Merlin Systems Corp. Ltd MIABOT BT v5.x User Manual Rev. 2.3
Contents
1. reset all parameters All parameters are reset to factory defaults N B this gives slow accurate movement Different settings are required for robot football show all parameters All parameter values are listed each on a separate line The current set of control parameters is as follows output of command lt rT 00007 r 00004 r 00010 rm 00004 pT 00010 pv 00006 pP 00080 pI 00005 pD 00000 eE 00000 gt These have the following uses Speed Control Speed is governed by a PID control algorithm recalculating every pT milliseconds The gain terms are set by pP pI and pD scaled appropriately and the output is the wheel drive power added to an approximate open loop term proportional to set speed Acceleration Control All speed changes except stopping are limited to r units per rT PID calculations to prevent wheel slip N B rT is not milliseconds calc is done every rT pT mSecs 14 Endpoint Deceleration When approaching a set stop distance for step based commands or after speed is limited to r times the distance still to run above a minimum speed of rm Echo If the eE value is non zero every command successfully recognised and executed is echoed back inside lt gt This also applies to sequence commands and can be useful for debugging Sequence controls do sequence Perform the current stored command sequence Comm2. MOTORS MOTOR LEFT 2 ICAA OPT_GND P 1 1 Tora OPT RIGHT ENT RIGHT P Ys OPTOPAD XCKITO EDS INTI EDa XTALZTOSC2 PB7 KTALUTOSC1JPBE MOTOR LEFT 1 INPUT IA INPUT J 2 MOTOR RIGHT 2 T INPUT3 PDS PD2 NTO ICH INPUT MOTOR RIGHT 1 T ENABLE A AIND PDE PD1 XD ENABLE_B AINTPDT PDO RXD CPIFBO Poa RESEN PRG RESET OC1A PB1 PCS ADCSISCL SSIOC1B PB2 PC4 ADC4ISDA MOSIOC2 PB3 PC3 ADC3 MISO PB4 Po2 ADc2 ADC PCO ADCO PC1 ADCA EXPANSION 057 015 ATPWM NA 1 BYWAY 2 z CHARGING CHARGEPAD CHARGEPAD INHIB NIG ASCP ____ ai gway a ASCL __asy BWAY 5 AASDA e pway 7 Ades 1 sway a AL 4 NAN Pm 4 NV 3 Aes NBA 5 1 BWAY 4 o PRG_RESET A BWAY 5 o PRG_SCh A BYVAV B e PRG MISO 1 BWAY 1 0 PROG _MOS BAAL S ORN 4 BNAY 1 4 o 1 BAT 1 B WAY 1 5 m c Merlin Systems Corp 2004 TITLE MIABOTREV1 c Date 26 05 2004 15 56 20 Sheet 1 1 Appendix B Processor signal connections refer to schematic diagram Appendix A Megas pin no signal Notes expansion port pin PDO RXD 30 RXD Serial input to Micro PD1 TXD 31 TXD Serial output from Micro PD2 INTO 32 CNT_RIGHT Opto input Left PD3 INT1 1 CNT_LEFT Opto input Right PD4 XCK TO0 2 PD4_LB Left REVERSE PDS T1 9
3. All commands begin with the command start character and end with the command end character The first character after identifies the command after that bytes are free format determined by the specific command used Extra characters after command arguments and before are ignored and extra characters between commands after and before are also ignored When the processor starts up or reboots the robot emits the sign on message e g lt MIABOT OS v2 0 id 01 gt plus some carriage return linefeed characters Commands recognised and executed can be echoed back bracketed in lt and gt rather than and see Saved Parameters section Some commands produce other output usually also enclosed in lt gt Unrecognised commands are always ignored Simple commands s stop Set both wheel speeds to 0 t test Test comms returns the signon string which also contains the robot id read from the DIL switched on reboot E G lt MIABOT OS v2 0 id 03 gt for robot 3 NOTE if id 15 the robot runs the default test sequence on powerup flash Flash LEDs in power up sequence both 1 2 neither Distance controlled BIGTRACK style Turn at set turn rate or move forward backward at set movement rate see x command below m lt gt left by n lt gt right by o lt gt forward by p lt gt backward by lt gt is a single b
4. N B left and right button turns are not affected these occur at a fixed rate AutoSearch This option governs what happens when the robot loses the line includes all off as well as all on state seen by the sensors When the line is lost there is first a short de glitch period during which the robot runs straight and then it will either try to find the line again or stop dead e The default is AutoSearch where the robot tries to re find the line by rotating backward around one wheel to the side it last saw the line e If Autosearch is turned off the robot just stops AutoSearch generally gives much more robust performance if the line is sometimes accidentally lost usually on sharp bends The option is also used to control the behaviour at the end of a line The robot will either stop or turn around and retrace the line backwards 20 Robot Firmware Development Overview MIABOTs are supplied with standard software already installed The c source code for the example software is supplied in the files MIABOT C MIABOT H EEVARS H and MAKEFILE As supplied these are configured for the WinAVR development system When correctly programmed the example software will flash the LEDs when the robot is turned on It also implements the demo sequence and most of the standard commands detailed above Compiler Installation WinAVR is a freeware development environment containing a port of th
