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1. 68 WWW nexusrobot com Robot Kits manual MotorWheel wheel2 10 11 6 7 amp irq2 REDUCTION RATIO int 144 Pl R2WD _2WD 8wheel1 8wheel2 WHEELSPAN This will create a R2WD object called R2WD You can then use any of its methods for instance to control a R2WD attached to pins you could write o void setup TCCROB TCCROB amp Oxf8 0x01 warning it will change millis TCCR1B TCCR1B amp 0xf8 0x01 l Pin9 Pin10 PWM 31250Hz I TCCR2B TCCR2B amp Oxf8 0x01 Pin3 Pin11 PWM 31250Hz _2WD PIDEnable 0 26 0 01 0 10 Enable PID void loop _2WD demoActions 100 5000 Call the demoActions from the Class R2WD J _2WD setCarAdvance 0 _2WD setCarSpeedMMPS 100 500 _2WD delayMS 5000 _2WD setCarSlow2Stop 500 _2WD setCarBackoff 0 _2WD setCarSpeedMMPS 100 500 _2WD delayMS 5000 _2WD setCarSlow2Stop 500 Bi 69 Robot Kits manual www nexusrobot com Encoder PhaseA Pin4 B Pin5 Lad E BumperR Pin2 irRO Ana2 Optional ce y Motor2 PWM Pin10 DIR Pin11 Battery 12V BumperL Sample Wiring Diagram for RB004 2WD
2. Servo Motor Theory Servo motors have three wires power ground and signal The power wire is typically red and should be connected to the 5V pin on the Arduino board The ground wire is typically black or brown and should be connected to a ground pin on the Arduino board The signal pin is typically yellow orange or white and should be connected to a digital pin on the Arduino board Note servos draw considerable power so if 19 www nexusrobot com Robot Kits manual you need to drive more than one or two you ll probably need to power them from a separate supply i e not the 5V pin on your Arduino Be sure to connect the grounds of the Arduino and external power supply together As mentioned earlier most servos expect a pulse width between 1 2 ms however a range of 0 5 ms to 2 5 ms 500 2500us may be required depending on your servo Experiment as necessary Hi Tec Servo Motors have three wires coming out of them Red Red Power 4 8v 6v A Black Ground Yellow Signal Yellow Signal The power amp ground wires are hooked directly up to whatever battery or power supply you are using to power the servos The Signal wire will be hooked up to the microcontroller used to cont
3. DigitalReadSerial Reads a digital input on pin O prints the result to the serial monitor Use the example of gp2y0A21 to see how the Serial work i a const int GP2YOA21 20 set analog pin O as the signal pin int incomingByte 0 for incoming serial data void setup i Serial begin 9600 opens serial port sets data rate to 9600 bps www nexusrobot com Robot Kits manual void loop if incomingByte 10485 analogRead ISRpin 0 5 4 read the data from signal pin Serial printin incomingByte DEC display delay 500 External device modules Dual Ultrasonic Sensor DUS Introduction DUS is based on RS485 interface It allows a number of sensors working together Up to 32 units may be connected together in a RS485 network The ultrasonic sensor allows you to determine the exact distance of an obstacle in the sonar field of view The cleverness of your robot will depend on a sensitive sensor similar to the one bats use to know their position and track prey With advanced programming you can design compensators in order to perfectly control your motors according to the obstacle s distance r4 TE Reus 1 ml i Tu i LEN Hida i AA i E iy 23 www nexusrobot com Robot Kits manual gt Specification Power 5V m Current lt 20mA Working temperature 10 C 70 C
4. 117 WWW nexusrobot com Robot Kits manual rotateL eft backOff turnLeft allStop used the method of demotion unsigned long currMillis 0 void demoWithSensors unsigned int soeedMMPS unsigned int distance unsigned char sonarcurrent 0 if millis currMillis gt SONAR duration 20 every 80 ms to call sonarUpdate once currMillis millis sonarcurrent sonarsUpdate if sonarcurrent 4 unsigned char bitmap distBuf 0 lt distance right Four of every byte bitmap distBuf 1 distance 1 back bitmap distBuf 2 distance lt lt 2 left bitmap distBuf 3 lt distance lt lt 3 front motion bitmap speedMMPS Omni PIDRegulate PID regulate void setup delay 2000 TCCR1B TCCR1B amp 0xf8 0x01 Pin9 Pin10 PWM 31250Hz TCCR2B TCCR2B amp OXf8 0x01 Pin3 Pin11 PWM 31250Hz SONAR init 13 Omni switchMotors Omni PIDEnable 2 0 1 0 0 10 PID enable void loop Omni demoActions 250 5000 500 false demoWithSensors 100 30 call the demo speed 300 distance 30 gt Servo Motor 118 www nexusrobot com Robot Kits manual This document describes a car with three servo Motors On the Introduction you will know how to control the servo Motors then to control the car Before you read this code you should know about the Servo Motor Theory To understand how the motor 3WD 48mm Omni wheel Alumi
5. X www nexusrobot com Robot Kits manual if Omni getCarStat Omni4WD STAT_ LEFT Omni setCarSlow2Stop 300 Omni setCarLeft 0 Omni setCarSpeedMMPS speedMMPS 300 void turnRight unsigned int speedMMPS iffOmni getCarStat ZOmni4WD STAT RIGHT Omni setCarSlow2Stop 300 Omni setCarRight 0 Omni setCarSpeedMMPS speedMMPS 300 void rotateRight unsigned int speedMMPS if Omni getCarStat Omni4WD STAT_ROTATERIGHT Omni setCarSlow2Stop 300 Omni setCarRotateRight 0 Omni setCarSpeedMMPS speedMMPS 300 void rotateLeft unsigned int speedMMPS if Omni getCarStat Omni4WD STAT_ROTATELEFT Omni setCarSlow2Stop 300 Omni setCarRotateL eft 0 Omni setCarSpeedMMPS speedMMPS 300 void allStop unsigned int speedMMPS if Omni getCarStat COmniAWD STAT STOP Omni setCarSlow2Stop 300 Omni setCarStop void backOff unsigned int soeedMMPS void motion 8 unsigned int soeedMMPS goAhead turnLeft rotateRight rotateLeft turnRight goAhead rotateRight backOff void motion 16 unsigned int soeedMMPS goAhead turnRight goAhead turnRight turnLeft goAhead turnLeft goAhead rotateRight rotateRight turnRight turnRight
6. void motion 7 goAhead getBack Left Right RotateL eft RotateRight allStop void demotion for int i 0 i lt 7 i The demotion have 8 actions motion i call the action delay 3000 Each action last 3000 milliseconds j j Jes Rec LE Saye E E M E E void setup TCCR1B TCCR1B amp 0xf8 0x04 PIN 9 and PIN 10 cotroled by Timer1 122HZ TCCR2B TCCR2B amp 0xf8 0x06 PIN 11 and PIN 3 cotroled by Timer2 122HZ A 120 www nexusrobot com Robot Kits manual pinMode MOTOR1 E OUTPUT Define the pin Mode as OUTPUT pinMode MOTOR2 E OUTPUT pinMode MOTOR3 E OUTPUT Serial begin 19200 void loop demotion Call the demotion motor zignal Pin 8 motor sinal motor sidii RW m RN sinal Pini motors motor Sample Wiring Diagram for 3WD omni wheel mobile robot 121 WWW nexusrobot com Robot Kits manual Servo 3WD platform with 3 SONAR Look the above figure of simple Wiring Diagram for 3WD omni wheel mobile robot Tis code is matched for it Servo 3WD omni wheel mobile robot code include lt SONAR h gt Include the header files
7. SONAR sonar11 0x11 sonar12 0x12 sonar13 0x13 Software initialization ISONAR is be defined in lt SONAR h gt as a class 3 define MOTOR1 E 9 define the pin 9 as the motor1 s pwm signal control pin define MOTOR2 E 10 define the pin 10 as the motor2 s pwm signal control pin define MOTORS E 11 define the pin 11 as the motor3 s pwm signal control pin INEA AA A A unsigned short distBuf 3 unsigned char sonarUpdate static unsigned int sonarCurr 1 if sonarCurr 3 sonarCurr 1 else sonarCurr Serial printin sonarCurr if sonarCurr 1 distBuf 0 sonar1 1 getDist Save the data of the distance get from Sonar11 sonar12 trigger Tregger sonar12 else if sonarCurr 2 distBuf 1 sonar12 getDist sonar13 trigger trigger the sonar13 else if sonarCurr 3 distBuf 2 sonar13 getDist according to the address to read the serial sonar1 1 trigger trigger the sonar11 j return sonarCurr j a void goAhead analogWrite MOTOR1 E 48 stop motor 1 analogWrite MOTOR2_E 62 forward motor2 analogWrite MOTOR3_E 34 Revese motor3 TIE Eu S EA EA A T t void getBack RP www nexusrobot com Robot Kits manual analogWrite MOTOR1_E 48 analogWrite MOTOR2_E 32 2 analogWrite MOTOR3_E 64 0 J Filled al Hee eee e f void turnLeft e analogWrite MOTOR1_E 36 Revese analogWrite MOTOR2_E 53 forward analogWrite MOTOR3_E 53 forward E void tur
8. Set Analog pin O as the left Infrared Sensor signal pin unsigned char irCO pinz1 unsigned char irRO_pin 2 Set Analog pin 2 as the right Infrared Sensor signal pin int ir distance unsigned char ir int val analogRead ir Read the data from the Infrared Sensors return 6762 val 9 4 Change the data lont M A E E TEES EU EI m bumper unsigned char bumperL_pin 12 Set pin 12 as the left Bumper s Sensor signal pin unsigned char bumperC pin 3 Set pin 3 as the front Bumper s Sensor signal pin unsigned char bumperR pin 2 Set pin 2 as the right Bumper s Sensor signal pin E A A tS a eae Na unter E irglSR irq1 isr1 Intterrupt function on the basis of the pulse work for wheel MotorWheel wheel1 9 8 4 5 amp irq1 REDUCTION RATIO int 144 Pl This will create a MotorWheel object called Wheel1 Motor PWM Pin9 DIR Pin8 Encoder A Pin4 B Pin5 irglSR irq2 isr2 MotorWheel wheel2 10 11 6 7 amp irq2 REDUCTION RATIO int 144 PI R2WD _2WD amp wheel1 amp wheel2 WHEELSPAN unsigned int speedMMPS 80 void setup I TCCROBZTCCROB amp OXf8J0x01 warning it will change millis TCCRI1B TCCR1B80xf8 0x01 Pin9 Pin10 PWM 31250Hz TCCR2B TCCR2B8 amp 0xf8 0x01 Pin3 Pin11 PWM 31250Hz SONAR init 13 Pin13 as RW Control _2WD PIDEnable 0 26 0 02 0 10 Enable PID WWW nexusrobot com Robot Kits manual void loop _2WD demoActions 80 5000 Cal
9. www nexusrobot com Robot Kits manual Omni Wheel Robots employing omni wheel are capable of moving in any direction by changing velocity and direction of each wheel without changing its orientation As there are small rollers around the circumference of omni wheels which are perpendicular to the rolling direction making them capable of sliding laterally Omni wheel Mecanum wheel Mecanum wheel is a conventional wheel with a series of rollers attached to its circumference these rollers have an axis of ratation at 45 to the plane of wheel A mecanum wheel robot usually is four wheeled the vehicle is stable and can be made to move in any direction and turn by varying the speed and direction of each wheel Moving all four wheels in the same direction causes forward or backward movement running the wheels on one side in the opposite direction to those on the orther side causes rotation of the vehicle and running the wheels on one diagonal in the opposite direction to Mecanum wheel those on the other diagonal cause sideways movement Combined motiond motion is also possible Omni3WD This page describes how to control the built in Omni3WD It does not describe how the Omni3WD work on your board For more information on that Please refer to Omni3WD Class Reference 3WD 100mm Mecanum wheel Aluminum alloy body Includes ultrasonic sensors and fall detect sensors Optional IR sensors With microcontroller a
10. PID Basic Example Reading analog input O to control analog PWM output 3 Rl Lu include PID v1 h double Setpoint Input Output Define Variables we ll be connecting to PID myPID 8 Input 8 Output amp Setpoint 2 5 1 DIRECT Specify the links and initial tuning parameters void setup WWW nexusrobot com Robot Kits manual Input analogRead 0 initialize the variables we re linked to Setpoint 100 myPID SetMode AUTOMATIC turn the PID on 3 void loop Input analogRead 0 myPID Compute analogWrite 3 Output See http www arduino cc playground Code PlDLibrary gt Servo control Theory RC servos are comprised of a DC motor mechanically linked to a potentiometer Pulse width modulation PWM signals sent to the servo are translated into position commands by electronics inside the servo When the servo is commanded to rotate the DC motor is powered until the potentiometer reaches the value corresponding to the commanded position Figure 1 shows The servo motor s signal wires there are two bigs and four smalls following we will to understand how the motor works we can use these wires to control the motor make servo control How to link the Servo motor s signal wires The two wires Sticked together used for drive motor power the red one marked by should be connected to the positive wire from your supply to the screw terminal labeled VIN on the Arduino board NOTE Maximum supply
11. Parameters unsigned int soeedMMPS 0 76 www nexusrobot com Robot Kits manual The speed for the motor to run initialize it bool dir DIR_ADVANCE The direction for the motor to run Omni3WD wheelBackSetSpeedMMPS See Omni3WD wheelRightSetSpeedMMPS Omni3WD wheelLeftSetSpeedMMPS unsigned int setMotorAllStop Stop all Motors This will lie within the range specified at Omni3WD setMotorAll See Omni3WD setMotorAll unsigned int setMotorAllAdvance unsigned int speedMMPS 0 Set all the motors run forward This will lie within the range specified at Omni3WD setMotorAll unsigned int spoeedMMPS 0 Parameters The speed for the motor to run initialize it See Omni3WD setMotorAll unsigned int setMotorAllBackoff unsigned int soeedMMPS 0 Set all the motors run Reverse This will lie within the range specified at Omni3WD setMotorAll unsigned int spoeedMMPS 0 Parameters The speed for the motor to run initialize it See Omni3WD setMotorAll unsigned int setCarStop Stop the car This will lie within the range specified at Omni3WD setMotorAll and Omni3WD setCarstat Omni3WD setMotorAll See Omni3WD setCarstat unsigned int setCarAdvance unsigned int soeedMMPS 0 TI WWW nexusrobot com Robot Kits manual Set the car moves forward Because the car have three wheels so the car moves forward the wheels will have different state This will lie within the range specified at Omni3WD s
12. unsigned char setCarStat unsigned char stat Set the state of the car Parameters unsigned char stat The state want to set Carstate if the stat in the range of the want return STAT UNKNOWN otherwise unsigned char switchMotorsStat Switch the motors state unsigned char setSwitchMotorsStat unsigned char switchMotorsStat Set the Motors state This will lie within the range specified at Omni3WD getSwitchMotorsStat Parameters unsigned char switchMotorsStat The state want to set See Omni3WD getSwitchMotorsStat Omni3WD Construct a new R2DW instance void demoActions unsigned int soeedMMPS 100 unsigned int duration 5000 unsigned int uptime 500 bool debug false A demo function for three wheels car to show 84 WWW nexusrobot com Robot Kits manual void Omni3WD demoActions unsigned int speedMMPS unsigned int duration unsigned int uptime bool debug unsigned int Omni3WD carAction unsigned int soeedMMPS amp Omni3WD setCarAdvance set car moves forward amp Omni3WD setCarBackoff set car moves Reverse amp Omni3WD setCarL eft set car turn left amp Omni3WD setCarRight set car turn right amp Omni3WD setCarRotateLeft set car rotate left amp Omni3WD setCarRotateRight set car rotate right 5 for int i 0 i lt 6 i there are six base actions this gt carAction 1 0 choose one of the six actions setCarSpeedMMPS speedMMPS uptime set the speed for the car in
13. 108 www nexusrobot com unsigned char getCarStat const Get the state of the car return The car s state Motor state enum Used to configure the behavior of a motor Note that not all motors can be configured in every state Variables MOTORS_FB The switchmotorstat is front back MOTORS BF The switchmotorstat is back front unsigned char getSwitchMotorsStat const Get the state of the Motor return The motor s state Private parameters MotorWheel wheelUL A point named _wheelUL as the object of MotorWheel MotorWheel wheelLL A point named wheelLL as the object of MotorWheel MotorWheel wheelLR A point named _wheelLR as the object of MotorWheel MotorWheel wheelUR A point named _wheelUR as the object of MotorWheel unsigned char carStat To save the car s state unsigned char setCarStat unsigned char stat Set the state of the car Parameters unsigned char stat The state want to set Robot Kits manual 109 www nexusrobot com Robot Kits manual Carstate if the stat in the range of the want return STAT UNKNOWN otherwise unsigned char switchMotorsStat Switch the motors state unsigned char setSwitchMotorsStat unsigned char switchMotorsStat Set the Motors state This will lie within the range specified at Omni4WD getSwitchMotorsStat Parameters unsigned char switchMotorsStat The state want to set See Omni4WD getSwitchMotorsStat Omni4WD Construct a new R2DW instance void d
14. ADD 1 55 S SUM PS All connected SONAR will be changed to the given address The new address must be between 0x11 and 0x30 If the address is set successfully the flag will be set to 0x01 in the return data If unsuccessful there is no return data The default address for the sensor is 0x11 Example Command 0x55 0xaa 0x11 0x01 0x55 0x12 0x79 Set Address to 0x12 Return 0x55 0xaa 0x12 0x01 0x55 0x01 0x69 Address set successfully Trigger measurement Command Header Address Length Cmd SUM Return Value None PS Trigger one measure The distance data will be available after 30ms This command do not return any data The distance data is stored in the buffer and the Read Distance command can be applied to get this distance data Example Command 0x55 0xaa 0x00 0x01 0x00 Return None 2 WWW nexusrobot com Robot Kits manual Read Distance Command Header Address Length Cmd SUM 55 aa ADD 0 02 SUM Header Address Length Cmd High Byte Low Byte SUM 55 aa ADD 2 02 H L SUM PS The command will return the measured distance value The value consists of two bytes If the measurement is out of range or unsuccessful the return data will be OxFF H OxFF L Example Command 0x55 0xaa 0x11 0x00 0x02 0x12 SUM Return 0x55 0xaa 0x11 0x02 0x02 0x01 0xOA 0x11 Distance is 266 cm 0x55 0xaa 0x11 0x02 0x02 OxFF OxFF Ox1F Out of Range Read temperature Com
15. Buttons Analog Pin Arduino Board V1 1 Atmega168 The picture above shows all of the I O lines and Connectors on the controller which includes One Regulated Motor Power Input Terminal 6v to12v One Unregulated Servo Power Input Terminal you supply regulated 4v to 7 2v One Servo input power selection jumper One Serial Interface Module Header for APC220 Module Two DC Motor Terminals Handles motor current draw up to 2A each terminal One IIC TWI Port SDA SCL 5V GND One Analog Port with 8 analog inputs one input is tied internally to the supply voltage One General Purpose I O Port with 13 I O lines 4 5 6 7 can be used to control motors One Reset Button Jumper bank to Enable Disable Motor Control Arduino 328 Features The Arduino Uno is a microcontroller board based on the ATmega328 datasheet It has 14 digital input output pins of which 6 can be used as PWM outputs 6 analog inputs a 16 MHz crystal oscillator a USB connection a power jack an ICSP header and a reset button It contains everything needed to support the microcontroller simply connect it to a computer with a USB cable or power it with a AC to DC adapter or battery to get started WWW nexusrobot com Robot Kits manual Memory function The ATmega328 has 32 KB with 0 5 KB used for the bootloader It also has 2 KB of SRAM and 1 KB of EEPROM which can be read and written with the EEPROM library gt Input and Output PinM
