the InnoxerTM 8 Line Follower Control Board and their functions The Control Board is also used as the chassis of the line follower 6 Item Description I O Pins 1 Three pairs of infrared LEDs and detectors P16 P17 P18 2 Connector IR_R is reserved for right side infrared detector P19 3 A cmdBUS connector for Innovati s Smart Module connection Check the label on board when connecting the cmdBUS cable incorrect insertion may damage the modules 4 Eight general purpose I O pins P0 to P7 5 Eight power pins of power input regulated 5V rating 200mA labeled VIN and GND for user s application 6 Connector IR_L is reserved for left side infrared detector P20 7
21. ning and application purposes They are connected to the I O pin 14 and pin 15 Below diagram shows configuration of pin 14 17 The IN command can be used to read the I O status The syntax of IN command is shown as below Status IN Pin The Pin is I O pin number where the button is connected On the Line Follower they are connected to pin 14 and 15 The Status is the result returned from the I O pin If the button is pressed a logic 0 will be returned and stored in Status otherwise a logic 1 will be returned In this program we add the code to the Ex 1 Innoxer 8 Ex 2 Buttons Function Press buttons to light LEDs Sub main Dim status As Byte Do status In 14 read button status pin 14 If status 0 Then if button pressed High 21 turn on LED pin 21 Else otherwise Low 21 turn off LED pin 21 End If status In 15 read button status pin 15 If status 0 Then if button pressed High 22 turn on LED pin 22 Else otherwise Low 22 turn off LED pin 22 End If 18 Loop End Sub Ex 3 Buzzer Buzzer is made of piezoelectric ceramic which can produce sound based on the inverse piezoelectric effect The built in buzzer is connected to the I O pin 23 The FREQOUT command is used to generate tones The syntax is shown as below
22. nnoxer 8 Line Follower remove the USB cable and press the button on pin P14 to start the Innoxer 8 Line Follower Innoxer 8 Ex 7 Follow Line Function Use the three IR sensors to follow line Sub main Dim IR_All As Byte Dim status As Byte Do wait until button pressed status In 14 Loop Until status 0 Do High 16 get right IR reflection intensity Rctime 16 1 IR_R Low 16 High 17 get central IR reflection intensity Rctime 17 1 IR_C Low 17 High 18 get left IR reflection intensity Rctime 18 1 IR_L Low 18 26 IRALL 0 If IR_R gt 12 Then IR_ALL 1 left IR result If IR_C gt 12 Then IR_ALL IR_ALL 10 add central IR result If IR_L gt 12 Then IR_ALL IR_ALL 100 add left IR result Select Case IR_All Case 001 line under right IR sensor TurnR2 sharp right turn Case 011 line between right and center IR sensor TurnR right turn Case 010 line under center IR sensor Forward go straight Case 110 line between left and center IR sensor TurnL left turn Case 100 line under left IR sensor TurnL2 sharp left turn End Select Loop End Sub Sub Forward go forward subroutine High 8 both motors off period High 9 High 10
23. r As the USB port power supply is not designed to be used by the Innoxer 8 Line Follower the power on the Innoxer 8 Line Follower needs to be switched on for USB hardware installation and operation If the USB drivers are not installed on the PC it will prompt for installation of new hardware found Follow the instructions on the screen to complete the installation of the USB drivers Creating Your First Program Once the hardware and software are successfully installed following the below steps to write the first program 13 Step 1 Select File New menu or click the New icon to open a new file A new editing window will appear on the screen with the title Untitle1 Step 2 Write the following code in the editing window Sub Main Debug Hello World End Sub Step 3 Select File Save menu command or click Save File icon to save the file You can select the location where the file is to be saved Note that the file is saved with the extension inb which stands for innoBASIC language program file Step 4 Select the Build commander under the Build menu or click the Build icon to compile and download the program to the Innoxer 8 Line Follower If the program has been written correctly the program will be compiled into machine code and downloaded via the USB cable to the Innoxer 8 Line Follower A green LED on the board will flash indicating the download process is in progress Step 5
24. rata We hope that our users will find this instruction manual a useful easy to use and interesting publication as our efforts to do this have been considerable Additionally a substantial amount of effort has been put into this instruction manual to ensure accuracy and complete and error free content however it is almost inevitable that certain errors may have remained undetected If you find any errors in the instruction manual contact us via email service innovati com tw For the most up to date information please visit our web site at http www innovati com tw 2 Table of Contents Overview 3 Features 3 Part List 4 Board Layout 5 Pin Assignment 6 Assembly Procedures 7 Installing the InnoBASIC Workshop 12 Hardware Installation
25. ured are displayed in the Terminal Window Innoxer 8 Ex 4 Infrared Intensity Measuring Function Read and display Infrared reflection intensity Sub main Dim IR_L IR_C IR_R As Word Do High 16 IR light on Rctime 16 1 IR_R measure right side IR intensity Low 16 IR light off High 17 IR light on Rctime 17 1 IR_C measure central IR intensity Low 17 IR light off High 18 IR light on Rctime 18 1 IR_L measure left side IR intensity Low 18 IR light off Debug CSRXY 1 1 IR_R IR_R CLREOL right IR value Debug CSRXY 1 2 IR_C IR_C CLREOL central IR value Debug CSRXY 1 3 IR_L IR_L CLREOL left IR value 21 Loop End Sub Ex 5 Motor Rotation Direction Control The brushed DC motor generates torque directly from the DC power supply By changing the direction of the current that flows through the motor coil we can control the motor s rotating direction The following truth tables show how to control the current direction through the built in dual channel H Bridge Driver For instance if we set pin 8 to logic 1 and pin 9 to logic 0 then the output pin of H Bridge Driver L1 will be high and pin L2 will be low When the L1 and L2 pins are connected to a motor the current will flow into the motor from L1 and flow out from L2 If you h
26. urnL2 sharp left turn subroutine High 8 both motors off period High 9 High 10 High 11 Pause 6 motors off about 6ms Low 8 left motor backward High 9 High 10 right motor forward Low 11 Pause 2 about 2 ms End Sub Ex 8 PID Control The PID proportional integral derivative control is the most commonly used technique in industrial control systems The PID control can be interpreted as a weighted sum of present error P accumulation of past errors I and prediction of future errors D based on current changing rate The PID control can be used to make the line following more smoothly In the line following program no final stable state needs to be achieved 29 therefore the accumulation of past errors I is not used Although the PID control technique is for experienced users you may download the program to check the difference after deploying the PID control technique Innoxer 8 Ex 8 PID Function Use the PID to follow line DEFINE KP 1 set PID parameters KI not used DEFINE KD 10 DEFINE NORMAL_SPEED_R 250 set right wheel speed DEFINE NORMAL_SPEED_L 250 set left wheel speed Dim PerRCRight PerRCCenter PerRCLeft As Persistentword Dim RCRight RCCenter RCLeft As Word
Download Pdf Manuals
Related Search