5. Now select File Open Program FLASH File and load the example code MIABOT HEX Select Command Write Program FLASH and PonyProg will reprogram the chip and verify the data The robot should work normally again Alternative Programming Methods PonyProg limitations Current versions of PonyProg have some known problems 1 For reliable results it may be necessary to always manually erase the device Command Erase prior to programming PonyProg has a configurable automated programming sequence which can do this for you automatically but we have found that using this causes the verify cycle after programming to fail intermittently 2 Reading Oscillator Calibration bytes sometimes seems to corrupt the program window data leading to bad program data So always re load after using these functions 3 Fuse settings cannot be saved verified or programmed from a file WinAVR AvrDude For more advanced use we recommend the AvrDude programmer application that comes with WinAVR This is a command line utility rather than GUI based but can prove more reliable than PonyProg and can also solve some PC compatibility problems The programming lead provided can be used by selecting the stk200 parallel programmer type for AvrDude operations For example the command avrdude pm8 cstk200 Plpt1 verifies the programmer connection reporting either the device signature or an error The example code i
6. Merlin Systems Corp Ltd MIABOT BT v5 x User Manual Rev 2 3 Revision History v2 1 17 12 04 pp updated for software version 5 4 v2 2 22 12 04 pp small fixes edits for new release v2 3 19 01 05 pp add TOC line following more programming notes Merlin Systems Corp Ltd 2002 2004 Merlin Systems Corp Ltd assumes no responsibility for any errors which may appear in this manual reserves the right to alter the devices software or specifications detailed herein at any time without notice and does not make any commitment to update the information contained herein Merlin Systems Corp Ltd s products are not authorized for use as critical components in life support devices or systems 11 IO UCA is GE A EE r l GE a 4 QUICK Starts EE das 4 SPOCihi Catt RR AE RE OE EE 5 KEISER EO Ed 6 Underside View n ED be de GR Dee il 7 Internal VIC OE AR EE h r a a 8 Shaft Encoders s mon EE ER RE EE 8 Drive CA id kar a a s la 9 A a a a 9 Communications Board sesse see dad ba i va a ea 9 Bluetooth Communications aiaaiaaiaaiaaaasaasaassassaassasaasnansnnsnnnnnsnannnnnnnnnnnnnnnnnnnninninnni 10 Verifying Robot Communication iaaiaaaaaaaaaaasaasaassassasaaasansannnnnnannnnnnnnnnnnnnnannnnnani 11 Bluetooth Links Er ER eg Ge aii bees ay Gamat a aV Ee sg 11 Note on Multiple Links aaiaaiadia sa ssnssassassansanssnssnssannnnnnnnnnnsnnnnnnnnnnnnnnnnnnnannnninni 11 Standard Code Command Protocol iaaaai
7. made via 25 thou square posts Suttable connectors can be ob tained from many distributors AB CD Hl N EF GH 390R right I I IF o BCEFH The outputs produce negative going pulses on open collector outputs which are connected to the INTO and INT1 interrupt capable pins on the Atmel processor Drive Chain The drive train is driven by 8 x 1 2v AA cells through a driver I C with a voltage drop of about 2 5V typical full speed equivalent to a nominal drive of about 7 8V Batteries Each robot contains two 4xAA cell battery packs nominal 1 2v per cell 600mAh The robot is supplied with a NiMH fast charger that can charge these completely in about 1hr Batteries will last about 1hr typical continuous use much more if not moving Higher capacity batteries are also available in the same physical size Communications Board The Bluetooth card enables the robot to communicate with the host PC converting the Bluetooth link to logic level serial signals The MIABOT BT bluetooth boards are supplied with fixed communication settings 19200 baud 8 bits 1 stop bit no parity A PC Bluetooth dongle is supplied that plugs into the USB port on the PC This can support wireless links with up to 7 robots at once Bluetooth Communications Follow the manufacturers instructions included to install the PC dongle Once installed double click on the Bluetooth icon bottom right hand corner This will bring up an