16. The radian when the car moves lower left R2WD setCarLowerLeft see R2WD setCarArcAngle unsigned int setCarUpperRightAngle unsigned int soeedMMPS 0 unsigned int radiusMM WHEELSPAN float radian 0 unsigned int uptime 500 Set the angle when the car moves Upper right This will lie within the range specified at R2WD setCarUpperRight and R2WD setCarArcAngle unsigned int speedMMPS The speed for the car to moves Parameters Unsigned int radian The radian when the car make upper right moves R2WD setCarUpperRight see R2WD setCarArcAngle unsigned int setCarLowerRightAngle unsigned int soeedMMPS 0 unsigned int radiusMM WHEELSPAN float radian 0 unsigned int uptime 500 Set the angle when the car moves Upper Right This will lie within the range specified at R2WD setCarLowerRight and R2WD setCarArcAngle unsigned int speedMMPS The speed for the car to moves Parameters Unsigned int radian The radian when the car make lower Right moves R2WD setCarLowerRight see R2WD setCarArcAngle unsigned int wheelLeftSetSpeedMMPS unsigned int soeedMMPS 0 bool dir ZDIR ADVANCE 57 www nexusrobot com Robot Kits manual Set the speed for Left wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int speedMMPS The speed for the car to moves Parameters bool dir DIR_ADVANCE The direction for the left wheel see MotorWheel setSpeedMMPS unsigned int wheelLeftGetSpeedMM
17. This example shows you how to read analog input which from the physical world using a Sharp 2D12 A Sharp 2D12 is a simple mechanical device that provides a varying amount of resistance when its shaft is turned By passing voltage through a Sharp 2D12 and into an analog input on your Arduino it is possible to measure the amount of resistance produced by a Sharp 2D12 or pot for short as an analog value In this example you will monitor the state of your Sharp 2D12 after establishing serial communication between your Arduino and your computer Sample code const int GP2YOA21 20 set analog pin O as the signal pin void setup Serial begin 9600 void loop d int val 0 val 10485 analogRead ISRpin 0 5 4 read the data from signal pin Serial printin val DEC display delay 500
18. setCarstat and Omni3WD wheelBackSetSpeedMMPS and Omni3WD wheelRightSetSpeedMMPS and Omni3WD wheelLeftSetSpeedMMPS unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it Omni3WD setCarstat Omni3WD wheelBackSetSpeedMMPS See Omni3WD wheelRightSetSpeedMMPS Omni3WD wheelLeftSetSpeedMMPS unsigned int setCarRotateLeft unsigned int speed MMPS 0 Set the car for rotate left This will lie within the range specified at Omni3WD setCarstat and Omni3WD setMotorAllBackoff unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it Omni3WD setCarstat See Omni3WD setMotorAllBackoff unsigned int setCarRotateRight unsigned int soeedMMPS 0 Set the car for rotate right This will lie within the range specified at Omni3WD setCarstat and Omni3WD setMotorAllAdvance unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it Omni3WD setCarstat See Omni3WD setMotorAllAdvance 79 WWW nexusrobot com Robot Kits manual unsigned int getCarSpeedMMPS const Get the car s speed return The car s speed unsigned int setCarSpeedMMPS unsigned int speedMMPS 0 unsigned int ms 1000 The car s speed be set This will lie within the range specified at Omni3WD getCarSpeedMMPS unsigned int spoeedMMPS 0 The speed for the car moves initialize it Parameters unsigned int ms 1000 The time the to moves the car at this speed S
19. standard USB COM drivers and no external driver is needed However on Windows a inf file is required The Arduino software includes a serial monitor which allows simple textual data to be sent to and from the Arduino board The RX and TX LEDs on the board will flash when data is being transmitted via the USB to serial chip and USB connection to the computer but not for serial communication on pins 0 and 1 Configuration Servo Power Select Jumper As most servo draw more current than the USB power source can supply A separate servo power terminal is provided to power the servo individually which can be Enable Disable by the Servo Power Select Jumper www nexusrobot com Robot Kits manual When the Servo Power Select Jumper is applied the servo is powered by internal 5V When the Servo Power Select Jumper is not applied the servo is powered by external power source gt Motor Control Pin Jumper Applying the Motor Control Pin Jumpers will allocate Pin 4 5 6 7 for motor control Removing the jumpers will release the above Pins gt Wireless Select Jumper Applying the Wireless Select Jumper will allow the controller communicate via its wireless module such as APC220 If no wireless module is plugged this jumper does not make any difference Removing the jumper will disable wireless module and allows the sketch to be uploaded gt Arduino lO Expansion Board To support RS485 interface or drive 4 motors IO Exp
20. 7 Detecting range 4cm 300cm Resolution 1cm Frequency 40KHz Interface RS485 z Units Range reported in cm Temperature sensor 12 bits reading from serial port Size 34mm x 51 mm Weight 30g gt Dimension and Pin definition RS485 Interface Two connectors 5V DC Power 5V GND Ground A ARS485A B BRS485 B ISP Pin For factory firmware uploading Communication LED As the device is powered up this LED will flash four times which indicates that the sensor is working properly This LED will also flash when it is communicating with other devices Jumper A Notin use Jumper B When the sensor is working under a network only the Jumper B for the first Device and the last Device need to be bridged 24 www nexusrobot com Robot Kits manual gt RS485 Bus gt Introduction to RS485 RS485 are serial communication methods for computers and devices RS485 bus advances in simpler cabling longer transmitting distance and higher dependability RS485 is the most versatile communication standard in the standard series defined by the EIA as it performs well on all four points gt Differential signals with RS485 Longer distances and higher bit rates As we know noise is easily picked up and limits both the maximum distance and communication speed With RS485 on the contrary there is no such thing as a common zero as a signal reference Several volts difference in the ground level of the RS485 transmit
21. Based on Arduino microcontroller d ig RB009 4WD Mecanum wheel Simple Base AWD 100mm Omni wheel DC motors with encoders Microcontroller and IO expansion board Idea platform to learn and build your omni wheel robot Easy to assemble Capable of omni direction movement and rotating Programmable with c c Based on Arduino microcontroller RB008_4WD Omni wheel Simple Base This is a 4 wheel drive Mecanum wheel mobile platform vehicle is stable and can be made to move in any direction and turn by varying the direction and speed of each wheel Moving all four wheels in the same direction causes forward backward movement running left right sides in opposite directions causes rotation and running front and rear in opposite directions causes sideways movement Its special way its rear wheels mounted ensure roadholding of each wheel 97 WWW nexusrobot com Robot Kits manual gt Omni4WD Class Reference This document describes a car with four Motors On the Introduction you will know how to use the Omni4WD library to control the Motors then to control the car include lt MotorWheel h gt Include the header file MotorWheel h This section gives a full listing of the capabilities of Omni4WD Class Omni4WD Interface for visit of peripherals Public functions Omni4WD Omni4WD MotorWheel wheelUL MotorWheel wheelLL MotorWheel wheelLR MotorWheel wheelUR _wheelUL wheelUL wheelLL wheelLL _wheelLR wheelLR w
22. Control Panel navigate to System and Security Next click on System Once the System window is up open the Device Manager Look under Ports COM amp LPT You should see an open port named Arduino UNO COMxx s Right click on the Arduino UNO COmxx port and choose the Update Driver Software option Next choose the Browse my computer for Driver software option E Finally navigate to and select the Uno s driver file named ArduinoUNO inf located in the Drivers folder of the Arduino Software download not the FTDI USB Drivers sub directory Windows will finish up the driver installation from there WWW nexusrobot com Robot Kits manual See also step by step screenshots for installing the Uno under Windows XP Installing drivers for the Arduino Duemilanove Nano or Diecimila with Windows7 Vista or XP When you connect the board Windows should initiate the driver installation process if you haven t used the computer with an Arduino board before On Windows Vista the driver should be automatically downloaded and installed Really it works On Windows XP the Add New Hardware wizard will open When asked Can Windows connect to Windows Update to search for software select No not this time Click next Select Install from a list or specified location Advanced and click next Make sure that Search for the best driver in these locations is checked uncheck Search removable media check Include this locati
23. GUI exe to run it avrdude GUI settings is as below from D to 8 dE avrdude GUut yuki lab ip Version LOS xd avrdude exe File CAProgram Files avrdude serjtagibinary D JFT232R Synchronous BitBang diecimila 2 r Fart Device Command line Opt lan gece 8 JE a Fuse Flash hFusa pa hi notbootloaderstatmegal4TmegaBO0T 168 atmega3z28 hex Fuse FF h Read Wirite arity Erase Write Verify 7 Lack at EEERGM Display Window Read aj Uu Viti Read Writ 8 FILE Ea rre Chip Erase Terminal Exit 12 www nexusrobot com Robot Kits manual If your chip isn t the same Some of the blank s setting is different change it base on the following chips Microsoft Net Framework 2 0 or higher required Burning the Arduino bootloader without external AVR Wiriter http z www geocities ip arduino diecimilabootloader index en html Arduino Duemilanove or Nano w ATmega328 hFuses 0xDA lFuses xFF eFuses 0x05 lockBit 0x0F flash arduino lt xxxx gt hardware arduino boot loader atmega AlmegaBOOT 168 atmega328 hex Arduino Diecimila Duemilanove or Nano w ATmegal68 hFuses 0xdd lFuses xff eFuses 0x00 lockBit 0x0F flash arduino lt xxxx gt hardware arduino boot loader atmega ATmegaBOOT 168 diecimila hex Arduino Mega ATmegal280 hFuses 0xDA lFuses 0xFF eFuses 0xF5 lockBit 0x0F flash arduino lt xxxx gt 1hardwarelarduinol
24. RB011 Mecanum 4WD V4 1 114 WWW nexusrobot com Robot Kits manual gt AWD platform with 4 SONAR Look the above figure of simple Wiring Diagram for RBO11 Mecanum 4WD V4 1 this code is matched for it 4WD platform with 4 SONAR code pes a s mm me ee A A SS am am am am o ao a o am am am a o ao ao Se aa eee a eee eee ees include lt MotorWheel h gt include lt Omni4WD h gt include lt PID_Beta6 h gt include lt PinChangelnt h gt include lt PinChangelntConfig h gt include lt SONAR h gt Include the header files kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Sonar 0x12 M3 M2 Sonar 0x13 Sonar 0x1 1 Power Switch M4 M1 Sonar 0x14 Sl irglSR irg1 isr1 Intterrupt function on the basis of the pulse work for wheel MotorWheel wheel1 3 2 4 5 amp irq1 This will create a MotorWheel object called Wheel Motor PWM Pin3 DIR Pin2 Encoder A Pin4 B Pin5 2 irglSR irq2 isr2 MotorWheel wheel2 11 12 14 15 amp irq2 i irglSR irq3 isr3 MotorWheel wheel3 9 8 16 17 amp irq3 www nexusrobot com Robot Kits manual irqlSR irg4 isr4 MotorWheel wheel4 10 7 18 19 amp irq4 Omni4WD Omni amp wheel1 amp wheel2 amp wheel3 amp wheel4 This will create a Omni4WD object called Omni then You can use any of its methods for instance to control a Omni4WD attached to pins you coul
25. The PinChangelnt effort runs in the other direction with clarity sacrificed for the highest performance To that end this implementation can handle a 4 5KHz input signal with a 1 KHz timer running as well on an 8 MHzATMega328 with significant code in both the timer and pin change interrupt handlers Usage The PinChangelnt library exposes two functions to to the user and provides macros that make it drop in compatible with the Pclnt code To attach an interrupt use PCintPort attachInterrupt pin userFunc mode Or PCattachInterrupt pin userFunc mode To detach an interrupt use PCintPort detachInterrupt pin or PCdetachlnterrupt pin See http arduino cc playground Main PinChangelnt The Code PinChangelntConfig h See http arduino cc playground Main PinChangelnt PinChangelnt h See http arduino cc playground Main PinChangelnt PinChangelnt Example This code counts the number of times pin 15 aka Analog 1 changes state and prints the count when it 2 Copyright 2011 Lex V Talionis at gmail 3 This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation either version 3 of the License or at your option any later version l4 v 5 include lt PinChangelnt h gt 6 include lt PinChangelntConfig h gt WWW nexusrobot com Robot Kits manual 8 define PIN 15 the pin we are interested in 9 byte bur
26. The speed of the car moves initialize it R2WD setCarStat Sec R2WD setMotorAllBackoff unsigned int setCarRotateRight unsigned int speedMMPS Set car moves rotate right 51 www nexusrobot com Robot Kits manual This will lie within the range specified at R2WD setCarStat and R2WD setMotorAllAdvance unsigned int speedMMPS Parameters The speed of the car moves initialize it R2WD setCarStat see R2WD setMotorAllAdvance unsigned int setCarUpperLeft unsigned int soeedMMPS unsigned int radiusMM Set car moves upper left This will lie within the range specified at R2WD setCarStat and R2WD setCarArcBace unsigned int speedMMPS The speed of the car moves initialize it Parameters unsigned int radiusMM The radius the car moves Locus R2WD setCarStat see R2WD setCarArcBace unsigned int setCarLowerLeft unsigned int speedMMPS unsigned int radiusMM Set car moves Lower left This will lie within the range specified at R2WD setCarStat and R2WD setCarArcBace unsigned int speedMMPS The speed of the car moves initialize it Parameters unsigned int radiusMM The radius the car moves Locus R2WD setCarStat see R2WD setCarArcBace unsigned int setCarUpperRight unsigned int speedMMPS unsigned int radiusMM Set car moves Upper right This will lie within the range specified at R2WD setCarStat and R2WD setCarArcBace unsigned int speedMMPS Parameters The speed of the car mov
27. V2 0 Sample Wiring Diagram for RB004 2WD V2 0 70 WWW nexusrobot com Robot Kits manual gt 2WD platform with 3 SONAR Look the above figure of simple Wiring Diagram for RB004 2WD V2 0 this code is matched for it RB004 2WD PID 3SONAR 3IR code include lt MotorWheel h gt include lt Omni3WD h gt include lt Omni4WD h gt include lt R2WD h gt include lt PID_Beta6 h gt include lt PinChangelnt h gt include lt PinChangelntConfig h gt 2 include lt SONAR h gt Include the header files EE EASE SER GES o A SONAR SONAR sonar11 0x11 sonar12 0x12 sonar13 0x13 Software initialization ISONAR is be defined in lt SONAR h gt as a class unsigned short distBuf 3 Used to save the data of the 3 sonars return void sonarsUpdate static unsigned char sonarCurr 1 A variable save data used to flag the sonar s state if sonarCurr 3 sonarCurr 1 else sonarCurr if sonarCurr 1 The conditions is ture distBuf 1 sonar12 getDist Get the value of distance from sonar12 sonar12 trigger Trigger sonar12 else if sonarCurr 2 distBuf 2 sonar13 getDist Get the value of distance from sonar13 sonar13 trigger Trigger sonar13 else distBuf 0 sonar11 getDist Ger the value of distance from sonar1 1 sonar1 1 trigger Trigger sonar11 Jos E v A E p e Infrared Sensor www nexusrobot com Robot Kits manual unsigned char irLO_pin 0
28. car used to stop R2WD setCarUpperLeft see R2WD setCarArcTime unsigned int setCarLowerLeftTime unsigned int soeedMMPS 0 unsigned int radiusMM WHEELSPAN unsigned long duration 5000 unsigned int uptime 500 Set period of time for the car moves Lower left This will lie within the range specified at R2WD setCarLowerLeft and R2WD setCarArcTime unsigned int speedMMPS 0 The speed ofthe car moves initialize it unsigned int radiusMM WHEELSPAN The radiusMM when the car move as upper left initialize it Parameters unsigned long duration 5000 The time the car last initialize it unsigned int uptime 500 The time the car used to stop R2WD setCarLowerLeft see R2WD setCarArcTime unsigned int setCarUpperRightTime unsigned int spoeedMMPS 0 unsigned int radiussMM WHEELSPAN unsigned long duration 5000 unsigned int uptime 500 Set period of time for the car moves upper right This will lie within the range specified at R2WD setCarUpperRight and R2WD setCarArcTime unsigned int speedMMPS 0 The speed ofthe car moves initialize it unsigned int radiusMM WHEELSPAN Parameters The radiusMM when the car move as upper left initialize it unsigned long duration 5000 The time the car last initialize it unsigned int uptime 500 55 www nexusrobot com Robot Kits manual The time the car used to stop R2WD setCarUpperRight see R2WD setCarArcTime unsigned int setCarLowerRightTime unsigned int sogedMMPS
29. int speedMMPS 100 unsigned int duration 5000 unsigned int uptime 500 bool debug false A function for the car demo action void R2WD demoActions unsigned int soeedMMPS unsigned int duration unsigned int uptime bool debug unsigned int R2WD carAction unsigned int soeedMMPS amp R2WD setCarAdvance set car to moves advance amp R2WD setCarBackoff set car to moves back off amp R2WD setCarRotateLeft set car to moves as rotate left amp R2WD setCarRotateRight set car to moves as rotate right 5 unsigned int R2WD carAction2 unsigned int speedMMPS unsigned int radiusMM amp R2WD setCarUpperLeft set the car moves as upper left amp R2WD setCarLowerLeft set the car moves as Lower left amp R2WD setCarUpperRight set the car moves as upper right amp R2WD setCarLowerRight set the car moves as lower right 5 for int i 0 i lt 8 1 the demo have 8 actions If i lt 4 the first four action this gt carAction i 0 setCarSpeedMMPS speedMMPS uptime speedMMPS 100 set the car s speed is 100 else the last four action this gt carAction2 i 4 0 500 67 WWW nexusrobot com Robot Kits manual setCarSpeedMMPSArc speedMMPS getRadiusMM uptime delayMS duration debug duration 5000 the car moves this action willl last 5000 milliseconds setCarSlow2Stop uptime uptime 500 set the car stop in 500 milliseconds PRERERA ERE RE ERE UA NINE ANA NINE ANA NINE RUINA L