8. PD5_LF Left FORWARD PD6 AINO 10 PD6_RF Right FORWARD PD7 AINI 11 PD7_RB Right REVERSE PBO ICP 12 A6 ICP Interrupt joined to ADC6 3 PB1 OCIA 13 A7 PWM Pwm output joined to ADC7 1 PB2 SS OC1B 14 SW_ EN enable DIL switches PB3 MOSI OC2 _ 15 PRG_MOSI program in 10 PB4 MISO 16 PRG_MISO program out 8 PB5 SCK 17 PRG_SCK program clock 6 PB6 7 LED1 3300hm inline resistor XTAL1 TOSCI PB7 8 LED2 3300hm inline resistor XTAL2 TOSC2 PCO ADCO 23 AO expansion ADC input digital i o 15 PC1 ADC1 24 Al expansion ADC input digital i o 13 PC2 ADC2 25 A2 expansion ADC input digital i o 11 PC3 ADC3 26 A3 expansion ADC input digital i o 9 PC4 ADC4 27 A4 SDA expansion ADC input digital i o 7 PC5 ADCS 28 AS SCL expansion ADC input digital i o 5 PC6 RESET 29 PRG_RESET RESET pin not i o 4 ADC6 19 A6 A D input joined to PBO 3 ADC7 22 A7 A D input joined to PB1 1 VCC VCC2 4 6 SV 12 AVCC AREF 18 20 GND GND2 3 5 GND switched to battery ground 2 GND3 21 27 Appendix C expansion port signals refer to schematic diagram Appendix A pin signal connects uses 1 A7 PWM ADC7 PB1 OC1A adc dig i o pwm output 3 A6 ICP ADC6 PBO ICP adc dig i o capture interrupt input 5 AS SCL ADCS PC5 adc dig i o TC clock 7 A4 SDA ADC4 PC4 adc dig i o I C data 9 A3 ADC3 PC3 adc dig i o 11 A2 ADC2 PC2 a
9. aaaaasaasaasaaasassaassnsaasaansnnsnnsnnnnnnnnninninnni 12 Simple commands 554 564 bs OE N EE RE IE 12 Distance controlled BIGTRACK style iese sesse ea ee AR ee ee Re 12 Step Movement xk EE RS ER i 13 Speed COMM RE N 13 Saved IESER EE ER EE EN 14 SEQUENCE controls AAA EE N EE N 15 ExXpansiomd O EE ES ER Ee is d 16 Bigtrack Simulator AE N N vi v laa an ha 17 Eme RONG Wer ERA EE ER N EE 18 Sensor Board and Mechanics aaiaaaaaasia ssaassaasaaasaaasanasanauaaaaanaaannnanaianaiaaa 18 Applications id ER EE RE dee TO 19 Communications EE EE EE EE N 19 Manual Operation RE EO AE EO OE EEES 19 Line YL ie EE sl aan EE EE OE ER Ee 19 SENSOR ti de ED GR a di 19 Tracking AE N EE dete EEEE EEA REER AEREE 20 Robot Firmware Development esse sesse esse ese ees ee de ee ed RA Se Ge ee ee e ee ee ee 21 Bale EE EO N aa ka A laa kaa taka Tunna 21 Compiler Installation it 21 PLOT Enska ya din 21 Writing Robot Programs iaiaaaaaaaaaaasaasaaasaasansansnnnnnnnnnsnnnannnnnnnnnnnsnnsnnnnnnannsnnsnniannaa 25 Introduction The MIABOT is a fully autonomous miniature mobile robot The latest MIABOT BT edition features bi directional Bluetooth communications which provides a robust frequency hopping wireless communications protocol at 2 4GHz MIABOTS are ideal robots for use as part of technology class tutorials for research and development Universities already use MIABOTs worldwide for a wide variety of applications incl
10. all channels at once E G send V3 receive back lt V3 1D7 gt E G 2 send V receive back lt V 0F3 0F2 1E3 2F4 0F6 09A OES 10C gt V lt c gt lt n gt Read channels repeatedly at set rate lt c gt is the channel indicator 0 7 or lt n gt is the repeat rate in milliseconds or 0 for none In fact this is all one command with optional parts so E G s V 100 change rate to 10 per second V4 change to channel 4 if already displaying repeatedly V 0 or V stop repeated operation All readings are output as 3 digit hex values in the range 000 3FF 10 bits Noise levels are generally in the region of 1 2 Isbs but can be reduced by averaging See Atmel datasheet for more information Speeds are mainly limited by the 19 200 baud communications rate so can be up to about 100 sec 10mSecs for single channel or 50 sec 20mSecs for all channels output 16 Bigtrack Simulator Bigtrack simulator is a simple VB application that can be used to drive the Miabot through a series of movements Use the red arrow keys to make a series of required movements The edit boxes on the top right can be used to alter the distance associated with each movement The pause box gives a delay between each successive movement As each movement is selected it is written to the listbox below The whole sequence can then be repeated by hitting the GO button lt BigTrack E gK paus