30. int wheelURGetSpeedMMPS const Get the speed of the upper right wheel This will lie within the range specified at MotorWheel getSpeedMMPS See MotorWheel getSpeedMMPS unsigned int wheelURSetSpeedMMPS unsigned int spogeedMMPS 0 bool dir DIR_ADVANCE Set the speed for the upper right wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int spoeedMMPS 0 The speed for the wheel run initialize it Parameters bool dir DIR_ ADVANCE The direction for the wheel run See MotorWheel setSpeedMMPS unsigned int wheelL RGetSpeedMMPS const Get the speed of the lower right wheel This will lie within the range specified at MotorWheel getSpeedMMPS See MotorWheel getSpeedMMPS unsigned int wheelLRSetSpeedMMPS unsigned int soeedMMPS 0 bool dir DIR ADVANCE Set the speed for the lower right wheel This will lie within the range specified at MotorWheel setSpeedMMPS Parameters unsigned int speedMMPS 0 106 www nexusrobot com Robot Kits manual The speed for the wheel run initialize it bool dirzDIR ADVANCE The direction for the wheel run See MotorWheel setSpeedMMPS bool PIDEnable float kc KC float taui TAUI float taud TAUD unsigned int interval 1000 Call the PID make it work for the car Then this will work for every wheels This will lie within the range specified at MotorWheel PIDEnable Float kc Proportional term initialize it Float taui Integral term Parameters Float tau
31. lont e A en E SIDE EK MIU T T ETT SE Wheels irglSR irg1 isr1 MotorWheel wheel1 9 8 6 7 amp irq1 Pin9 PWM Pin8 DIR Pin6 PhaseA Pin7 PhaseB irglSR irq2 isr2 MotorWheel wheel2 10 11 14 15 amp irq2 Pin10 PWM Pin11 DIR Pin14 PhaseA Pin15 PhaseB irglSR irq3 isr3 MotorWheel wheel3 3 2 4 5 amp irq3 Pin3 PWM Pin2 DIR Pin4 PhaseA Pin5 PhaseB MotorWheel wheel3 5 4 2 3 amp irq3 Omni3WD Omni 8wheel1 8wheel2 8wheel3 1 This will create a Omni3WD object called Omni then You can use any of its methods for instance to control a Omni3WD attached to pins you could write E A a bi A A A a demo unsigned long currMillis 0 void demoWithSensors unsigned int speedMMPS unsigned int distance unsigned int ms if millis currMillis gt SONAR duration Every 60 ms call the SonarsUpdate once time currMillis millis sonarsUpdate checkIRs check the Anti drop sonars ak a _ _ A _ A _AMA AM _ gt A A AAA A AZ ZA LA _ AA A WWW nexusrobot com Robot Kits manual if IRs 1 IRs 2 The Anti drop return a High Value Omni setCarBackoff speedMMPS get car back Omni delayMS ms delay ms every 10 ms call the PIDregulate once time if IRs 1 Omni setCarRotateLeft speedMMPS else Omni setCarRotateRight speedMMPS Omni delayMS ms else if distBuf 1 lt distance distBuf 2 distance the right side have something Omni setCarL
32. motor This will lie within the range specified at Motor getDesiredDir Bool dir Parameters The direction set for Motor See Motor getDesiredDir bool getDesiredDir const Get the desired direction Return Desired Direction bool reverseDesiredDir Get the reverse desired direction Return Desired Direction bool setCurrDir Set a current direction on the basis of the digitalRead pinIRQB Current Direction If getPinIRQB was defined Return false otherwise bool getCurrDir const Get the current direction Return Current Direction unsigned int getSpeedRPM const Get the speed of the motor round per minute This will lie within the range specified at SPEEDPPS2SPEEDRPM See SPEEDPPS2SPEEDRPM Robot Kits manual 39 WWW nexusrobot com Robot Kits manual unsigned int setSpeedRPM int speedRPM bool dir Set the speed and direction for the motor This will lie within the range specified at Motor PIDSetSpeedRPMDesired Motor setDesiredDir Motor getSpeedRPM int speedRPM The speed set for Motor Parameters Bool dir The direction set for Motor Motor PIDSetSpeedRPMDesired See Motor setDesiredDir Motor getSpeedRPM void simpleRegulate Regulate the speed of the Motor on the basis of the direction bool PIDSetup float kc KC float taui TAUI float taud TAUD unsigned int sampleTime 1000 Setup the The class PID use these datas to regulate the speed of Motors float kc Pr
33. motor s state unsigned int getRadiusMM const Get the radius the car moves If the car state was rotateleft or rotateright This will lie within the range specified at R2WD getWheelspanMM return radius Private parameters MotorWheel wheelLeft A point named wheelLeft as the object of MotorWheel MotorWheel wheelRight A point named wheelRight as the object of MotorWheel unsigned int wheelspanMM Save a data of the span will set to the wheel unsigned char carStat Save the state of the car unsigned char setCarStat unsigned char stat Set the Car s state Parameters unsigned char stat Robot Kits manual 62 www nexusrobot com Robot Kits manual the state want to set Carstate if the stat in the range of the want return STAT UNKNOWN otherwise unsigned char switchMotorsStat Save the state of the Motor prepare for switch motors unsigned char setSwitchMotorsStat unsigned char switchMotorsStat Set the Motors state This will lie within the range specified at R2WD getSwitchMotorsStat Parameters unsigned char switchMotorsStat The state want to set See R2WD getSwitchMotorsStat unsigned int radiusMM Save the data of the radius unsigned int setRadiusMM unsigned int radiusMM Set the radius for the car moves This will lie within the range specified at R2WD getRadiusMM Parameters unsigned int radiusMM The radius want to set See R2WD getSwitchMotorsStat R2WD Construct a new R2
34. set to the left motor Parameters unsigned int spoeedMMPSR 0 The speed set to the right motor 64 www nexusrobot com Robot Kits manual R2WD wheelLeftSetSpeedMMPS See R2WD wheelRightSetSpeedMMPS R2WD getCarSpeedMMPS unsigned int setCarBackoffBase unsigned int soeedMMPSL 0 unsigned int speedMMPSR 70 Set car moves backoff This will lie within the range specified at R2WD wheelLeftSetSpeedMMPS and R2WD wheelRightSetSpeedMMPS and R2WD getCarSpeedMMPS unsigned int speedMMPSL 0 The speed set to the left motor Parameters unsigned int spoeedMMPSR 0 The speed set to the right motor R2WD wheelLeftSetSpeedMMPS See R2WD wheelRightSetSpeedMMPS R2WD getCarSpeedMMPS unsigned int setCarRotateAngle unsigned int soeedMMPS 0 float radian 0 Set the angle when the car moves rotate This will lie within the range specified at R2WD getWheelspanMM unsigned int spoeedMMPS 0 The speed set to the motors initialize it Parameters float radian 0 The radian set to the car moves initialize it Return timeMS the time the car moves See R2WD getWheelspanMM unsigned int setCarStraightDistance unsigned int soeedMMPS 0 unsigned long distance 0 Set the straight distance the car moves unsigned int spoeedMMPS 0 The speed set the motors at initialize it Parameters unsigned long distance 0 The distance set the car moves initialize it 65 www nexusrobot com Robot Kits manual Return timeMS the tim
35. this action delayMS duration debug The time used for the car moves at this speed in this action setCarSlow2Stop uptime set the car stop slowly in uptime j setCarStop set car stop delayMS duration debug delay duration every 10 milliseconds call the PIDRegulate once time switchMotorsLeft rotate left to change the wheel to work 85 WWW nexusrobot com Robot Kits manual gt Omni3WD test Here s an example we use it to test a car with three wheels after this you will More thorough E A OC Simple code include lt MotorWheel h gt include lt Omni3WD h gt include lt Omni4WD h gt include lt PID_Beta6 h gt e include lt PinChangelnt h gt include lt PinChangelntConfig h gt Include the header files ur Wheel3 Wheel2 Wheel ol irglSR irq1 isr1 Intterrupt function on the basis of the pulse work for wheel1 _ MotorWheel wheel1 9 8 6 7 amp irq1 This will create a MotorWheel object called Wheel Motor PWM Pin9 DIR Pin8 Encoder A Pin6 B Pin7 irglSR irg2 isr2 MotorWheel wheel2 10 11 12 13 amp irq2 irglSR irq3 isr3 MotorWheel wheel3 3 2 4 5 amp irq3 MotorWheel wheel3 5 4 2 3 amp irq3 why not this Because the pin 5 pin 6 control by timer O Omni3WD Omni amp wheel1 amp wheel2 amp wheel3 This will create a Omni3WD object called Omni3WD You can then use any of its methods for instance WWW nexusrobot com Robot Ki
36. this the class Motor s explain is over gt Class GearedMotor Interface for visit of peripherals and it s Inherit from the Public Motor gt Public functions GearedMotor unsigned char pinPWM unsigned char pinDir Robot Kits manual 43 www nexusrobot com Robot Kits manual unsigned char pinlRQ unsigned char _pinIRQB struct ISRVars isr unsigned int _ratio REDUCTION_ RATIO Construct a new GearedMotor instance In your sketch This will create a GearedMotor object called GearedMotor You can then use any of its methods for instance to control a Gearedmotor attached to pins you could write Unsigned char pinPWM The PWM control pin unsigned char _ pinDir The direction control pin unsigned char _pinIRQ The IRQ pin parameters unsigned char pinlIRQB The IRQB pin struct ISRVars isr A point of the struct IRSVars s member unsigned int ratio A variable equal 60 float getGearedSpeedRPM const Get the Geared speed round per second This will lie within the range specified at Motor getSpeedRPM to understand this you will to understand float Motor getSpeedRPMY ratio See Motor getSpeedRPM float setGearedSpeedRPM float gearedSpeedRPM bool dir Set the GearedSpeed This will lie within the range specified at Motor setSpeedRPM float gearedSpeedRPM The value want to set parameters bool dir The Motor s direction 44 WWW nexusrobot com Robot Kits manual Return gearedSpeedRPM See Motor set
37. true bool wheelRightDebug true bool wheelLeftDebug true const Debug the speed of the wheel Car state enum Used to configure the behavior of a car Note that not all car can be configured in every state Variables STAT UNKNOWN The state of the car unknown 82 www nexusrobot com STAT_STOP The car s state is stop STAT ADVANCE The car s state is moves forward STAT BACKOFF The car s state is get backoff STAT ROTATELEFT The car s state is moves rotate left STAT ROTATERIGHT The car s state is moves rotate right STAT RIGHT The car s state is turn right STAT LEFT The car s state is turn left unsigned char getCarStat const Get the state of the car return The car s state Motor state enum Used to configure the behavior of a motor Note that not all motors can be configured in every state Variables MOTORS BRL The switchmotorstat is back right left MOTORS LBR The switchmotorstat is left back right MOTORS RLB The switchmotorstat is right left back unsigned char getSwitchMotorsStat const Get the state of the Motor return The motor s state Robot Kits manual 83 WWW nexusrobot com Robot Kits manual Private parameters MotorWheel wheelBack A point named wheelBack as the object of MotorWheel MotorWheel wheelRight A point named wheelright as the object of MotorWheel MotorWheel wheelLeft A point named wheelLeft as the object of MotorWheel unsigned char carStat To save the car s state
38. void setup TCCR1B TCCR1B amp 0xf8 0x01 Pin9 Pin10 PWM 31250Hz Silent PWM wheel1 setSpeedMMPS 100 DIR_ ADVANCE Setthe pwm speed 100 direction wheel1 PIDEnable KC TAUI TAUD 10 used whewl1 to call the PIDEnable Serial begin 19200 void loop wheel1 PIDRegulate regulate the PID if millis 500 0 Serial print speedRPM gt www nexusrobot com Robot Kits manual Serial printin wheel1 getSpeedRPM DEC display the speed of the MotorWheel Serial print MMPS Serial printin wheel1 getSpeedMMPS DEC display the speed of the motor wheel1 debugger 48 www nexusrobot com Robot Kits manual gt R2WD This page describes how to control the built in R2WD It does not describe how the R2WD work on your board For more information on that please refer to R2WD Class Reference 2 mobile wheel drive Aluminum alloy body Includes ultrasonic sensors and Bumper sensors Optional IR sensors and Fall detect sensors Still spare mounts for sensors DC motors with encoders Microcontroller and IO expansion board Programmable with c c Based on Arduino microcontroller RB004 2WD mobile robot kit This robot kit provides an economical introduction to the world of robotics It has 2 drive wheels and a freewheel It includes a serials of sensors making it aware of the environment Sonar sensors to detect the obstructions IR distance measure sensors used as a fall arrest det
39. 0 unsigned int radiusMM WHEELSPAN unsigned long duration 5000 unsigned int uptime 500 Set period of time for the car moves Lower Right This will lie within the range specified at R2WD setCarLowerRight and R2WD setCarArcTime unsigned int speedMMPS 0 The speed for the car to moves initialize it unsigned int radiusMM WHEELSPAN The radiusMM when the car move as upper left initialize it Parameters unsigned long duration 5000 The time the car last initialize it unsigned int uptime 500 The time the car used to stop R2WD setCarLowerRight see R2WD setCarArcTime unsigned int setCarUpperLeftAngle unsigned int spoeedMMPS 0 unsigned int radiusMM WHEELSPAN float radian 0 unsigned int uptime 500 Set the angle when the car moves as Upper left This will lie within the range specified at R2WD setCarUpperLeft and R2WD setCarArcAngle unsigned int speedMMPS The speed for the car to moves Parameters Unsigned int radian The radian when the car move upper left R2WD setCarUpperLeft see R2WD setCarArcAngle unsigned int setCarLowerLeftAngle unsigned int soeedMMPS 0 unsigned int radiusMM WHEELSPAN float radian 0 unsigned int uptime 500 56 www nexusrobot com Robot Kits manual Set the angle when the car moves Upper left This will lie within the range specified at R2EWD setCarLowerLeft and R2WD setCarArcAngle unsigned int speedMMPS The speed for the car to moves Parameters Unsigned int radian
40. CA RAE ai J Power Switch Sonar0x11 A A A M3 M2 INTO INT1 A Sonar0x12 Y SonarOx 13 A A MI B include fuzzy table h include lt PID_Beta6 h gt include lt PinChangelntConfig h gt include lt MotorWheel h gt include lt Omni3WD h gt include lt SONAR h gt Include the header files E UST Get RA ARM Aer ONG SONAR q _ __ EA _ _ _ _ 2 __ 2 _____________________________ ____________________ ___ ______________________________________ _ _ _ gt www nexusrobot com Robot Kits manual SONAR sonar11 0x11 sonar12 0x12 sonar13 0x13 Software initialization 2 ISONAR is be defined in lt SONAR h gt as a class unsigned short distBuf 3 Used to save the data of the 3 sonars return void sonarsUpdate the function to static unsigned char sonarCurr 1 A variable save a data used to flag the current of sonar if sonarCurr 3 sonarCurr 1 else sonarCurr if sonarCurr 1 The conditions is ture distBuf 1 sonar12 getDist Get the value of distance from sonar12 sonar12 trigger Trigger sonar12 else if sonarCurr 2 distBuf 2 sonar13 getDist Ger the value of distance from sonar13 sonar13 trigger Trigger sonar13 else distBuf 0 sonar11 getDist Ger the value of distance from sonar1 1 sonar1 1 trigger Trigger sonar11 E A N A A Utm EMEN UC PORE Bae E EE EE E E S t Et Moto
41. DW instance unsigned int setMotorAll unsigned int speedMMPS 0 bool dir DIR ADVANCE Set all motors as the same speed and direction This will lie within the range specified at R2WD wheelLeftSetSpeedMMPS and R2WD wheelRightSetSpeedMMPS unsigned int spoeedMMPS 0 Parameters The speed set the motors run initialize it 63 www nexusrobot com Robot Kits manual bool dir DIR_ADVANCE The direction set the motors run initialize it R2WD wheelLeftSetSpeedMMPS See R2WD wheelRightSetSpeedMMPS unsigned int setMotorAllStop Set all Motors stop This will lie within the range specified at R2WD setMotorAll See R2WD setMotorAll unsigned int setMotorAllAdvance unsigned int speedMMPS 0 Set all motors run advance This will lie within the range specified at R2WD setMotorAll unsigned int spoeedMMPS 0 Parameters The speed set the motors run initialize it See R2WD setMotorAll unsigned int setMotorAllBackoff unsigned int soeedMMPS 0 Set all motors run backoff This will lie within the range specified at R2WD setMotorAll unsigned int speedMMPS 0 Parameters The speed set the motors run initialize it See R2WD setMotorAll unsigned int setCarAdvanceBase unsigned int spoeedMMPSL 0 unsigned int spoeedMMPSR 0 Set car moves advance This will lie within the range specified at R2WD wheelLeftSetSpeedMMPS and R2WD wheelRightSetSpeedMMPS and R2WD getCarSpeedMMPS unsigned int spoeedMMPSL 0 The speed
42. Digital 4 Motor 1 Enable control Digital 5 Motor 1 Direction control Digital 6 Motor 2 Direction control Digital 7 Motor 2 Enable control Sample code int E17 6 the pin to control mator s speed int M1 7 the pin to control direction void setup pinMode M1 OUTPUT M2 direction control A A A A A DD ss sinh cD sss ssbb si ss si sss SSS ssn ns bss cD sss heheh hss ssbb ss sess Sess ess cDDSscSSDSDDGDDSAODODSDSEDSS 21 WWW nexusrobot com Robot Kits manual analogWrite E1 100 TCCR2B TCCR2B amp 0b11111000 0x01 set the timer1 as the work intrrupt timer to use the timer will defualt at the function of setup y void loop yin v lid PETITE 5 CIBC uum EG wm a amis Jamod JOJOLU Lu mm The Motor sample to link wries Serial Port This example shows you how to monitor the state of a switch by establishing serial communication between your Arduino and your computer over USB Sample code M ss
43. EA RR EE AEN NANI UA UA LINEA LINEA UA LANA NIUE NANA NENA UR LENA NEUE AUN NE LES UI NINE ANA NIE A NANI EA NA NEN EA NINE BAUEN ERREUR UDALA RINDA EAR RN NANI ARA NANI UA NANI NANI NINA UI UI NANI NINA UI LINA LILIANA UNA ARR UI ADAE RANA NIUE NU AUR UNA N AGRAR NANI ARA DA NIUE ANI UBND ACA NINA NANI ALA ERE NDA NANI LINA NI UA NINE ANI NINE UA UI AENEA LINEA NANI UA UI NIE AERE EA DA SEN RASEN ER RA NEN ERG ANE NRO GANAR ARANA ARAS ANE Ona nana S4 H9 24 Pa SH 4 Ra Pasadena dl gt R2WD test Here s an example we use it to test a car with two wheels after this you will More thorough understanding of the library Simple code include lt MotorWheel h gt include lt R2WD h gt include lt PID_Beta6 h gt include lt PinChangelnt h gt include lt PinChangelntConfig h gt Include the header files Jus Wheel1 Wheel2 E irglSR irg1 isr1 Intterrupt function on the basis of the pulse work for wheel1 MotorWheel wheel1 9 8 4 5 amp irq1 REDUCTION RATIO int 144 Pl This will create a MotorWheel object called Wheel1 Motor PWM Pin9 DIR Pin8 Encoder A Pin4 B Pin5 irglSR ira2 isr2
44. ME SS O A PIT 33 A LU UNT TL 33 p SENO CONTO TANCOV arosine uera ptEca auno paco abia 34 2 TE PWM o Onal MR eet et E 35 Ple e WIN late URS 36 gt Motorwheel Class Re ere nC esos ode ome bie dte atem bt ine tete teens 36 gt ED aIemiReference eene reete tno rennen tnu re nennen reais niana 37 UE dM OLOF sarreh keea ee a E true uu dus eus nd 43 gt Class Moor ss TU TU UU NUN 45 o WD tiara 49 gt R2WD Class Retenes 49 gt P blfeXunc Hob ds 49 Pe Private Parne Seara a not A tese cM e 62 RWD e aea a E a 68 gt 2WD platform with 3 SONAR ada aiii 71 Eu m 74 Omni WD Class Retorno acosta 75 PUBIC LUMCHONS NR UU bdo 76 ws A S T AE 84 PERGERET U 86 gt Omni3WD platform with 3 SONARS essere 89 gt Omni3WD platform with 6 SONARS sess 03 De MOANA VV ovs d t eL E a E 97 Omid WD Class Reference sia 98 Publ TUMCHOIS esa ade eieicat denucaeieieiesastnsant 08 PIV ale Parameters oa dalt 109 gt Gina A ouarn EA OEA 112 gt AWD platform with 4 SONAR essen 115 A DENO MO let n s hese M AE a EDS 118 gt Servo 3WD platform with 3 SONAR sese 122 WWW nexusrobot com Robot Kits manual Arduino gt Introduction Arduino Controller is an All in One microcontroller especially designed for robotics application Benefit from Arduino open source platform it is supported by thousands of o
45. PS const Get the speed of the left wheel This will lie within the range specified at MotorWheel getSpeedMMPS see MotorWheel getSpeedMMPS unsigned int wheelRightSetSpeedMMPS unsigned int soeedMMPS 0 bool dir DIR_ADVANCE Set the speed for right wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int speedMMPS The speed for the car to moves Parameters bool dir DIR_ADVANCE The direction for the right wheel see MotorWheel setSpeedMMPS unsigned int wheelRightGetSpeedMMPS const Get the speed of the right wheel This will lie within the range specified at MotorWheel getSpeedMMPS see MotorWheel getSpeedMMPS bool PIDEnable float kc KC float taui TAUI float taud TAUD unsigned int interval 1000 Call the PID make it work for the car This will lie within the range specified at MotorWheel PIDEnable Float kc Parameters Proportional term initialize it 58 www nexusrobot com Robot Kits manual Float taui Integral term Float taud Derivative term Unsigded int interval The time the PID work last see MotorWheel PIDEnable bool PIDRegulate Regulate the PID in order to adjust the speed of the Motor This will lie within the range specified at MotorWheel PIDRegulate see MotorWheel PIDRegulate void delayMS unsigned long ms 100 bool debug false Last time for the car work as the same action In the function every 10 milliseconds it will cal
46. SpeedMMPS Omni4WD setCarstat unsigned int setCarBackoff unsigned int speedMMPS 0 Set the car moves forward Because the car have Four wheels so the car moves forward the wheels will have different state This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS and Omni4WD setCarstat 100 www nexusrobot com Robot Kits manual unsigned int soeedMMPS 0 Parameters The speed for the motor run initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSetSpeedMMPS Omni4WD setCarstat unsigned int setCarLeft unsigned int soeedMMPS 0 Set the car turn Left This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS and Omni4WD setCarstat unsigned int spoeedMMPS 0 Parameters The speed for the motor run initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSetSpeedMMPS Omni4WD setCarstat unsigned int setCarRight unsigned int spoeedMMPS 0 Set the car turn right This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4
47. SpeedRPM unsigned int getRatio const Get the ratio the car run at Return _ ratio unsigned int setRatio unsigned int ratioZREDUCTION RATIO Set the Ratio the car run at This will lie within the range specified at Motor getRatio unsigned int ratio parameters The value want to set See Motor gethRatio Private Parameters unsigned int ratio To save a value gt Class MotorWheel Interface for visit of peripherals and it s Inherit from the Public Motor gt Public functions MotorWheel unsigned char pinPWM unsigned char _ pinDir unsigned char pinlRQ unsigned char _pinIRQB struct ISRVars isr unsigned int ratio REDUCTION_RATIO unsigned int cirMM CIRMM Construct a new MotorWheel instance in your sketch This will create a MotorWheel object called MotorWheel You can then use any of its methods for instance to control a MotorWheel attached to pins you could write Unsigned char pinPWM The PWM control pin parameters unsigned char _ pinDir The direction control pin 45 www nexusrobot com Robot Kits manual unsigned char _pinIRQ The IRQ pin unsigned char pinlIRQB The IRQB pin struct ISRVars _isr A point of the struct IRSVars s member unsigned int ratio A variable equal 60 unsigned int cirMM A variable equal 314 mm unsigned int getCirMM const Get the Circumference of the wheel Return cirMM unsigned int setCirMM unsigned int cir MM CIRMM Set the Circumference of t
48. Struct ISRVars Class Motor Contents Class GearedMotor Class MotorWheel struct ISRVars Reference This section gives a full listing of the capabilities of a struct ISRVars struct ISRVars Define a struct named of IRSVars In the struct there are 7 values Values void ISRfunc A pointer function volatile long pulses The pulse which got from the interrupt pin will be used to confirm the direction volatile unsigned long pulseStartMicros Save the time when the start pulse volatile unsigned long pulseEndMicros Save the time when the end pulse volatile unsigned int speedPPS Save the speed of the pulse pulse per second volatile bool currDirection Save the current direction unsigned char pinIRQB The IRQB pin 36 WWW nexusrobot com Robot Kits manual gt Class Motor Reference This section gives a full listing of the capabilities of a Motor Class Motor public PID Interface for visit of peripherals Inherit from the Public PID Public functions Motor unsigned char pinPWM unsigned char pinDir unsigned char pinlRQ unsigned char pinIRQB struct ISRVars _isr Construct a new Motor instance In your sketch This will create a Motor object called Motor You can then use any of its methods for instance to control a motor attached to pins you could write unsigned char pinPWM The motor PWM control pin unsigned char pinDir The motor direction control pin unsigned char pinlIRQ Parameters The interrupt pin A unsi
49. TOR3_E 64 forward run motor3 jJ void Left analogWrite MOTOR1_E 36 Reverse run motor1 analogWrite MOTOR2 E 53 forward run motor2 M 119 WWW nexusrobot com Robot Kits manual analogWrite MOTOR3_E 53 forward run motor3 void Right e analogWrite MOTOR1 E 66 forward run motor analogWrite MOTOR2 E 40 Reverse run motor2 analogWrite MOTOR3_E 40 Reverse run motor3 RAEI III II III ele dde III AIA f void RotateRight analogWrite MOTOR1 E 66 forward run motor 1 analogWrite MOTOR2_E 62 forward run motor2 analogWrite MOTOR3_E 64 forward run motor3 j Vi Rabie autista RD D MA MD LE SUM RA MA EE nated M void RotateLeft analogWrite MOTOR1_E 36 reverse run motor 1 analogWrite MOTOR2_E 32 reverse run motor 2 analogWrite MOTOR3_E 34 reverse run motor 3 b MT void allStop analogWrite MOTOR1_E 48 stop run motor1 analogWrite MOTOR2 E 44 stop run motor2 analogWrite MOTOR3 E 46 stop run motor3 j REIL sev wear eee Wat ath ty Seay es eee i DEUM A
50. WD wheelURSetSpeedMMPS and Omni4WD setCarstat unsigned int spoeedMMPS 0 Parameters The speed for the motor run initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSetSpeedMMPS 101 www nexusrobot com Robot Kits manual Omni4WD setCarstat unsigned int setCarRotateLeft unsigned int speedMMPS 0 Set the car rotate left This will lie within the range specified at Omni4WD setCarstat and mni4WD setMotorAllBackoff unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it Omni4WD setCarstat See Omni4WD setMotorAllBackoff unsigned int setCarRotateRight unsigned int soeedMMPS 0 Set the car for rotate right This will lie within the range specified at Omni4WD setCarstat and Omni4WD setMotorAllAdvance unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it Omni4WD setCarstat See Omni4WD setMotorAllAdvance unsigned int setCarUpperLeft unsigned int soeedMMPS 0 Set the car upper left This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS and Omni4WD setCarstat unsigned int spoeedMMPS 0 Parameters The speed for the motor moves initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpee
51. WWW nexusrobot com Robot Kits manual NEXUS ROBOT Looking to the future Robot Kits User s Manual Nexus Automation Limited ADDR 2 F Chengxi Building 819 S358 Road Shatou Changan Dongguan Guangdong China Robot Kits User s Manual Tel 86 769 85301 107 WWW nexusrobot com Robot Kits manual Nexus Robot A Attention Please read this manual carefully before applying power on the device B Attention Do not use this device for military or medical purpose as they are not designed to C Attention Do not use over voltage power supply ensure stable power supply if there is high voltage pulse may cause the micro control module permanent damage D Attention This product is not waterproof feature please keep or use it in a dry environment Don t piled the weight on top of it WWW nexusrobot com Robot Kits manual O R M l SPP e e io E E EA EA l MAWA ee EE MEN NEM IM l z SPEE CA INT T TIU T T MM 1 gt Adno OF PNO U oenn tn O TOE 2 Ardino 529 ESAS Aa 2 NS AAA O A 3 gt Input and Output Pim Mode a 3 F C OmU ON ss A E 3 p COn ea O taa 3 ASCO POWE select J UMD oo o ERI DURER e OR ER Le UE 3 Motor Control Pin Jumper ose dd 4 xo M relessSeleet SUID OI 0 DOOR OC O O OA PPC O E Mu ME 4 gt Arduino TO Expansion Board an 4 Pus A e ara NAS eee ee 4 2 SOI UTR 5 E LO AOS E AO UU dentes E C MM UE 5 F APPS POW SL E aa 5 Gene Sare sce E idi A 5 La
52. ansion Board is available 13 Digital Pin with GND and Power Motor Control Pin Jumpers Pin8 11 Servo Pind Power Input RSABB5 Control Pin r5 Motori x xU Anta uS rm 3 A Fr XBee PR Motor2 Wireless a 3 o 2 RS485 VIN Input Analog Pin APC220 Wireless Arduino IO Expansion Board V1 1 This Arduino compatible I O EXpansion Sheild is intelligently designed to facilitate an easy connection between an Arduino board e g Arduino Duemilanove and other devices such as sensors and RS485 devcices In essence it expands an Arduino controller s Digital I O and Analogue Input Pins with Power and GND It is compatible with Arduino Mega and is a perfect companion of Arduino Dumilanove Atmega168 and Atmega 328 Features 1 Supporting XBee Xbee Pro Bluetooth Bee 2 An unique RS485 output supporting a RS485 device 3 Separate PWM Pins which are compatible with standard servo Connector www nexusrobot com Robot Kits manual 4 Supporting Bluetooth module APC220 module 5 Auto Switch between external and onboard power supply 6 Supporting SD card read amp write our SD card module is needed 7 Supporting IIC I2C TWI connection See http www nexusrobot com product php id_product 5 1 gt Software The open source Arduino environment makes it easy to write code and upload it to the i o board It runs on Windows Mac OS X and Linux The environment is written in Java and based on Proces
53. arAction i 0 default parameters not available in function pointer setCarSpeedMMPS speedMMPS uptime lin the uptime the car s speed accelerate from 0 to speedMMPS delayMS duration debug the car s state last duration times setCarSlow2Stop uptime stop the car slowly in uptime j setCarStop stop the car delayMS duration delay duration switchMotors switch the motors D 111 WWW nexusrobot com Robot Kits manual gt Omni4WD test Here s an example we use it to test a car with four wheels after this you will More thorough understanding of the library a OA A include lt MotorWheel h gt include lt Omni3WD h gt include lt Omni4WD h gt include lt PID_Beta6 h gt 0 include lt PinChangelnt h gt include lt PinChangelntConfig h gt Include the header files E i wheel wheel4 Left Right wheel2 wheel3 Right Left 3j irglSR irg1 isr1 Intterrupt function on the basis of the pulse work for wheel1 MotorWheel wheel1 3 2 4 5 amp irq1 This will create a MotorWheel object called Wheel1 Motor PWM Pin5 DIR Pin4 Encoder A Pin12 B Pin13 irqlSR irq2 isr2 MotorWheel wheel2 11 12 14 15 amp irq2 irglSR irq3 isr3 WWW nexusrobot com Robot Kits manual MotorWheel wheel3 9 8 16 17 amp irq3 irglSR irg4 isr4 MotorWheel wheel4 10 7 18 19 amp irq4 Omni4WD Omni amp wheel1 amp wheel2 amp wheel3 amp whe
54. bit rates than possible with non differential connections Currently RS485 drivers are produced that can achieve a bit rate of 35 mbps 25 www nexusrobot com Robot Kits manual gt Network topology with RS485 RS485 is the only of the interfaces capable of internetworking multiple transmitters and receivers in the same network When using the default RS485 receivers with an input resistance of 12 kQ it is possible to connect 32 devices to the network Currently available high resistance RS485 inputs allow this number to be expanded to 256 RS485 repeaters are also available which make it possible to increase the number of nodes to several thousands spanning multiple kilometers And that with an interface which does not require intelligent network hardware RS485 network topology In the picture above the general network topology of RS485 is shown N nodes are connected in a multipoint RS485 network For higher speeds and longer lines the termination resistances are necessary on both ends of the line to eliminate reflections Use 100 Q resistors on both ends The RS485 network must be designed as one line with multiple drops not as a star Although total cable length maybe shorter in a star configuration adequate termination is not possible anymore and signal quality may degrade significantly gt RS485 functionality Default all the senders on the RS485 bus are in tri state with high impedance In most higher level protocols on
55. bootloaderlatmegalATmegaBOOT_168 atmegal280 hex Arduino Mega 2560 hFuses 0xD8 lFuses 0xFF eFuses 0xFD lockBit 0x0F flash arduino lt xxxx gt hardware arduino boot loader stk500v21stk500boot_v2 mega2560 hex Testing and confirming Disconnect a USB cable from Diecimila Remove the wires of ICSP and X3 Connect a USB cable to Diecimila Push the reset button of Diecimila Start Arduino IDE Upload sample sketch Blink And it will be run See http www roboticfan com article html 797 shtml or http www geocities jp arduino diecimila bootloader index en html Adjust PWM frequencies The ATmega328P has three timers known as Timer 0 Timer 1 and Timer 2 Each timer has two output compare registers that control the PWM width for the timer s two outputs when the timer reaches the compare register value the corresponding output is toggled The two outputs for each timer will normally have the same frequency but can have different duty cycles depending on the respective output compare register By macegr in this forum post http www arduino cc cgi bin yabb2 YaBB pl num 1235060559 12 Pins 5 and 6 controlled by timer O Setting Divisor Frequency 0x01 1 62500 13 WWW nexusrobot com Robot Kits manual 0x02 8 7812 5 0x03 64 976 5625 0x04 256 244 140625 0x05 1024 61 03515625 TCCROB TCCROB amp 0b11111000 setting Pins 9 and 10 controlled by timer 1 Setting Divisor Freque
56. c en Reference HomePage Programming structure This section describes the two important structures in the basic Arduino setup and loop They are indispensable The setup function is called when a sketch starts Use it to initialize variables pin modes start using libraries etc The setup function will only run once after each power up or reset of the Arduino board After creating a setup function which initializes and sets the initial values the loop function does precisely what its name suggests and loops consecutively allowing your program to change and respond Use it to actively control the Arduino board Sample code int buttonPin 3 setup initializes serial and the button pin void setup 1 beginSerial 9600 pinMode buttonPin INPUT loop checks the button pin each time and will send serial if it is pressed void loop WWW nexusrobot com Robot Kits manual if digitalRead buttonPin HIGH serialWrite H else serialWrite L delay 1000 cccccccececceccccecccccccccccccccecccceccececcececcccececccccccccccecccccceccccccccccccccccccccccccccccccccccccccccccccccccecccccccccccccccccceccccececccccccccccecceccccccecceccccecceccecececccceccccecececcccccecccccccccecceccccccccccccccccccccecccccccccccccceccccccccccccccccecccccecceccccececcecececcccececcccececcccececcccececcccececcccececcccecececcecececccceccccccececcccececcccccececceccccccceccccccccccccccccccccceccccccccccc
57. ccccccccccccccccccccccccsea gt Re write Arduino bootloader If you couldn t load the bootloader via the Arduino IDE with the parallel programmer from the Arduino website Then you can used the following method to Re write the bootloader on your chip gt FT232RL BitBang Mode AVR Writer FT232RL is an USB Serial bridge on an Arduino Dicimila NG Duemilanove PCB It has the function to manipulate each signal pin directly It s called BitBang Mode If we use avrdude serjtag we can burn the bootloader by Diecimila itself This section describe the method on Windows XP Attention If you want use avrdude serjtag on Linux or Mac OS you must remake patch reconfigure and recompile it There are useful projects avrdude by FT245R FT232R Linux and BitBang Mode AVR Writer on Mac Translated to English by Google These projects made a way to BitBang Mode AVR Writer on Linux and Mac Of course if you use Windows in Vmware on your Linux or Mac OS you can run avrdude serjtag windows version Modify the Diecimila There are four pads written as X3 near FT232RL on a Diecimila PCB These pads are connected to the control pins of FT232RL Remove the solder of these pads and insert a pin header And soldering it Connect the pins of X3 and the pins of ICSP by wires Please see the photograph below click to enlarge 10 WWW nexusrobot com Robot Kits manual n Ld I LE L3 e gt Downloa