11. ands from the stored sequence are executed in turn until the end or another received command cancels operation Robot is always stopped when sequence ends or is aborted Executed commands are echoed as normal received commands When performing movement commands the sequence waits for any set distances to be completed The wait time command see below can also be used to pause the sequence for a fixed time while robot runs on Sequence execution stops at the sequence end or when a new serial command is received N B can be added at the end of a sequence to make it repeat forever The sequence is also run on reboot if robot id is set to 15 all switches at ON clear sequence Erase stored sequence lt command gt add sequence command Add a command to the stored sequence lt command gt is any other ordinary command minus the usual square brackets w lt gt wait time Typically used with speed settings to run for a set time lt gt is a decimal number specifying the number of ticks milliseconds to pause sequence execution 15 Expansion 1 O There is no standard usage of expansion port pins so it is normally necessary to write a special robot program for i o usage In some later versions of robot code however there is an extra V command that supports input voltage readings as follows V lt gt Read single voltage input lt gt is the channel number 0 7 V Read
12. d the program is ready to use Manual Operation LEFT RIGHT FORWARD and STOP buttons can be used to steer the robot around The buttons make the robot move continuously but fairly slowly until STOP is pressed Line Following Pressing FOLLOW causes the robot to start line following The robot begins by going straight forward for a few seconds and will try to follow any line it finds During line following the LEFT RIGHT and FORWARD buttons are disabled The STOP button halts the robot and cancels line following Sensors The sensors panel shows the current output of the line following sensors The three buttons L C and R show the left centre right state The buttons show off over the background and on where the line is detected 19 Tracking Controls Speed This value controls the relative movement speed in line tracking auto searching and in the manual forward operation It can be controlled 0 100 either via the slider or by typing in the box Low settings give more reliable tracking on sharp curves but speed can often be increased if the course is fairly smooth Turn This value 0 100 controls the sharpness of the turn correction that occurs when the robot runs off the line to one side It can be controlled 0 100 either via the slider or by typing in the box Low settings will give generally smoother movement but larger values can follow sharper bends without losing the line
13. dc dig i o 13 Al ADC1 PC1 adc dig i o battery voltage monitoring 15 AO ADCO PCO adc dig i o temperature monitoring 2 GND 4 PRG_RESET PC6 RESET 6 PRG_SCK PB5 SCK dig i o program clock SPI clk 8 PRG_MISO PB4 MISO dig i o program out SPI MISO 10 PRG_MOSI PB3 MOSI OC2 dig i o program in SPI MOSI pwm output 12 SV 14 V_BAT 16 unused 28
14. e distance lt 255 rotatedistance lt 255 ListCommand F z Learn YP Inbox Mi 3 D C Moto Gy Robot Soc f n 2 Windo CorelDRA CorelPHO PonyProg n 2 Visual R 17 Line Follower The line follower kit includes a an add on sensor board a simple PC application and its Visual Basic source code Sensor Board Hardware The board plugs into the expansion port of the robot so that the 3 infrared sensors read off the floor just in front of the robot The kit is designed for a dark line on a white surface e The sensors actually monitor infrared reflectance but most black and white surfaces substances or paints will work e The line should be about 2cm or 3 4 inch wide e Ordinary black electrical insulating tape works well The three LEDs on top of the board reflect the state of the sensors ON over the background white and OFF when detecting the line dark 18 Application The application Miabot Line Tracker exe presents a single control window slal x MIABOT LINE TRACKER v1 1 c 2005 Merlin Systems Corp Ltd Com port 10 z START L c R connected SENSORS LEFT FOLLOW RIGHT V AutoSearch STOP Speed gt 40 Tun gt 75 Communications Type your virtual COM port number into the Com port box and hit START When the large buttons are ungreyed enable
15. e well known GCC compiler WinAVR is supplied as a self extracting installer Run this to install the software Programming The robot is in system programmable and new firmware can be downloaded into the robot via the programming lead We supply a freeware development environment called WinAVR This includes the GCC c compiler for Atmel AVR micros a full c library a programmer s editor and download and debugging utilities At present we recommend starting with the PonyProg programmer instead of the download tool supplied as part of WinAVR PonyProg is a freeware utility supplied by www lancos com which can be used to take an Intel format hex file output from GCC and download it into the robot We have supplied the latest version of PonyProg as a zipped file Please unzip the setup exe and run 21 At this point plug in the programming cable and turn the robot ON Now run up PonyProg PonyProg2000 Serial Device Programmer lol xl File Edit Device Command Script Utility Setup Window cala aaa caes anno meses cas sta of xj 1 0 port setup C Serial Parallel si Prog API y Aw ISP 170 COM EOM3 LPT tr COM2 coms LFT2 Select Polarity of the Control lines P Invert Reset P Invert DAN P Invert SCKL P Invert D OUT Cancel OK Probe PonyProg2000 ATmega8 Size 8704 Bytes CRC 0000h The first time you use PonyProg you will ne