58. d Derivative term Unsigded int interval The time the PID work last see MotorWheel PIDEnable bool PIDRegulate Regulate the PID in order to adjust the speed of the Motor This will lie within the range specified at MotorWheel PIDRegulate see MotorWheel PIDRegulate void delayMS unsigned int ms 100 bool debug false The time used for the car work as the same action In the function every 10 milliseconds it will call the function PIDRegulate once time unsigned long ms 100 The time the action last initialize it Parameters bool debug false A flag 107 WWW nexusrobot com Robot Kits manual void debugger bool wheelBackDebug true bool wheelRightDebug true bool wheelLeftDebug true const Debug the speed of the wheel Car state enum Used to configure the behavior of a car Note that not all car can be configured in every state Variables STAT UNKNOWN The state of the car unknown STAT STOP The car s state is stop STAT ADVANCE The car s state is moves forward STAT BACKOFF The car s state is get back off STAT RIGHT The car s state is turn right STAT LEFT The car s state is turn left STAT ROTATELEFT The car s state is moves rotate left STAT ROTATERIGHT The car s state is moves rotate right STAT UPPERLEFT The car s state is run upper left STAT LOWERLEFT The car s state is moves lower left STAT LOWERRIGHT The car s state is moves lower right STAT UPPERRIGHT The car s state is moves upper right
59. d write SONAR sonar11 0x11 sonar12 0x12 sonar13 0x13 sonar14 0x14 Software initialization ISONAR is be defined in lt SONAR h gt as a class unsigned short distBuf 4 Used to save the data of the 3 sonars return unsigned char sonarsUpdate static unsigned char sonarCurr 1 A variable save a data used to flag the state of sonar if sonarCurr 4 sonarCurr 1 else sonarCurr if sonarCurr 1 The conditions is ture distBuf 1 sonar12 getDist Get the value of distance from sonar12 sonar12 trigger Trigger sonar12 else if sonarCurr 2 distBuf 2 sonar13 getDist sonar13 trigger else if sonarCurr 3 distBuf 3 sonar14 getDist sonar14 trigger else distBuf 0 sonar1 1 getDist sonar11 trigger j return sonarCurr Return the value void goAhead unsigned int speedMMPS Car moves advance f Omni getCarStat Omni4WD STAT_ ADVANCE Omni setCarSlow2Stop 300 Omni setCarAdvance 0 If the car s state is not advance stop it else moves advance continue Omni setCarSpeedMMPS speedMMPS 300 Set the car speed at 300 void turnLeft unsigned int speedMMPS e R
60. dMMPS Omni4WD wheelURSetSpeedMMPS Omni4WD setCarstat 102 WWW nexusrobot com Robot Kits manual unsigned int setCarLowerLeft unsigned int soeedMMPS 0 Set the car Lower left This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS and Omni4WD setCarstat unsigned int spoeedMMPS 0 Parameters The speed for the motor run initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSetSpeedMMPS Omni4WD setCarstat unsigned int setCarUpperRight unsigned int soeedMMPS 0 Set the car upper Right This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS and Omni4WD setCarstat unsigned int spoeedMMPS 0 Parameters The speed for the motor run initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSetSpeedMMPS Omni4WD setCarstat unsigned int setCarLowerRight unsigned int soeedMMPS 0 Set the car Lower right This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS and Omni4WD setCarstat Paramet
61. ding To downloading the avrdude serjtag FTDI BitBang AVR Writer from the internet configure file for avrdude serjtag avrdude conf Update included chip parameter of ATmega328P and 88P avrdude GUI 1 0 5 Zip mirror site avrdude GUI 1 0 5 zip original site http yuki lab jp hw avrdude GUI index html avrdude GUI 1 0 5 zip mirror site avrdude GUI yuki lab jp Version require Microsoft NET Framework 2 0 When NET Framework 2 0 is not installed Download it from here Microsoft NET Framework 2 0 download page and install it gt Installing avrdude serjtag Exract serjtag zip Copy avrdude serjtag folder into the C Program Files folder tn a313 Delete src folder in the avrdude serjtag folder 11 WWW nexusrobot com Robot Kits manual avrdude conf Copy overwrite avrdude conf into the C Program Files avrdude serjtag binary folder arduino diecimila Programmer id diecimila desc FT232R Synchronous BitBang type ft245r miso 3 CTS X3 1 sck 5 DSR X3 2 mosi 6 DCD X3 3 reset 7 RIX3 4 avrdude GUI yuki lab jp Version Extract avrdude GUI 1 0 5 zip Copy avrdude GUI 1 0 5 folder into C Program Files folder avrdude GUI yuki lab jp Version require Microsoft NET Framework 2 0 When NET Framework 2 0 is not installed Download it from here and install it Setting Open the C Program Files avrdude GUI 1 0 5 folder And double click the avrdude
62. e void demowithSosars unsigned char sonarcurrent 0 if millis currMillis gt SONAR duration judge if the time more than SONAR duration currMillis millis sonarcurrent sonarUpdate if the requirement was ture call the function if sonarcurrent 3 unsigned char bitmap distBuf 0 lt 20 front bitmap distBuf 1 lt 20 lt lt 1 left bitmap distBuf 2 lt 20 lt lt 2 Iright Serial print bitmap Serial println bitmap DEC motion bitmap RAEI III IAI III II II IA II II TI I AI II II IIIT void setup TCCR1B TCCR1B amp 0xf8 0x04 TCCR2B TCCR2B amp 0xf8 0x06 pinMode MOTOR1_E OUTPUT pinMode MOTOR2 E OUTPUT pinMode MOTOR3 E OUTPUT SONAR init call the init from SONAR h delay 2000 Serial begin 19200 n void loop demowithSosars delay 200 A A AA 124
63. e if distBuf 2 distance If the right have something if Omni getCarStat Omni3WD STAT_ LEFT Omni setCarSlow2Stop 500 Omni setCarLeft speedMMPS Set car turn left else if distBuf O distance f the front have something if Omni getCarStat Omni3WD STAT_ROTATERIGHT Omni setCarSlow2Stop 500 Omni setCarRotateRight speedMMPS Set car rotateright else There is nothing around the car iffOmni getCarStat ZOmni3WD STAT ADVANCE Omni setCarSlow2Stop 500 Omni setCarAdvance speedMMP5 Set car moves advance j Omni PIDRegulate PID regulate 3 ERICA II II I II I III IIIA f setup void setup TCCR1B TCCR1B amp 0xf8 0x01 Pin9 Pin10 PWM 31250Hz TCCR2B TCCR2B amp OXf8 0x01 Pin3 Pin11 PWM 31250Hz SONAR init 13 Initial sonars Omni PIDEnable 0 26 0 02 0 10 Enable PID SSS css E UE MT E LE UNE EM loop void loop demoWithSensors 80 30 call the demo actions Robot Kits manual www nexusrobot com E SA GME UWO 9008 104 Wesibeig buy ejdwes SEXMEUOS zeug atuid Lou Az aneg 51 Low 11010 pLxqueuos 1utd goseug aurg vaseug Jopaaug
64. e of the nodes is defined as a master which sends queries or commands over the RS485 bus All other nodes receive these data Depending of the information in the sent data zero or more nodes on the line respond to the master In this situation bandwidth can be used for almost 100 There are other implementations of RS485 networks where every node can start a data session on its own This is comparable with the way ethernet networks function Because there is a chance of data collosion with this implementation theory tells us that in this case only 37 of the bandwidth will be effectively used With such an implementation of a RS485 network it is necessary that there is error detection implemented in the higher level protocol to detect the data corruption and resend the information at a later time There is no need for the senders to explicity turn the RS485 driver on or off RS485 drivers automatically return to their high impedance tri state within a few microseconds after the data has been sent Therefore it is not needed to have delays between the data packets on the RS485 bus See http www lammertbies nl comm info RS 485 html intr 26 www nexusrobot com Robot Kits manual gt Communication Protocols The device is fixed at 19200 bps Baud Rate 8 N 1 Set Device Address Command Header Address Length Cmd Set Address SUM 55 Aa AB 1 55 ADD SUM Return Value Header Address Length Cmd Flag SUM 55 Aa
65. e the car moves unsigned int setCarArcBase unsigned int soeedMMPS 0 unsigned int radiusMM WHEELSPAN Set the Arc the car moves The car have arc is on the basis of the two wheel have diffrent speed or direction This will lie within the range specified at R2WD setCarBackoffBase and R2WD setCarAdvanceBase unsigned int speedMMPS 0 The speed set the motors run at initialize it Parameters int radiusMM WHEELSPAN The radius set the car moves initialize it Return timeMS the time the car moves unsigned int setCarArcTime unsigned int soeedMMPS 0 unsigned int radiusMM WHEELSPAN unsigned long duration 5000 unsigned int uptime 500 Set the time the car moves as Arc unsigned int speedMMPS 0 The speed set the car moves unsigned int radiusMM WHEELSPAN The radius the car moves Parameters unsigned long duration 5000 The time the car last unsigned int uptime 500 The time the car used to stop Return The time the car used to moves and stop unsigned int setCarArcAngle unsigned int soeedMMPS 0 unsigned int radiusMM WHEELSPAN float radian 0 unsigned int uptime 500 Set the Arc angle the car moves unsigned int spoeedMMPS 0 Parameters The speed set the car moves unsigned int radiusMM WHEELSPAN 66 www nexusrobot com Robot Kits manual The radius the car moves float radian 0 The radian the car moves unsigned int uptime 500 The time the car used to stop Return The time the car used to moves and stop void demoActions unsigned
66. ector bumper sensors to make it turn around while run into something in its way lt is based on Arduino microcontroller lts aluminium alloy body is firm enough to be mounted with extension equipments R2WD Class Reference This documents describes a car with two Motors On the Introduction you will know how to use the R2WD library to control the Motors then to control the car include lt MotorWheel h gt Include the header file MotorWheel h This section gives a full listing of the capabilities of R2WD Class R2WD Interface for visit of peripherals gt Public functions R2WD MotorWheel wheelLeft MotorWheel wheelRight unsigned int wheelspanMM WHEELSPAN Construct a new R2WD instance RB015 Tracked Mobile Tank Robot Kit 49 www nexusrobot com Robot Kits manual In your sketch This will create a R2WD object called R2WD You can then use any of its methods for instance to control a R2WD attached to pins you could write MotorWheel wheelLeft A point named wheelLeft as the object of MotorWheel left wheel MotorWheel wheelRight Parameters A point named wheelRight as the object of MotorWhee right wheel unsigned int wheelspanMM WHEELSPAN The two wheels span unsigned int getWheelspanMM const Get the wheel span millimeter Return Wheel span unsigned int setWheelspanMM unsigned int wheelspan Set the wheel span This will lie within the range specified at R2WD getWheelspanMM Unsigned int wheelspan Paramet
67. ee Omni3WD getCarSpeedMMPS unsigned int setCarSlow2Stop unsigned int ms 1000 Set the car stop in 1000 milliseconds This will lie within the range specified at Omni3WD setCarSpeedMMPS unsigned int ms 1000 Parameters The time to stop the car initialize it See Omni3WD getCarSpeedMMPS unsigned int wheelBackSetSpeedMMPS unsigned int spoeedMMPS 0 bool dir DIR_ADVANCE Set the speed for the back wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int spoeedMMPS 0 The speed for the wheel to run initialize it Parameters bool dirzDIR ADVANCE The direction for the wheel to run See MotorWheel setSpeedMMPS unsigned int wheelBackGetSpeedMMPS const Get the speed of the back wheel This will lie within the range specified at MotorWheel getSpeedMMPS 80 www nexusrobot com Robot Kits manual See MotorWheel getSpeedMMPS unsigned int wheelRightSetSpeedMMPS unsigned int soeedMMPS 0 bool dir ZDIR ADVANCE Set the speed for the right wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int spoeedMMPS 0 The speed for the wheel to run initialize it Parameters bool dirzDIR ADVANCE The direction for the wheel to run See MotorWheel setSpeedMMPS unsigned int wheelRightGetSpeedMMPS const Get the speed of the right wheel This will lie within the range specified at MotorWheel getSpeedMMPS See MotorWheel getSpeedMMPS unsigned int wh
68. eelLeftSetSpeedMMPS unsigned int speedMMPS 0 bool dir DIR_ADVANCE Set the speed for the left wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int spoeedMMPS 0 The speed for the wheel to run initialize it Parameters bool dir DIR_ ADVANCE The direction for the wheel to run See MotorWheel setSpeedMMPS unsigned int wheelLeftGetSpeedMMPS const Get the speed of the left wheel This will lie within the range specified at MotorWheel getSpeedMMPS See MotorWheel getSpeedMMPS bool PIDEnable float kc KC float taui TAUI float taud TAUD unsigned int interval 1000 Call the PID make it work for the car This will lie within the range specified at MotorWheel PIDEnable 81 www nexusrobot com Robot Kits manual Float kc Proportional term initialize it Float taui Integral term Parameters Float taud Derivative term Unsigded int interval The time the PID work last see MotorWheel PIDEnable bool PIDRegulate Regulate the PID in order to adjust the speed of the Motor This will lie within the range specified at MotorWheel PIDRegulate see MotorWheel PIDRegulate void delayMS unsigned int ms 100 bool debug false The time used for the car work as the same action In the function every 10 milliseconds it will call the function PIDRegulate once time unsigned long ms 100 The time the action last Parameters bool debug false A flag void debugger bool wheelBackDebug
69. eft speedMMPS else if distBuf 4 lt distance distBuf 5 lt distance Left side have something Omni setCarRight speedMMPS else if distBuf O distance distBuf 3 distance IRs 0 Omni setCarRotateRight speedMMPS else Omni setCarAdvance speedMMP5 Omni PIDRegulate if millis 100 0 Omni debugger iioii elle setup void setup TCCR1B TCCR1B amp 0xf8 0x01 Pin9 Pin10 PWM 31250Hz TCCR2B TCCR2B amp OXf8 0x01 Pin3 Pin11 PWM 31250Hz SONAR init 13 Pin13 as RW Control initIRs Omni PIDEnable 0 26 0 02 0 10 Enable PID Wan ROR pi a anta E MAD a e EE I loop void loop demoWithSensors 80 20 300 Call the demo function 96 www nexusrobot com Robot Kits manual gt Omni4WD This page describes how to control the built in Omni4WD It does not describe how the Omni4WD work on your board For more information on that Please refer to Omni4WD Class Reference 4WD 100mm Mecanum wheel Includes ultrasonic sensors and optional IR Suspension structure to ensure roadholding of each single wheel DC motors with encoders Microcontroller and IO expansion board Programmable with c c RB011 AWD Mecanum wheel mobile kit Based on Arduino microcontroller AWD 100mm Mecanum wheel DC motors with encoders Microcontroller and IO expansion board Flexible base plate ensuring roadholding of each single Programmable with c c UE
70. el4 This will create a Omni4WD object called Omni4WD You can then use any of its methods for instance to control a Omni4WD attached to pins you could write void setup TCCROB TCCROB amp Oxf8 0x01 warning it will change millis TCCR1B TCCR1B amp 0xf8 0x01 Pin9 Pin10 PWM 31250Hz TCCR2B TCCR2B amp OXf8 0x01 Pin3 Pin11 PWM 31250Hz Omni PIDEnable 0 31 0 01 0 10 Enable PID j void loop Omni demoActions 200 5000 500 false Call the demoActions from the Class Omni4WD speedMMPS 200 duration 5000 uptime 500 debug false J Omni setCarLeft 0 Omni setCarSpeedMMPS 200 500 Omni delayMS 5000 Omni setCarSlow2Stop 500 Omni setCarRight 0 Omni setCarSpeedMMPS 200 500 Omni delayMS 5000 Omni setCarSlow2Stop 500 a rd 113 Robot Kits manual www nexusrobot com ome TT i Motor Power gt 1 ha B i y T gt D Encoder PhaseA Pin4 PhaseB Pin5 Sonar0x14 Motor Power Motor4 PWM Pin10 DIR Pin7 Motor1 PWM Pin3 DIR Pin2 PWM Pin3 DIR Pin2 Sonar0x13 Sonar0x11 Sonar0x11 Motor2 i Motor3 LUId HI2MM Lutd X1 Quid X SYSH Encoder PhaseA Pin14 A0 PhaseB Pin15 A1 Encoder PhaseA Pin16 B Pin17 A3 Motor Power Motor3 PWM Pin9 DIR Pin8 Sample Wiring Diagram for RB011 Mecanum 4WD V4 1 Motor2 PWM Pin11 DIR Pin12 Sample Wiring Diagram for
71. emoActions unsigned int soeedMMPS 100 unsigned int duration 5000 unsigned int uptime 500 bool debug false A demo function for four wheels car to show void Omni4WD demoActions unsigned int speedMMPS unsigned int duration unsigned int uptime bool debug unsigned int Omni4WD carAction unsigned int soeedMMPS amp Omni4WD setCarAdvance Car advance amp Omni4WD setCarBackoff Car back off amp Omni4WD setCarL eft Car turn left amp Omni4WD setCarRight Car turn right amp Omni4WD setCarUpperLeft Car upper left amp Omni4WD setCarLowerRight Car lower right amp Omni4WD setCarLowerLeft Car lower left amp Omni4WD setCarUpperRight Car upper right amp OmniA4WD setCarRotateL eft Car rotate left amp Omni4WD setCarRotateRight Car rotate right 110 WWW nexusrobot com Robot Kits manual 5 for int i 0 i lt 10 i the car have 10 demo actions this gt c
72. ers The value want to set see R2WD getWheelspanMM unsigned char switchMotors Switch the motor to control This will lie within the range specified at R2WD getSwitchMotorsStat see R2WD getSwitchMotorsStat unsigned char switchMotorsReset Reset the switch about motor s control This will lie within the range specified at R2WD getSwitchMotorsStat see R2WD getSwitchMotorsStat unsigned int setCarStop Set the car stop This will lie within the range specified at R2WD setCarStat and R2WD setMotorAll 50 www nexusrobot com Robot Kits manual R2WD setCarStat see R2WD setMotorAll unsigned int setCarAdvance unsigned int soeedMMPS 0 Set car move advance This will lie within the range specified at R2WD setCarStat and R2WD setcaradvanceBase unsigned int speedMMPS Parameters The speed of the car moves initialize it R2WD setCarStat See R2WD setadvanceBase unsigned int setCarBackoff unsigned int speed MMPS 0 Set car move backoff This will lie within the range specified at R2WD setCarStat and R2WD setcarbackoffBase unsigned int speedMMPS Parameters The speed of the car moves initialize it R2WD setCarStat see R2WD setcarbackoffBase unsigned int setCarRotateLeft unsigned int soeedMMPS Set car move as rotate Left This will lie within the range specified at R2WD setCarStat and R2WD setMotorAllBackoff unsigned int speedMMPS Parameters
73. ers unsigned int speedMMPS 0 103 www nexusrobot com Robot Kits manual The speed for the motor run initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSetSpeedMMPS Omni4WD setCarstat unsigned int getCarSpeedMMPS const Get the car s speed return The car s speed unsigned int setCarSpeedMMPS unsigned int spoeedMMPS 0 unsigned int ms 1000 Set the speed of the car This will lie within the range specified at Omni4WD getCarSpeedMMPS unsigned int spoeedMMPS 0 The speed for the car moves initialize it Parameters unsigned int ms 1000 The time used for the to moves the car at this speed See Omni4WD getCarSpeedMMPS unsigned int setCarSlow2Stop unsigned int ms 1000 Set the car stop in 1000 milliseconds This will lie within the range specified at Omni4WD setCarSpeedMMPS unsigned int ms 1000 Parameters The time used for stop the car initialize it See Omni4WD getCarSpeedMMPS unsigned int getCarSpeedMMPS const Get the car s speed return The car s speed unsigned int setCarSpeedMMPS unsigned int speedMMPS 0 unsigned int ms 1000 The car s speed be set 104 WWW nexusrobot com Robot Kits manual This will lie within the range specified at Omni4WD getCarSpeedMMPS unsigned int spoeedMMPS 0 The speed for the car moves initialize it Parameters unsigned int ms 1000 The time used for the car moves at
74. es initialize it 52 www nexusrobot com Robot Kits manual unsigned int radiusMM The radius of the car moves Locus R2WD setCarStat see R2WD setCarArcBace unsigned int setCarLowerRight unsigned int speedMMPS unsigned int radiusMM Set car moves Lower right This will lie within the range specified at R2WD setCarStat and R2WD setCarArcBace unsigned int speedMMPS The speed of the car moves initialize it Parameters unsigned int radiusMM The radius of the car moves Locus R2WD setCarStat see R2WD setCarArcBace unsigned int setCarAdvanceDistance unsigned int speedMMPS unsigned long distance Set the distance the car move advance This will lie within the range specified at R2WD setCarAdvance and 2WD setCarStrightdistance unsigned int speedMMPS The speed ofthe car moves initialize it Parameters unsigned long distance The distance want the car move R2WD setCarAdvance see R2WD setCarStrightdistance unsigned int setCarBackoffDistance unsigned int soeedMMPS unsigned long distance To set the distance of the car move backoff This will lie within the range specified at R2WD setCarBackoff and R2WD setCarStrightdistance unsigned int speedMMPS The speed of the car moves initialize it Parameters unsigned long distance The distance want the car move 53 www nexusrobot com Robot Kits manual R2WD setCarBackoff see R2WD setCarStrightdistance unsigned int setCarR
75. etCarstat and Omni3WD wheelBackSetSpeedMMPS and Omni3WD wheelRightSetSpeedMMPS and Omni3WD wheelLeftSetSpeedMMPS unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it Omni3WD setCarstat Omni3WD wheelBackSetSpeedMMPS See Omni3WD wheelRightSetSpeedMMPS Omni3WD wheelLeftSetSpeedMMPS unsigned int setCarBackoff unsigned int speed MMPS 0 Set the car moves Reverse This will lie within the range specified at Omni3WD setCarstat and Omni3WD wheelBackSetSpeedMMPS and Omni3WD wheelRightSetSpeedMMPS and Omni3WD wheelLeftSetSpeedMMPS unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it Omni3WD setCarstat Omni3WD wheelBackSetSpeedMMPS See Omni3WD wheelRightSetSpeedMMPS Omni3WD wheelLeftSetSpeedMMPS unsigned int setCarLeft unsigned int soeedMMPS 0 Set the car turn Left This will lie within the range specified at Omni3WD setCarstat and Omni3WD wheelBackSetSpeedMMPS and Omni3WD wheelRightSetSpeedMMPS and Omni3WD wheelLeftSetSpeedMMPS unsigned int spoeedMMPS 0 Parameters The speed for the car moves initialize it See Omni3WD setCarstat 78 www nexusrobot com Robot Kits manual Omni3WD wheelBackSetSpeedMMPS Omni3WD wheelRightSetSpeedMMPS Omni3WD wheelLeftSetSpeedMMPS unsigned int setCarRight unsigned int soeedMMPS 0 Set the car turn right This will lie within the range specified at Omni3WD
76. gned char pinlIRQB The interrupt pin B struct ISRVars isr The Structure IRSVars s member See irglSR y x void setupinterrupt Setup a attach interrupt unsigned char getPinPWM const Get the motor s PWM control pin number Return PWM control pin unsigned char getPinDir const Get the motor s direction control pin number 37 www nexusrobot com Return Direction pin unsigned char getPinIRQ const Get the IRQ Pin number Return IRQ pin unsigned char getPinIRQB const Get the IRQB Pin number Return IRQB pin unsigned int runPWM unsigned int PWM bool dir bool saveDir true Set the PWM and direction for Motors then return the PWM unsigned int PWM The PWM set for the Motor Bool dir Parameters The direction set for the Motor Bool saveDir A flag to confirm if the direction will be reset Return PWM unsigned int getPWMY const Get the motor s current pwm Return Speed PWM unsigned int advancePWM unsigned int PWM Set the pwm when the motor run advance unsigned int PWM Parameters The PWM set for Motor Return runPWM PWM DIR ADVANCE See Motor runPWM unsigned int backoffPWM unsigned int PWM Set the pwm when the motor backoff This will lie within the range specified at Motor runPWM Robot Kits manual 38 www nexusrobot com unsigned int PWM Parameters The PWM set for Motor See Motor runPWM bool setDesiredDir bool dir The desired direction set for the
77. gned int setCarSlow2Stop unsigned int ms 1000 Stop the car slowly This will lie within the range specified at R2WD setCarSpeedMMPS or R2WD setCarSpeedMMPSArc unsigned int ms 1000 Parameters The time stop the car used initialize it see R2WD getCarSpeedMMPS 60 WWW nexusrobot com Robot Kits manual void debugger bool wheelLeftDebug true bool wheelRightDebug true const Debug the all wheel s speed Car state enum Used to configure the behavior of a car Note that not all car can be configured in every state Variables STAT UNKNOWN The state of the car unknown STAT STOP The car s state is stop STAT ADVANCE The car s state is moves advance STAT BACKOFF The car s state is get backoff STAT ROTATELEFT The car s state is moves rotateleft STAT ROTATERIGHT The car s state is moves rotateright STAT UPPERLEFT The car s state is moves upperleft STAT LOWERLEFT The car s state is moves lowerleft STAT LOWERRIGHT The car s state is moves lowerright STAT UPPERRIGHT The car s state is moves uppperright unsigned char getCarStat const Get the car current state return The car s state 61 www nexusrobot com Motor state enum Used to configure the behavior of a motor Note that not all motors can be configured in every state Variables MOTORS_FB The switchmotorstat is FB MOTORS_BF The switchmotorstat is BF unsigned char getSwitchMotorsStat const Get the state of the Motor return The
78. guld MIC Guld WMd ZUId YIO eutd WMd gLxpieuag IITLL ELXQIBUOS EION Suld geseug purg yaseug Japosus Jeduunf ou Lixpueuos i bees Hia Od Aled ello EL OMY Bd CL OUld XH SBPSH IROZ Pin17 Anma3 Omni3WD_V3 3 Diagram 97 WWW nexusrobot com Robot Kits manual gt Omni3WD platform with 6 SONARS Look the above figure of simple Wiring Diagram for Omni3WD V3 3 Tis code is matched for it Diagram Omni3WD V3 3 code a REIN Ler UU C LA E E D EM TI ON take ann LM EE Power Switch SonarOx11 SonarOx16 Sonar0x12 M3 IRO3 M2 RO2 Sonar0x15 Sonar0x13 Sonar0x14 M1 IRO1 E include fuzzy table h include lt PID_Beta6 h gt include lt PinChangelnt h gt include lt PinChangelntConfig h gt include lt MotorWheel h gt include lt Omni3WD h gt include lt SONAR h gt Include the header files ERS REEL e UE E S Es euer essc SONAR Fl 2 _ _ _ A QQ _ _ A A _ ___________________ www nexusrobot com Robot Kits manual SONAR sonar11 0x11 sonar12 0x12 sonar13 0x13 sonar14 0x14 sonar15 0x15 sonar16 0x16 Software initialization ISONAR is be defined in lt SONAR h gt as a class unsigned short distBuf 6 Used to save the data of the 6 sonars return void sonarsUpdate static unsigned c
79. har sonarCurr 1 A variable save a data used to flag the current of sonar if sonarCurr 3 sonarCurr 1 else sonarCurr if sonarCurr 1 The conditions is ture distBuf 1 sonar12 getDist Get the value of distance from sonar12 distBuf 4 sonar15 getDist sonar1 1 trigger Trigger sonar11 sonar14 trigger else if sonarCurr 2 distBuf 2 sonar13 getDist distBuf 5 sonar16 getDist sonar12 trigger sonar15 trigger else distBuf 0 sonar1 1 getDist distBuf 3 sonar14 getDist sonar13 trigger sonar16 trigger E AN A e Ju E SES UM AE dd e en ee unsigned char IRpin 16 17 18 Pin16 Pin17 Pin18 bool IRs 3 false false false void nitIRs Initial the Pin mode pinMode IRpin O INPUT pinMode IRpin 1 INPUT pinMode IRpin 2 INPUT www nexusrobot com Robot Kits manual void checkIRs Read the Anti drop Sonars for int i 0 i lt 3 1 IRs iJ digitalRead IRpin i Save datas Serial print IRsT i display the datas Serial printin j E ii RT aia ocu MIA
80. he data transmission speed may slow limited by the serial port baud rate it is a simple and pratical way No wonder that many netizens recommended the inclusion of such Arduino module support Manufacturers do not give any datasheet or material to us Fortunately some can be found on the network Meanwhile learn by researching First USB adapter from manufacturer seems not to match APC220 because the number of pins is different Maybe because it has to be compatible with other different products or at least it is not specially designed for the APC220 USB adapter used CP2102 chip Download the appropriate drivers in Silicon Laboratories To downloaded the file cp210x vcp win2k xp s2k3 zip unzipped to get an exe file then instal the driver step by step following the prompts After driver installation is complete insert USB adapter into the PC s USB interface Windows will be prompted to find new hardware then finsh installation and configuration accordingly See http www emartee com product 41854 Arduino Wireless Transmission APC220 PC Kits 1 30 WWW nexusrobot com Robot Kits manual Pin Change Interrupt PinChangelnt Library This library was inspired by and derived from the Pclnt example by johnboiles and written by a jbrisbin it seems While the PCInt example shows with generality how Pin Change interrupts can be done under Arduino it is an example effort that sacrifices performance for clarity of implementation
81. he wheel This will lie within the range specified at MotorWheel getCirMM unsigned int cirMM parameters The value want to set See MotorWheel getCirMM unsigned int getSpeedCMPM const Get the speed centimeter per minute This will lie within the range specified at GearedMotor getGearedSpeedRPM See GearedMotor getGearedSpeedRPM unsigned int setSpeedCMPM unsigned int cm bool dir Set the speed for motor This will lie within the range specified at GearedMotor setGearedSpeedRPM Then you will see MotorWheel getspeedCMPM GearedMotor setGearedSpeedRPM See MotorWheel getspeedCMPM 46 WWW nexusrobot com Robot Kits manual unsigned int getSpeedMMPS const Get the speed millimeter per second This will lie within the range specified at MotorWheel getspeedCMPM See MotorWheel getspeedCMPM unsigned int setSpeedMMPS unsigned int mm bool dir Set the speed This will lie within the range specified at MotorWheel setspeedCMPM and MotorWheel getspeedCMPM MotorWheel setspeedCMPM See MotorWheel getspeedCMPM For example include lt PinChangelnt h gt e include lt PinChangelntConfig h gt include lt PID_Beta6 h gt include lt MotorWheel h gt ifndef MICROS PER SEC define MICROS PER SEC 1000000 endif irglSR irq1 isr1 This will create a MotorWheel object called Wheel1 MotorWheel wheel1 9 8 6 7 amp irq1 Motor PWM Pin9 DIR Pin8 Encoder A Pin6 B Pin7
82. heelUR wheelUR setSwitchMotorsStat MOTORS_ FB Construct a new Omni4WD instance in your sketch This will create a Omni4WD object called Omni4WD You can then use any of its methods for instance to control a Omni4WD attached to pins you could write MotorWheel wheelUL A point named wheelUL as the object of MotorWheel MotorWheel wheelLL A point named wheelLL as the object of MotorWheel Parameters MotorWheel wheelLR A point named wheelLR as the object of MotorWhee MotorWheel wheelUR A point named wheelUR as the object of MotorWhee unsigned char switchMotors Switch Motors to control This will lie within the range specified at Omni4WD getSwitchMotorsStat 98 WWW nexusrobot com Robot Kits manual See Omni3WD getSwitchMotorsStat unsigned char switchMotorsReset Reset for switch motors to control unsigned int setMotorAll unsigned int soeedMMPS 0 bool dir DIR ADVANCE Set all motors speed and direction This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS unsigned int spoeedMMPS 0 The speed for the motor run initialize it Parameters bool dir DIR_ADVANCE The direction the motor run Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSetSpeedMMPS unsigned int setMotorAllStop Set all Motors stop T
83. his will lie within the range specified at Omni4WD setMotorAll See Omni4WD setMotorAll unsigned int setMotorAllAdvance unsigned int speedMMPS 0 Set all motors run forward This will lie within the range specified at Omni4WD setMotorAll unsigned int spseedMMPS 0 Parameters The speed for the motor run initialize it See Omni4WD setMotorAll unsigned int setMotorAllBackoff unsigned int soeedMMPS 0 Set all motors run back off 99 WWW nexusrobot com Robot Kits manual This will lie within the range specified at Omni4WD setMotorAll unsigned int spoeedMMPS 0 Parameters The speed for the motor run initialize it See Omni4WD setMotorAll unsigned int setCarStop Stop the car This will lie within the range specified at Omni4WD setMotorAll and Omni4WD setCarstat Omni4WD setMotorAll See Omni4WD setCarstat unsigned int setCar unsigned int soeedMMPS 0 Set the car moves forward Because the car have Four wheels so the car moves forward the wheels will have different state each other This will lie within the range specified at Omni4WD wheelULSetSpeedMMPS and Omni4WD wheelLLSetSpeedMMPS and Omni4WD wheelLRSetSpeedMMPS and Omni4WD wheelURSetSpeedMMPS and Omni4WD setCarstat unsigned int speedMMPS 0 Parameters The speed for the motor run initialize it Omni4WD wheelULSetSpeedMMPS Omni4WD wheelLLSetSpeedMMPS See Omni4WD wheelLRSetSpeedMMPS Omni4WD wheelURSet
84. ified at PID PIDGetSpeedRPMDesired Unsigned int speedRPM parameters The speed User want to set See PID PIDGetSpeedRPMDesired unsigned int PIDGetSpeedRPMDesired const Get the desired speed Return speedRPMDesired void debugger const Debug to sure if the result is right int getSpeedPPS const Get the pulse rate pulse per second Return speedPPS long getCurrPulse const Get the current Pulse Return Pulses long setCurrPulse long _ pulse Set pulse This will lie within the range specified at Motor getCurrPulse Long _pulse parameters The value want to set See Motor getCurrPulse long resetCurrPulse Reset the current Pulse This will lie within the range specified at Motor SetCurrPulse See Motor SetCurrPulse Struct ISRVars sr Robot Kits manual 42 www nexusrobot com Define a Pointer named isr as the member of the struct ISRVars Private members unsigned char pinPWM The PWM pin unsigned char pinDir The diretion pin unsigned char pinIRQ The IRQ pin unsigned char pinIRQB The IRQB pin bool desiredDirection The desired direction unsigned int speedPWM Save the current PWM int speedRPMInput Save the Motor s current speed it will be used in class PID int speedRPMOutput Save the speed of the Motor output int speedRPMDesired Save the speed the user want to set bool pidCtrl The class PID work s mode Motor Construct a new Motor instance After
85. l the demoActions from the class 2WD a void loop boolean bumperL digitalRead bumperL pin a flag to sure if the Left have someting boolean bumperC digitalRead bumperC_ pin boolean bumperR digitalRead bumperR_ pin int irLO ir_distance irLO pin A variable to save the data of the left Infrared Sensor return int irCO ir distance irCO pin int irRO ir distance irRO pin static unsigned long currMillis 0 if millis currMillis gt SONAR duration every 60ms call sonarUpdate once currMillis millis sonarsUpdate if bumperL bumperC bumperR If the car hit something _2WD setCarBackoff speedMMPS Set car backoff at the speed of speedMMPS _2WD delayMS 300 last 300 ms if bumperL bumperC 2WD setCarRotateRight speedMMPS back off and turn right else 2WD setCarRotateLeft spoeedMMPS back off and turn left _2WD delayMS 300 y else if O irLO amp amp irLO lt 30 O lt irCO amp amp irC0 lt 40 O distBuf 0 amp amp distBuf 0 30 O distBuf 1 amp amp distBuf 1 40 f any of these conditions was ture _2WD setCarRotateRight speedMMPS Set car rotateright y else if O irRO amp amp irRO 30 O lt distBuf 2 amp amp distBuf 2 lt 30 AWD setCarRotateLeft speedMMPS else The is nothing around the car _2WD setCarAdvance speedMMPS Set car move advance at the speed of speedPPMS j _2WD PIDRegulate PID regulate the speed 73
86. l the function PIDRegulate once unsigned long ms 100 The time the action last Parameters bool debug false A flag unsigned int getCarSpeedMMPS const Get the car s speed This will lie within the range specified at R2WD wheelLeftGetSpeedMMPS and R2WD wheelRightGetSpeedMMPS R2WD wheelLeftGetSpeedMMPS see R2WD wheelRightGetSpeedMMPS unsigned int setCarSpeedMMPS unsigned int spoeedMMPS 0 unsigned int ms 1000 Set the car s speed when the car s state was one of the following STAT_ADVANCE STAT_BACKOFF 59 www nexusrobot com Robot Kits manual STAT_ROTATELEFT STAT_ROTATERIGHT This will lie within the range specified at R2WD GetCarSpeedMMPS unsigned int spoeedMMPS 0 The speed for the car to moves initialize it Parameters unsigned int ms 1000 The time the car s speed changed from O to speedMMPS used see R2WD getCarSpeedMMPS unsigned int setCarSpeedMMPSArc unsigned int spogeedMMPS 0 unsigned int radiusMM WHEELSPAN unsigned int ms 1000 Set the car s speed when the car s state was one of the following STAT_UPPERLEFT STAT_LOWERLEFT STAT_LOWERRIGHT STAT_UPPERRIGHT This will lie within the range specified at R2WD getCarSpeedMMPS unsigned int spoeedMMPS 0 The speed for the car to moves initialize it unsigned int radiusMM WHEELSPAN Parameters The radius the car moves unsigned int ms 1000 The time the car s speed changed from O to speedMMPS used see R2WD getCarSpeedMMPS unsi
87. les are designed to demonstrate how to use the modules with the Arduino The Arduino s hardware serial port is not used to connect to our modules which keeps it available to the USB port That allows downloading new programs without having to continually disconnect reconnect things Most of these examples use the LCDO3 display module to show the results but it is also possible to display the results on the PC as demonstrated in the CMPS03 example All the modules which use the I2C bus have 1k8 pull up resistors to 5v You only need one set of resistors located near the Arduino regardless of however many I2C devices you have connected to it LED control Most Arduino boards already have an LED attached to pin 13 on the board itself If you run this example with no hardware attached you could see LED blinks This example shows the simplest thing you can do with an Arduino to see physical output it blinks an LED Sample code Blink Turns on an LED on for one second then off for one second repeatedly This example code is in the public domain p void setup initialize the digital pin as an out