16. ed items means unprogrammed bit 1 Refer to device datasheet please Cancel ok Clear seran wie Read PonyProg2000 ATmega8 Size 8704 Bytes CRC 8D11h The robots are shipped with these Fuse settings already configured Do not change anything or hit Write unless you are quite sure N B The processor clock controls CKSELO 3 are set to 8Mhz which is 1011 Refer to Atmel datasheet note that these bits read in reverse logic in PonyProg If you are unable to read the fuse settings some common causes of failure are 1 Cable is not plugged in 11 Robot is not turned on ili Calibration timing is not correct run calibration from the setup menu iv Some PC s are not always compatible try downloading an older version of PonyProg and retry Another simple way of verifying the basic connection is to select Command Reset The LEDs should flash as the robot reboots 23 Once communication is established you can try reprogramming the example program First save a copy of the existing contents Select Command Read Program FLASH The main window should fill up with code read from the robot Select File Save Program FLASH File as and save the result as a hex file e g Miabot Original hex Now load program the new file Select Command Erase This wipes the whole chip You can confirm that the light no longer flash when the robot is turned off and on
17. ed to configure it selecting the setup options shown above First select Interface Setup from the Setup menu Select Parallel for the programming port LPT1 button for the port or whichever parallel programming port you wish to use and AVR ISP I O the hardware interface type from the dropdown Next run Calibration from the Setup menu Follow the instructions to calibrate PonyProg for the machine speed N B this requires the robot to be connected On the main toolbar select AVRMicro as the processor family and ATmega8 as the processor type PonyProg should now be set up correctly 22 To check correct communication with the programmer you can now read back some information from the robot Select CommandlVSecurity and configuration bits which brings up the control pane for the Mega8 fuse and lock bit settings Turn all bits off then hit the Read button to refresh the settings from the robot It should look like this PonyProg2000 Serial Device Programmer R slof x File Edit Device Command Script Utility Setup Window das aaa Cua es Maro des z A F 7 F 5 Bootlock12 J Bootlock11 f BootLock02 Bootlock01 J Lock2 J Lock1 F RSTDISBL F WDTON Y SPIEN 1 CKOPT J EESAVE Y BOOTSZ1 Y BOOTSZOf BOOTRST J BODLEVEL BODENT SUTI M SUTO V CKSEL3 17 CKSEL2 V CKSEL1 IV CKSELO Jv Checked items means programmed bit 0 fF Untheck
18. explorer window showing My Bluetooth Places Make the folders view visible and click on Entire Bluetooth Neighbourhood Then select Bluetooth Search for Devices and wait while the machine scans for available contacts If the robot is turned on and in range you should get a window looking somewhat like this BY My Bluetooth Places Entire Bluetooth Neighborhood F ox ie File Edit View Bluetooth Favorites Tools Help Osa OB LP search Ey Folders 5 x E E Y ALPHA ANDROMEDA mid100 D My Documents Y My Computer My Network Places g Recycle Bin B My Bluetooth Places ag Q ALPHA ANDROMEDA E 2 mid100 My Device The robot is the device called mid100 MIABOT communications modules are all identified as mid lt X gt where lt X gt is a serial number To link to the robot first right click on the icon and select Pair Device At this point you will be prompted to enter a password by clicking on the blue tray icon bottom right Key in the pass code 1234 Right click again and select Discover Available Services which should after a short wait come back with something like SPP slave or Bluetooth Serial Port Right click on the icon once more and select Connect to Bluetooth Serial Port or similar and the robot is connected to a virtual COM port The identity of the COM port now appears in the status bar at the bottom o