88. mand Header Address Length Cmd SUM Header Address Length Cmd High Byte Low Byte SUM 55 aa ADD 2 03 H L SUM PS The command will return the temperature reading The return temperature reading is using Celsius scale If the temperature is above O Celsius the first four bits of High will be all O If the temperature is below O Celsius the first four bits of High will be all 1 The last 4 bits of High together with the Low bits stands for 12bits temperature The resolution is 0 1 When the reading is invalid it returns OXFF OxFF Example Command 0x55 Oxaa 0x11 0x00 0x03 0x13 SUM Return 0x55 Oxaa 0x11 0x02 0x03 OxFO Ox0A 0x11 1 Celsius Degree 0x55 Oxaa 0x11 0x02 0x03 0x00 Ox0A 0x20 1 Celsius Degree 0x55 Oxaa 0x11 0x02 0x03 OxFF OxFF 0x20 Out of Range 28 WWW nexusrobot com Robot Kits manual Simple code include lt SONAR h gt used the library of SONAR The sonar whose address is 0x11 was named S11 and it was setted as the type of SONAR SONAR s11 SONAR O0x1 1 ISONAR s12 0x12 void setup SONAR init set up some parameters delay 100 100 millissecond s11 setAddr 0x11 set address for S11with Ox11 Ttrigger sonar and display the data void loop 11 trigger Send the trigger command to trigger S11 s12 trigger delay SONAR duration 60 millissecond Serial println s11 getDist DEC Display the distance S11 received s11 showDat Di
89. nRight e analogWrite MOTOR1_E 66 forward analogWrite MOTOR2_E 40 Revese 2 analogWrite MOTOR3_E 40 Revese o DS void RotateRight analogWrite MOTOR1_E 66 forward analogWrite MOTOR2_E 62 forward analogWrite MOTOR3_E 64 forward j Jesu E T EE t m E t EU E EE T void RotateLeft analogWrite MOTOR1_E 36 Revese analogWrite MOTOR2_E 32 Revese analogWrite MOTOR3_E 34 Revese J Reale el HIR IHE HER IH IH IH IH HR HER void judge if distBuf 0 30 if distBuf 1 lt 10 amp amp distBuf 2 10 turnRight else if distBuf 2 lt 10 amp amp distBuf 1 10 turnLeft else if distBuf 1 lt 10 amp amp distBuf 2 lt 10 RotateLeft else goAhead Jelse RotateLeft o MESE A A E M S MN M a void allStop e 123 www nexusrobot com Robot Kits manual analogWrite MOTOR1_E 48 stop the motor analogWrite MOTOR2_E 44 stop the motor2 2 analogWrite MOTOR3_E 46 stop the motor3 E J Fille edili Hee ek void motion 8 goAhead RotateLeft turnRight RotateLeft turnLeft RotateLeft judge allStop change th
90. ncy 0x01 1 31250 0x02 8 3906 25 0x03 64 488 28125 0x04 256 122 0703125 0x05 1024 30 517578125 TCCR1B TCCR1B amp 0b11111000 setting Pins 11 and 3 controlled by timer 2 Setting Divisor Frequency 0x01 1 31250 0x02 8 3906 25 0x03 32 976 5625 0x04 64 488 28125 0x05 128 244 140625 0x06 256 122 0703125 0x07 1024 30 517578125 TCCR2B TCCR2B amp 0b11111000 setting All frequencies are in Hz and assume a 16000000 Hz system clock From koyaanisgatsi in this forum post http www arduino cc cgi bin yabb2 YaBB pl numz 1235060559 12 If you change TCCROB it affects millis and delay They will count time faster or slower than normal if you change the TCCROB settings Below is the adjustment factor to maintain consistent behavior of these functions Default delay 1000 or 1000 millis 1 second 0x01 delay 64000 or 64000 millis 1 second 0x02 delay 8000 or 8000 millis 1 second 0x03 is the default 0x04 delay 250 or 250 millis 1 second 14 WWW nexusrobot com Robot Kits manual 0x05 delay 62 or 62 millis 1 second Or 63 if you need to round up The number is actually 62 5 Also the default settings for the other timers are TCCR1B 0x03 TCCR2B 0x04 There may be other side effects from changing TCCROB For example my project would not properly run with TCCROB set to 0x02 or 0x01 But it worked fine at 0x03 and higher Simple Examples in Arduino 328 These examp
91. nd IO expansion board DC motors with encoder Adequate space for custom components Programmable with C C Based on Arduino microcontroller RBO06 3WD omni wheel mobile kit 74 www nexusrobot com Robot Kits manual 3WD 100mm Mecanum wheel 3 plate levels Aluminum alloy body Includes ultrasonic sensors and optional IR DC motors with encoder With microcontroller and IO expansion board Programmable with C C Based on Arduino microcontroller RB0O13 3WD omni wheel mobile kit Includes ultrasonic sensors and optional IR 3WD 100mm Mecanum wheel Compact size Aluminum alloy body DC motors with encoder Programmable with C C Based on Arduino microcontroller RBOO3 3WD omni wheel mobile kit This is a 3 wheels drive mobile robot utilizing omni wheels It s capable of moving in any directions by changing the velocity and direction of each wheel without changing its orientation It includes microcontroller IO expansion board DC motor with encoder ultrasonic sensors and optional IR With pre drilled screw holes it can be easily extended gt QOmni3WD Class Reference This document describes a car with three Motors On the Introduction you will know how to use the Omni3WD library to control the Motors then to control the car include lt MotorWheel h gt Include the header file MotorWheel h This section gives a full listing of the capabilities of Omni3WD Class Omni3WD Interface for vi
92. ndard USB cable A plug to B plug the kind you would connect to a USB printer for example For the Arduino Nano you ll need an A to Mini B cable instead www nexusrobot com Robot Kits manual ea E P Ep k 13 EGS be is LE E E 2 Download the Arduino environment Get the latest version from the download page When the download finishes unzip the downloaded file Make sure to preserve the folder structure Double click the folder to open it There should be a few files and sub folders inside 3 Connect the board The Arduino Uno Mega Duemilanove and Arduino Nano automatically draw power from either the USB connection to the computer or an external power supply If you re using an Arduino Diecimila you ll need to make sure that the board is configured to draw power from the USB connection The power source is selected with a jumper a small piece of plastic that fits onto two of the three pins between the USB and power jacks Check that it s on the two pins closest to the USB port Connect the Arduino board to your computer using the USB cable The green power LED labelled PWR should go on 4 Install the drivers Installing drivers for the Arduino Uno with Windows7 Vista or XP E Plug in your board and wait for Windows to begin it s driver installation process After a few moments the process will fail despite its best efforts 7 Click on the Start Menu and open up the Control Panel While in the
93. notte Retreat daa enone saison 9 gt ALO SPAM IVS SIC BUNS bed 9 gt Re write Arduino bootloader eene 10 gt FT232RL BitBang Mode AVR WriteT sceninis riie a 10 2 Modi Mee Ci a ceo eue od Werk um dae veta aet doi 10 A DOWO adi ane oe oe reat tov leid pU 11 RIED M Un II 11 Pepe e ERE 12 Vestine and COME MIMO dd 13 gt Ad st PVVIVLIFedBeCIOS secius vester ERU tur Eva d Uo ptas dub demde dd ens 13 gt Simple Examples in Arduino 328 eene 15 A A 15 MESE A PP T E T UMS 16 A d tied ttt nii edam 17 gt Digital Read Serial ds 18 Analog Read Sera ia Qa Iu 19 DENO MOr EheOby deiecit iras enean e MERO Drusi tudo vun rele et d 19 p MO e M ea EE 21 O 25 Extemataevice Mod le Sanese cd 23 gt Dual Ultrasonic Sensor DUS sees eene nene eene 23 p dTatroductioD oes r etia E E EE imas fece ue vau t edd 23 ARS POCA ON as 24 gt Dimension and Pin definition is 24 abt SAB US I Cm 25 www nexusrobot com Robot Kits manual gt Communication PO OC Si 27 SENSO CONECO Meese E e 29 Sensor NetwOLKIHIl use REPE RIEF IN MEM MINI MI 29 y PPC 7 O NO GUC dad 30 Des Pa ANN Ue Sih sponte yee ates a sone eee aed gta eL oU EIE 30 A RTT 30 gt This module used to connect PC port oooooooocncccccnnnooooononnnonocccnnnanannnnnnnonos 30 pPInGchandge Jnter DL cria 31 As eee ee een nee ee eee 3 P 0029 A e O 33 P
94. num alloy fram Si F Capable of rotation Ss d Includes Ultrasonic sensors T Tas l l Microcontroller and IO expansion board Programmable with C C Based on Arduino microcontroller RB014_48mm 3WD Omni Wheel mobile robot kit The 3WD 48mm Omni wheel mobile robot kit use three omni wheels with drive moving forward backward left and right without change the direction and speed Includes microcontroller and motors it is programmable Programming is performed by connecting to your PC and writting programs There are still pre drilled holes of screw and its firm aluminum alloy body makes it convenient and possible to add more levels define MOTOR1 E 9 define the pin 9 as the motor1 s pwm signal control pin define MOTOR2 E 10 define the pin 10 as the motor2 s pwm signal control pin define MOTOR3 E 11 define the pin 11 as the motor3 s pwm signal control pin wu DE iL LLL WI LL LLL I EU I void goAhead analogWrite MOTOR1_E 48 stop run motor1 analogWrite MOTOR2 E 62 forward run motor2 analogWrite MOTOR3_E 34 Revese run motor3 P EET void getBack analogWrite MOTOR1_E 48 stop tun motor1 analogWrite MOTOR2 E 32 Reverse run motor2 analogWrite MO
95. ny given instant of time the full DC supply is either fully on or fully off The voltage or current source is supplied to the analog load by means of a repeating series of on and off pulses The on time is the time during which the DC supply is applied to the load and the off time is the period during which that supply is switched off Given a sufficient bandwidth any analog value can be encoded with PWM Figure 2 shows three different PWM signals Figure 1a shows a PWM output at a 10 duty cycle That is the signal is on for 10 of the period and off the other 90 Figures 1b and 1c show PWM outputs at 50 and 90 duty cycles respectively These three PWM outputs encode three different analog signal values at 10 50 and 90 of the full strength If for example the supply is 9V and the duty cycle is 10 a 0 9V analog signal results On High Level Cfi Low Level 50 Figure 2 PWM signals of varying duty cycles 2 GND 3 A X i j 4 motor s encoder wires See http www netrino com Embedded Systems How To PWM Pulse Width Modulation 35 www nexusrobot com Robot Kits manual gt Motorwheel This page describes how to control the built in Motorwheel gt Motorwheel Class Reference This document describes how to use the Motor library to control Motors On the Introduction you will know how to controls the motor s PWM direction and speed This motorwheel library version 1 1 compatible with maple
96. ode Each of the 14 digital pins on the Duemilanove can be used as an input or output using pinMode digitalWrite and digitalRead functions They operate at 5 volts Each pin can provide or receive a maximum of 40 mA and has an internal pull up resistor disconnected by default of 20 50 kOhms In addition some pins have specialized functions Serial 0 RX and 1 TX Used to receive RX and transmit TX TTL serial data These pins are connected to the corresponding pins of the FTDI USB to TTL Serial chip External Interrupts 2 and 3 These pins can be configured to trigger an interrupt on a low value a rising or falling edge or a change in value See the attachInterrupt function for details PWM 3 5 6 9 10 and 11 Provide 8 bit PWM output with the analogWrite function SPI 10 SS 11 MOSI 12 MISO 13 SCK These pins support SPI communication using the SPL library LED 13 There is a built in LED connected to digital pin 13 When the pin is HIGH value the LED is on when the pin is LOW it s off gt Communication The Arduino Uno has a number of facilities for communicating with a computer another Arduino or other microcontrollers The ATmega328 provides UART TTL 5V serial communication which is available on digital pins O RX and 1 TX An ATmega8U2 on the board channels this serial communication over USB and appears as a virtual com port to software on the computer The 8U2 firmware uses the
97. on in the search and browse to the drivers FTDI USB Drivers directory of the Arduino distribution The latest version of the drivers can be found on the FTDI website Click next The wizard will search for the driver and then tell you that a USB Serial Converter was found Click finish The new hardware wizard will appear again Go through the same steps and select the same options and location to search This time a USB Serial Port will be found You can check that the drivers have been installed by opening the Windows Device Mananger in the Hardware tab of System control panel Look for a USB Serial Port in the Ports section that s the Arduino board 5 Launch the Arduino application Double click the Arduino application 6 Open the blink example Open the LED blink example sketch File Examples 1 Basics Blink 69 Blink Arduino 0022 File Edit Sketch Tools Help E C Sa M mrum D mm RR nn nt LE Eo ER pen Ctrlto SWD 4 CHILD MatorWheel test lx a P Blink 1 Basics AnalogheadSerial Turns on an LEI a eal Bareli nimim edly 3 Analog b Blink This example cQ 4 Communication PO Dgtalkeadserial ud 5 Control Fade B Sensors void setup 1 Tiia ff initialize 4 5 Sir ides T ff Pin 13 has Arduino SF ino boards pinMode 13 O 1 ArduinoTestSuite EEFROM b anti leap 0 Ethernet v i WWW nexusrobot com Robot Kits manual 7 Select you
98. oportional term float taui Integral term Parameters float taud Derivative term unsigned int sampleTime The time the PID work last Return Bool ture bool PIDGetStatus const Get the current PID state to sure wether the PID works Return The value of the pidCtrl bool PIDEnable float kc KC float taui TAUI float taud TAUD unsigned int sampleTime 1000 Enable the PID make it works 40 WWW nexusrobot com Robot Kits manual This will lie within the range specified at PID PIDSetup Float kc Proportional term Float taui Integral term Parameters Float taud Derivative term Unsigded int sampletime The time the PID work last Return pidCtrl equal ture See pidCtrl equal ture bool PIDDisable Disable the PID release it Return PID PIDSetup bool PIDReset Reset the state of PID This will lie within the range specified at PID Reset False if the PIDGetStatus return false Return Ture ortherwise See PID Reset bool PIDRegulate bool doRegulate true Regulate the PID in order to adjust the speed of the Motor This will lie within the range specified at PID Compute Bool doRegulate parameters A bool value Return False if the PIDGetStatus return false Ture ortherwise See PID Reset unsigned int PIDSetSpeedRPMDesired unsigned int speedRPM 4 www nexusrobot com According to the User s demands use the class PID to set the speed of Motor This will lie within the range spec
99. otateLeftAngle unsigned int speedMMPS float radian Set the angle when the car moves as rotate left This will lie within the range specified at R2WD setCarRotateLeft and R2WD setCarRotateAngle unsigned int speedMMPS The speed ofthe car moves initialize it Parameters float radian The radian when the car move as rotate left R2WD setCarRotateLeft see R2WD setCarRotateAngle unsigned int setCarRotateRightAngle unsigned int speedMMPS 0 float radian 0 Set the angle when the car moves rotate right This will lie within the range specified at R2WD setCarRotateRight and R2WD setCarRotateAngle unsigned int speedMMPS 0 The speed ofthe car moves initialize it Parameters float radian 20 The radian when the car move as rotate right initialize it with O R2WD setCarRotateRight see R2WD setCarRotateAngle unsigned int setCarUpperLeftTime unsigned int spoeedMMPS 0 unsigned int radiusMM WHEELSPAN unsigned long duration 5000 unsigned int uptime 500 Set period of time for the car moves upper left This will lie within the range specified at R2WD setCarUpperLeft and R2WD setCarArcTime unsigned int speedMMPS 0 The speed of the car moves initialize it Parameters unsigned int radiusMM WHEELSPAN The radiusMM of the car move as upper left initialize it unsigned long duration 5000 54 www nexusrobot com Robot Kits manual The time of the car last initialize it unsigned int uptime 500 The time the
100. p 0 acounter to see how many times the pin has changed 10 byte cmd 0 a place to put our serial data 11 void setup 12 Serial begin 9600 13 Serial print PinChangelnt test on pin 14 Serial print PIN 15 Serial println 16 pinMode PIN INPUT set the pin to input 17 digitalWrite PIN HIGH use the internal pullup resistor 18 PCintPort attachInterrupt PIN burpcount RISING attach a PinChange Interrupt to our pin on the rising edge 19 RISING FALLING and CHANGE all work with this library 20 and execute the function burpcount when that pin changes 21 22 void loop 239 cmd Serial read 24 if cmd p 25 26 Serial print burpcount t 2f Serial println burp DEC 28 29 cmd 0 30 91 void burpcount 32 33 burp See http arduino cc playground Main PinChangelntExample 32 WWW nexusrobot com Robot Kits manual PID Control gt What Is PID From Wikipedia A PID controller calculates an error value as the difference between a measured Input and a desired setpoint The controller attempts to minimize the error by adjusting an Output So you tell the PID what to measure the Input Where you want that measurement to be the Setpoint and the variable to adjust that can make that happen the Output The PID then adjusts the output trying to make the input equal the setpoint For reference in a ca
101. pen source codes and can be easily expanded with most Arduino Shields Arduino can sense the environment by receiving input from a variety of sensors and can affect its surroundings by controlling lights motors and other actuators The microcontroller on the board is programmed using the Arduino programming language based on Wiring and the Arduino development environment based on Processing Arduino projects can be stand alone or they can communicate with software running on a computer e g Flash Processing MaxMSP gt Hardware gt Specification 7 Atmega 168 328 14 Channels Digital I O n 6 PWM Channels Pin11 Pin10 Pin9 Pin6 Pin5 Pin3 8 Channels 10 bit Analog I O USB interface Auto sensing switching power input ICSP header for direct program download Serial Interface TTL Level m Support AREF Support Male and Female Pin Header Integrated sockets for APC220 RF Module a Five IIC Interface Pin Sets 7 Two way Motor Drive with 2A maximum current 7 7 key inputs 7 DC Supply USB Powered or External 7V 12V DC 7 DC Output 5V 3 3V DC and External Power Output Dimension 90x8Omm www nexusrobot com Robot Kits manual gt Arduino Board Pinout Servo Power Jumper 13 Digital Pin with cadi id GND and Power mx din Servo Power Input A TENA NEL TU 344003344730 APC220 Wireless Selection Jumper TP la 3 NI 7 12V D E Motor Power Input ee NCFTWI APC220 Wireless
102. put Pin 13 has an LED connected on most Arduino boards pinMode 13 OUTPUT j 2 void loop digitalWrite 13 HIGH set the LED on delay 1000 wait for a second digitalWrite 13 LOW set the LED off delay 1000 wait for a second WWW nexusrobot com Robot Kits manual J a ev HIM Led control Button module The controller has 7 build in buttons S1 S7 S1 S5 use analog input S6 S7 use digital input To enable S6 and S7 please apply the jumpers indicated in the red circle S6 uses Digital Pin2 S7 uses Digital Pin3 Once these enable jumpers have been applied Pin 2 and 3 will be occupied Sample code int ledPin 13 int key s6 2 int val 0 void setup _ pinMode ledPin OUTPUT _ Set Pin13 to output mode pinMode key_s6 INPUT Set Pin12 to output mode void loop if digitalRead key s6 0 while digitalRead key s6 val if val 1 digitalWrite ledPin HIGH if val 2 val 0 16 WWW nexusrobot com Robot Kits manual digitalWrite ledPin LOW Set a low value to the ledPin Buttons Arduino button gt Interrrupt control Description Specifies a function to call when an external interrupt occurs Replaces any previous function that was attached to the interrupt Most Arduino boards have two external interrupts numbers 0 on digital pin 2 and 1 on digital pin 3 The Arduino Mega has an additional four number
103. r the Input Setpoint and Output would be the speed desired speed and gas pedal angle respectively Tuning Parameters The black magic of PID comes in when we talk about HOW it adjusts the Output to drive the Input towards Setpoint There are 3 Tuning Parameters or Tunings Kp Ki amp Kd Adjusting these values will change the way the output is adjusted Fast Slow God awful All of these can be achieved depending on the values of Kp Ki and Kd So what are the right tuning values to use There isn t one right answer The values that work for one application may not work for another just as the driving style that works for a truck may not work for a race car With each new application you will need to try Several Tuning values until you find a set that gives you what you want gt The Library Using The PID Library has two benefits in my mind 1 There are many ways to write the PID algorithm A lot of time was spent making the algorithm in this library as solid as any found in industry If you want read more about this check out this detailed explanation 2 When using the library all the PID code is self contained This makes your code easier to understand It also lets you do more complex stuff like say having 8 PIDs in the same program See http www arduino cc playground Code P DLibrary See hittp brettbeauregard com blog 2011 04 improving the beginners pid introduction Sample code s un S A ED M E Ge dE E
104. r board You ll need to select the entry in the Tools Board menu that corresponds to your Arduino 1ig 8a Arduino 0022 AE Ctrl T Fix Encoding amp Reload serial Monitor Ctr1 5h1 t M Arduine Uno amp irduino Duemilanove or Nano w Almegadzo Arduino Diecimila Duemilanove or Hano w ATmegal65 rduino Mega 2560 Arduino Mega Almegal250 Arduino Board b Serial Fort d Burn Bootloader d For Duemilanove Arduino boards with an ATmega328 check the text on the chip on the board select Mini TC Arduino Duemilanove or Nano w ATmega328 Previously Arduino boards came with an ATmega168 for those select Arduino Diecimila Duemilanove or Nano w ATmega1668 Details of the board menu entries are available on the environment page 8 Select your serial port Select the serial device of the Arduino board from the Tools Serial Port menu This is likely to be COM3 or higher COM1 and COM are usually reserved for hardware serial ports To find out you can disconnect your Arduino board and re open the menu the entry that disappears should be the Arduino board Reconnect the board and select that serial port oS Blink Arduino 0022 E m Fen O ES i a l Auta Format CtrltT Nu dil rri Archive Sketch Fix Encoding amp Reload serial Monitor Ctrltohiftti pe o Blink Board Turns on an LED of a E Comi Burn Boo
105. rol the servo in our case the PIC A noticeable first impression the servo only requires 1 pin from the pic The PWM Signal The signal that we need to create inorder to control the servos is called a Pulse With Modulation signal or PWM for short The general requirements are Frequency 50Hz Up time 0 9mS gt 2 1mS Down time 19 1mS 17 9mS At first glance these definitions amp numbers might make little or no sense So lets look at a simple PWM wave at 50Hz Qv L Period Som Down nme up Tirme Period 1 frequency 10 m3 20 ras i1 50Hz 20 m3 So a PWM wave is just a signal that changes between 0 volts amp 5 volts digital logic O and 1 We see that the wave is symmetrical uptime is 10mS amp downtime is 10mS which when added together give us the period 10mS 10mS See http www pyroelectro com tutorials servo motor index html 20 WWW nexusrobot com Robot Kits manual Motor Control Hardware Setting Connect four motor wires to Motor Terminal And apply power through motor power terminal The PWM DC motor control is implemented by manipulating two digital IO pins and two PWM pins As illustrated in the diagram above Pin 4 7 are motor direction control pins Pin 5 6 are motor speed control pins Pin Allocation PWM Control Mode Digital 4 Motor 1 Direction control Digital 5 Motor 1 PWM control Digital 6 Motor 2 PWM control Digital 7 Motor 2 Direction control
106. rs irglSR irg1 isr1 MotorWheel wheel1 9 8 6 7 amp irq1 Pin9 PWM Pin8 DIR Pin6 PhaseA Pin7 PhaseB irglSR irq2 isr2 MotorWheel wheel2 10 11 14 15 amp irq2 Pin10 PWM Pin11 DIR Pin14 PhaseA Pin15 PhaseB irglSR irq3 isr3 MotorWheel wheel3 3 2 4 5 amp irq3 Pin3 PWM Pin2 DIR Pin4 PhaseA Pin5 PhaseB Omni3WD Omni amp wheel1 amp wheel2 amp wheel3 This will create a Omni3WD object called Omni then You can use any of its methods for instance to control a Omni3WD attached to pins you could write SPEER ENING CR NEU wit SE NC EU EE SEE A AAA A AA AAA LA M 90 WWW nexusrobot com Robot Kits manual V SEN D M MS DO M EAM EL ET C rah demo unsigned long currMillis 0 void demoWithSensors unsigned int spoeedMMPS unsigned int distance if millis currMillis gt SONAR duration every 60ms call sonarUpdate once currMillis millis sonarsUpdate if distBuf 1 distance If the left side have something if Omni getCarStat Omni3WD STAT RIGHT Omni setCarSlow2Stop 500 Omni setCarRight speedMMPS Set car turn right els
107. s 2 pin 21 3 pin 20 4 pin 19 and 5 pin 18 Sample code int pin 13 volatile int state LOW void setup A pinMode pin OUTPUT attachInterrupt 0 blink CHANGE void loop K digitalWrite pin state void blink state state WWW nexusrobot com Robot Kits manual gt Digital Read Serial Fall Detector Example This example shows you how to monitor the state of a Fall detector by establishing serial communication between your Arduino and your computer over USB Sample code const int PIN 12 set pin 12 as the signal pin void setup Serial begin 9600 pinMode PIN INPUT set mode void loop bool val O val digitalRead PIN read pin 12 Serial printin val display the value delay 500 O9 sketch augl6a Arduino 0077 Sele b Auta Format Archive Sketch Fix Encoding amp Reload const int PIN 12 Serial Monitor Ctrlt 5hifttM void setup Board i Serial Fort 1 comi Burn Bootload P PIN IMPI e ee v COMLO Chooce the serial port O9 sketch augi amp a Arduino 0022 File Edit Sketch Tools Help CITE Open the serial Monitor 18 WWW nexusrobot com Robot Kits manual 14400 baud 19200 baud 30400 baud STBOD baud 115200 baud v Autoscroll 19200 baud Y ur ut ut ut ur ur lg ur ls ut ly ly iig lg Te Select the display Baud Rate gt Analog Read Serial Sharp 2D12 Example
108. sing avr gcc and other open source software gt Before you start Before you start there are somethings you will to attention gt Applying Power This is one of the most important steps in getting the controller up and communicating with your host controller You must make sure that you apply power to the Power Terminal using the correct polarity Reverse Polarity will damage the controller We are not responsible for such damage nor do we warranty against such damage Make sure you take time to apply power correctly Otherwise it could get costly for you Power from USB Simply plug USB cable and the controller is able to work Please notice that the USB can only supply 500 mA current It should be able to meet the most requirements for LED lit application However it is not enough to power DC motors or servo Power from Motor Power Input Simply connect the ground wire from your supply to the screw terminal labeled GND and then connect the positive wire from your supply to the screw terminal labeled VIN NOTE Maximum supply voltage cannot exceed 14V DC gt Getting Started This document explains how to connect your Arduino board to the computer and upload your first sketch 1 Get an Arduino board and USB cable In this tutorial we assume you re using an Arduino Uno Arduino Duemilanove Nano or Diecimila If you have another board read the corresponding page in this getting started guide You also need a sta
109. sit of peripherals 75 WWW nexusrobot com Robot Kits manual Public functions Omni3WD MotorWheel wheelBack MotorWheel wheelRight MotorWheel wheelLeft Construct a new Omni3WD instance in your sketch This will create a Omni3WD object called Omni3WD You can then use any of its methods for instance to control a Omni3WD attached to pins you could write MotorWheel wheelBack A point named wheelBack as the object of MotorWheel back wheel MotorWheel wheelLeft Parameters A point named wheelLeft as the object of MotorWheel left wheel MotorWheel wheelRight A point named wheelRight as the object of MotorWhee right wheel unsigned char switchMotorsLeft Rotate left to choose the motors This will lie within the range specified at Omni3WD getSwitchMotorsStat See Omni3WD getSwitchMotorsStat unsigned char switchMotorsRight Rotate right to choose the motors This will lie within the range specified at Omni3WD getSwitchMotorsStat See Omni3WD getSwitchMotorsStat unsigned char switchMotorsReset Reset the rotate direction to choose the motor This will lie within the range specified at Omni3WD getSwitchMotorsStat See Omni3WD getSwitchMotorsStat unsigned int setMotorAll unsigned int soeedMMPS 0 bool dir DIR ADVANCE Set all the motors speed and direction This will lie within the range specified at Omni3WD wheelBackSetSpeedMMPS and Omni3WD wheelRightSetSpeedMMPS and Omni3WD wheelLeftSetSpeedMMPS
110. splay the data S11 received Serial printIn s12 getDist DEC Serial println s11 getTemp DEC Display the temperature S11 received Serial println s12 getTemp DEC delay 500 Sensor Connection As the sensor uses RS485 interface which can not be connected directly to the MCU a MAX485 chip will bridge the TTL interface to RS485 For PC users either a USB RS485 or RS232 RS485 converter will bridge the gap Sensor Networking Up to 32 units are able to join a RS485 network Simply serially connect the sensors uses twisted pair cables 29 WWW nexusrobot com Robot Kits manual APC220 Module Parameters Transmission Distance 800m to 1200m Arduino Wireless Transmission APC220 PC Kits 1 based on APC220 Kitlist 1 one APC220 Wireless Transmission module 2 one APC220 USB adaptation shield 3 one antenna gt This module used to connect PC port How to use the RF module to control Arduino wirelessly Its principle is similar to a remote control which has 4 buttons for RF wireless remote control However on occasions of data transmission such a solution becomes less suitable for example when you want to send PC the data that Arduino collected from light sensors It is technically known as the wireless data transmission At present there are many solutions for wireless data transmission A very simple way is connecting with the Arduino using APC220 to send data via serical port Although t
111. ter and receiver does not cause any problems Noise in straight and twisted pair cables straight cable Twisted pair cable F Magnetic field am nduced noise current In the picture above noise is generated by magnetic fields from the environment The picture shows the magnetic field lines and the noise current in the RS485 data lines that is the result of that magnetic field In the straight cable all noise current is flowing in the same direction practically generating a looping current just like in an ordinary transformer When the cable is twisted we see that in some parts of the signal lines the direction of the noise current is the oposite from the current in other parts of the cable Because of this the resulting noise current is many factors lower than with an ordinary straight cable Shielding which is a common method to prevent noise in RS232 lines tries to keep hostile magnetic fields away from the signal lines Twisted pairs in RS485 communication however adds immunity which is a much better way to fight noise The magnetic fields are allowed to pass but do no harm If high noise immunity is needed often a combination of twisting and shielding is used as for example in STP shielded twisted pair and FTP foiled twisted pair networking cables Differential signals and twisting allows RS485 to communicate over much longer With RS485 communication distances of 1200 m are possible Differential signal lines also allow higher
112. this speed See Omni4WD getCarSpeedMMPS unsigned int setCarSlow2Stop unsigned int ms 1000 Stop the car in 1000 milliseconds This will lie within the range specified at Omni4WD setCarSpeedMMPS unsigned int ms 1000 Parameters The time to stop the car initialize it See Omni4WD getCarSpeedMMPS unsigned int wheelULGetSpeedMMPS const Get the speed of the upper left wheel This will lie within the range specified at MotorWheel getSpeedMMPS See MotorWheel getSpeedMMPS unsigned int wheelULSetSpeedMMPS unsigned int soeedMMPS 0 bool dir DIR_ADVANCE Set the speed for the upper left wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int spoeedMMPS 0 The speed for the wheel run initialize it Parameters bool dirzDIR ADVANCE The direction for the wheel run See MotorWheel setSpeedMMPS unsigned int wheelLLGetSpeedMMPS const Get the speed of the Lower left wheel This will lie within the range specified at MotorWheel getSpeedMMPS See MotorWheel getSpeedMMPS 105 WWW nexusrobot com Robot Kits manual unsigned int wheelLLSetSpeedMMPS unsigned int speedMMPS 0 bool dir ZDIR ADVANCE Set the speed for the lower left wheel This will lie within the range specified at MotorWheel setSpeedMMPS unsigned int spoeedMMPS 0 The speed for the wheel run initialize it Parameters bool dir DIR_ ADVANCE The direction for the wheel run See MotorWheel setSpeedMMPS unsigned
113. tload pines eee T ee v COML3 x void setup 1 m ff initialize the digital pin as an output Fin 13 has an LED connected on most Arduino boards 9 Upload the program Now simply click the Upload button in the environment Wait a few seconds you should see the RX and TX leds on the board flashing If the upload is successful the message Done uploading will appear www nexusrobot com Robot Kits manual in the status bar Note If you have an Arduino Mini NG or other board you ll need to physically present the reset button on the board immediately before pressing the upload button GIG EZ upload to 1 0 Board A few seconds after the upload finishes you should see the pin 13 L LED on the board start to blink in orange If it does congratulations You ve gotten Arduino up and running If you have problems please see the troubleshooting suggestions You might also want to look at the examples for using various sensors and actuators the reference for the Arduino language The text of the Arduino getting started guide is licensed under a Creative Commons Attribution ShareAlike 3 0 License Code samples in the guide are released into the public domain See http arduino cc en Guide Windows Language Reference Arduino programs can be divided in three main parts structure values variables and constants and functions If you want to understand more please See http www arduino c
114. ts manual to control a Omni3WD attached to pins you could write void setup TCCR1B TCCR1B amp 0xf8 0x01 Timer1 Pin9 Pin10 PWM 31250Hz TCCR2B TCCR2B amp OXf8 0x01 Timer2 Pin3 Pin11 PWM 31250Hz Omni PIDEnable 0 26 0 02 0 10 Enable PID 4 void loop Omni demoActions 100 5000 1000 false Call the demoActions speedMMPS 100 duration 5000 uptime 1000 i Omni setCarLeft 0 Omni setCarS5peedMMPS 300 1000 Omni delayMS 10000 true Omni setCarSlow2Stop 1000 Omni setCarRight 0 Omni setCarS5peedMMPS 100 1000 Omni delayMS 10000 true Omni setCarSlow2Stop 1000 Omni setCarLeft 100 for int i 0 i lt 1000 i Omni PIDRegulate delay 10 j Omni setCarRight 100 for int i 0 i lt 1000 i Omni PIDRegulate delay 10 m 87 Robot Kits manual www nexusrobot com R amp 485 RX PinO TX Pin1 RWctrl Fin13 ege Sonar x13 PWM Pin10 DIR Pin11 Motor Power Encoder PhaseA Pin amp PhaseB PinT TEE Motori PWM Pin9 DIR Pin amp d no jumper Sonar x12 Sonar x11 Encoder PhaseA Pin4 PhaseB Pin Motord PWM Pin3 DIR Ping Omni 3WD V1 Sample Wiring Diagram for RB003 Diagram for Omni3WD V1 0 88 WWW nexusrobot com Robot Kits manual gt Omni3WD platform with 3 SONARS Look the above figure of simple Wiring Diagram for Omni3WD V1 0 Tis code is matched for it Diagram Omni3WD V1 0 code JEDE e EA AR
115. voltage cannot exceed 14V DC Ground The black one marked by should be connected to a ground pin on the Arduino board Aother four wires Sticked together is used for encoder the power marked by should be connected to 5 the 5V pin on the Arduino board the Ground marked by should be connected to a ground pin on the Arduino board The signal pins Pin A marked A should be connected to a digital pin which one you defined on the Arduino board It used for input command to motor Pin B marked B should be connected to a digital pin which one you defined on the Arduino board It used for output the signal of the motor runs Pin PWM Mode Pin name Function Digital 4 M1 Motor 1 Direction control Digital 5 E1 Motor 1 PWM control speed control Digital 6 M2 Motor 2 PWM control speed control Digital 7 E2 Motor 2 Direction control The PWM DC motor control is implemented by manipulating two digital IO pins and two PWM pins As illustrated in the diagram above Pin 4 7 are motor direction control pins Pin 5 6 are motor speed control pins Then you can used it to set the motor works as you want 34 www nexusrobot com Robot Kits manual gt The PWM signal In a nutshell PWM is a way of digitally encoding analog signal levels Through the use of high resolution counters the duty cycle of a square wave is modulated to encode a specific analog signal level The PWM signal is still digital because at a

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