19. f the explorer window or can be found from right click Properties on the icon The device icon is highlighted usually green when connected N B The actual COMport number will depend on the order of connecting and other devices in your system 10 NOTE this is a safe connection method The process can be made simpler once you are confident of the details Unfortunately the precise operation depends on the version of the Bluetooth tray software and the operating system in use Verifying Robot Communication It is a good idea to confirm that communications have been established by using a terminal program such as Hyperterminal Set up a new connection to connect to the appropriate COM port e g COM4 Most of the ordinary serial settings have no effect but ensure that no handshaking is selected Within the Hyperterminal Settings tab ASCII setup page it is best to set Send line ends with line feeds and Echo typed characters locally Connect and type a command like t and the robot should then respond with a signon message e g lt MIABOT OS v5 0 id 00 gt This command response contains the robot ID set by the switches at the back of the robot You can try various other commands by referring to the available commands listed in the Standard Command Protocol section below Bluetooth Links Each Bluetooth link is a dedicated secure two way channel establis
20. ftware control with 330ohm inline resistors provided In normal use LED1 flashes continually when switched on LED2 lights when a command is being received When the robot reboots e g power on the LEDs flash a brief test sequence The programming cable provided can be plugged into the expansion port connecting the robot to a PC parallel port for rewriting the robot firmware The 4 way DIL switch is connected to micro pins see appendix B and can be read under software control Underside View The underside looks like this Charging Expansion Plates in y connector Charger socket Front Slider Rear Slider The Expansion Port pins connect directly to Atmel Megas CPU pins ADCO gt ADC7 and certain other signals see schematic GND 5v and battery supply voltage are also provided on this connector The charge socket and plates connect direct to the battery allowing the robot to be charged whether switched on or off Internal Views By removing the 4 plastic snap rivets in the corners the case top can be removed Bluetooth Board Shaft Encoders The motor shaft is driven via a worm drive such that the motor shaft turns 16 times per 1 turn of the wheel The wheels are 32 5mm in diameter so one interrupt hole on the encoder disk corresponds to just under 0 8mm of movement The connection circuit is arranged as follows Motor connections are made at the tags on their ends The other connec tions are
21. hed exclusively between the two devices the pairing It appears to PC applications programs as a virtual COMport which can be connected to much like an ordinary serial port At the robot end it appears as logic level serial signals The PC dongle acts a Bluetooth master device which can establish links while each robot is a separate slave device A slave device can only be paired with one master at any one time If radio contact is lost the link will be automatically restored when it is regained However whenever the robot or computer is powered off the link must generally be re established including re typing the password Note on Multiple Links To connect to more than one robot you may need to configure extra virtual serial ports The steps required vary depending upon the Bluetooth host software installed but here is an example Right click on the Bluetooth tray icon select Advanced Configuration Select Client Applications At the bottom of the panel should be a button Add COM port After selecting this enter a name for the connection e g MIABOT1 and select an available COM port i e a currently unused number Repeat this for each additional COM port required 11 Standard Command Protocol These are the commands supported by the standard robot control software N B the example source code supplied is somewhat simpler and may not contain all these commands
22. inary byte 0 255 Both wheels are set to run backward forward by lt gt encoder steps after which the relevant motor stops Wheels run independently and a distance of zero means forever x lt gt lt gt set movement rate Control set power level for all movement or turn operations 12 lt gt is a movement type character lt or gt to set turn rate N or v to set movement rate lt gt is a decimal number read as a power setting in the range 0 127 Step movement lt step left gt step right step forward v step backward Rotate or move forward backward by set distances As for distance commands wheels run independently and at set speeds x command d lt gt lt gt set step distance Control step distance to move forward backward or turn left right for all step commands lt gt is a movement type character lt or gt to set turn step N or v to set movement step lt gt is a decimal number setting the number of encoder steps 0 65535 enquire whether step is running Return either lt 1 gt while step movement is still running or lt 0 gt if none robot at rest or under speed control Speed control lt l gt lt r gt set speed Set wheel speed binary Speeds apply forever until cancelled lt l gt is a single binary byte controlling left wheel speed 128 127 lt r gt is a single binary byte control
23. ling right wheel speed 128 127 lt l gt lt r gt set speed decimal Set wheel power decimal Speeds apply forever until cancelled lt l gt is a decimal number controlling left wheel speed 128 127 lt r gt is a decimal number controlling right wheel speed 128 127 lt l gt lt r gt set distance Set to stop current movement after a certain wheel distance from current position Can be used to add distance settings to speed commands normally indefinite lt l gt is a decimal number controlling left wheel distance 0 65535 lt r gt is a decimal number controlling right wheel distance 0 65535 13 Saved Parameters A set of tuning and control parameters are stored in non volatile memory 1 e retained with power off These are controlled by various forms of the command lt cc gt read parameter Shows the value of a single parameter lt cc gt is a parameter name which may be one or two characters If the name is recognised the current value is returned E G send pT receive back lt pT 00010 gt lt cc gt lt gt write parameter Changes the value of a parameter and echoes the new value lt cc gt is a parameter name If known the value is returned lt gt is the new value a decimal number Parameters are stored as 16 bit unsigned numbers so e g 2 will read back as 65534 E G send rT 17 receive back lt rT 00017 gt
24. ncludes a batch file program_miabot bat to program the robot with avrdude See AvrDude documentation for full details Atmel AVR Studio Unfortunately it is not currently possible to program from AVR Studio via a parallel lead Instead you must buy a serially controlled programmer such as Atmel s AvrISP See Atmel website for details 24 Writing Robot Programs You can now modify the example program as you like or write your own code The output from the GCC compiler should be a HEX file see GCC documentation and the example MAKEFILE provided NOTE WinAVR can also interface to Atmel s AvrStudio free development environment In particular you can simulate code in AvrStudio by exporting it as a ELF file With suitable hardware you can also use an in circuit emulator A good starting point is to visit the WinAVR homepage at winavr sourceforge net In the Documentation section you can find the file install_config_WinAVR pdf which gives a concise and readable introduction 25 Appendix A Miabot board v 5 0A schematic diagram BAT VOLTS TEMPERATURE SWITCHES SMD DIP BLUETOOTH M_ BAT ND BAT el GND der gt bga MDIX POWERG 1 SMD1 POWERG 4 RxD ENCODERS R23 Ed EE R24 E be dis tu OPT_LEFT PE ia EE oman OPT_ 5 54 PS ys OPT ORAD MD CON COMSG 1 SMD CON COMSG 3 SV CON_COMSG 4 LED1 SKO LED K LED2 iS
25. uding FIRA robot soccer competitions intelligent behaviours robot swarming experiments and mobile robot navigation experiments Miabots can also be employed as super mice for line maze following experiments etc Quick Start Each robot is supplied with a built in demonstration program Turn off move all the dip switches at the back of the robot to the ON position make sure robot has plenty of space then turn it on Remember to reset the switches so the robot does not start the test sequence next time it is turned on You can also drive the robot directly using the command protocol see later section or one of the supplied application programs such as Bigtrack BT Specification MIABOT BT Processor Atmel ATMega8 Memory 8K Flash Speed 8 MIPS RISC Flash 8Kbtye SRAM 1Kbyte E 512 bytes Features In System Programmable Hardware Multiply Self Programming Feature useful for adaptive learning Expansion Port 8 x digital I O or 10 Bit A D inputs Dual Drive Train Optical encoders with a resolution of 0 8mm Speed 1m s Communications Bluetooth Batteries Rechargeable 8 x 1 2V NiMH Development Standard toolset includes GCC C compiler amp linker Simulator FIRA Simulation Engine Rear View connections and controls are all at the rear expansion 4 DIL LED1 connector LED switches switch off lt gt on LED1 and LED 2 are under so
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