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Talrik IV TM User`s Manual

1. define ROBOT_INIT analog _init sei clock_init servo_init eeprom servo limits init waveform _init and define ROBOT AND SERIAL INIT usart0O init analog_init sei clock_init servo_init eeprom_servo_limits_init waveform init are found in header file mekatronix avr h Here is what each function does with respect to the robot s MEKAVR128 microcontroller usart0 init Initializes serial communications on usart0 analog init Initializes the analog to digital converter sei Globally enables interrupts and must be executed before the next three functions in this list eleck init Enables the interval timer servo init Initializes servo control on the servo bus eeprom servo limits init Transfers default values of servo limits MAX SERVO 2 from eeprom if previously stored there otherwise from initialization of servo _limits MAX SERVO 2 in lt servo h gt waveform init Enables square wave generation on FM1 to FM8 headers If the program application requires no serial communication make ROBOT_INIT your first non definition statement in int main void If the program requires asynchronous serial communication make this statement ROBOT AND SERIAL INIT Of course if you write programs that use only a subset of the resources only that subset need be initialize Just remember however that sei must be executed if the program uses the interval timer servo
2. Select Test 3 Figure 22 to manually control the sensor sample refresh rate IR Detectors IRDL IRDFL IRDM IRDFR IRDR 1 Place your hand about 0 inches away from an IR range detector Hold your hand steady and press a key on the host computer keyboard with the other Read the sensor value Repeat Steps 1 to 4 with your hand at various distances from the sensor Repeat Steps 1 to 5 for a different sensor oe a For more thorough testing use white and then black construction paper at various distances Record and plot the results WARNING WARNING WARNING The IR range detector outputs increase as an object approaches the detector UNTIL the object is about 3 to 4 inches away at which point the output starts DECREASING This characteristic of the IR sensors must be compensated for in collision avoidance and other range dependent behavior 59 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Photoresistors ECDSL ECDSM ECDSR NCDSL NCDSM NCDSR 1 Place your finger over the opening of a photoresistor to shut out the light Hold your finger steady and press a key with a finger on your other hand Read the sensor value Repeat Steps 1 to 4 with your hand at various distances from the sensor opening Repeat Steps 1 to 5 for a different sensor a ee To more accurately
3. The serial protocol of the terminal emulator program must be baud 115200 8 data bits 1 stop bit no parity no flow control The screen configuration must have at least 24 rows and 80 columns to display properly The program tk4avr_test c offers nine test choices Test TALRIK IV Sensors Refresh Data Continuously Test TALRIK IV Sensors Specify Refresh Delay Between Data Sets Test TALRIK IV Sensors Manual Refresh Control Between Data Sets Test TALRIK IV Sensors Average Samples During Refresh Delay Test TALRIK IV Sensors Average Over N Samples Run TALRIK IV Motors Caution Wheels will turn immediately Test TALRIK IV Servos and Motors Test Digital Input Output Test FM Waveforms OMANI DNDMNBWN The first five selections relate to sampling the 29 analog sensor channels in different ways Test 6 runs the motors through their speed ranges so be sure the robot wheels are elevated off the desk top when executing this test Test 7 allows you to individually control and test any servo or motor that you connect to the robot up to 16 total including hacked servos such as the wheel motors 37 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Test 8 allows you to manipulate and control the seven digital I0 ports PORTA PORTB PORTC PORTD PORTE PORTF and
4. has survived a hot automobile for 12 hours in 40 C such treatment cannot help but reduce its lifetime TALRIK IV has flown in airline luggage compartments across the Atlantic shipped by U S Mail and ridden in automobiles across the United States and Europe in all kinds of weather The following caution however is our official advisement Caution TALRIK IV should not be exposed to moisture or continuous high humidity gt 90 or high temperatures 40 C 100 F or low temperatures 5 C 40 F 1 4 Storage Place TALRIK IV in a labeled don t forget where it is enclosed sealed padded box in an office or home environment when storing for extended periods of time 1 RETE Wireless versions have remote control capabilities MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 2 GETTING TALRIK IV READY This section tells you how to unpack and prepare TALRIK IV for operation 2 1 Unpacking An Assembled TALRIK IV 1 Carefully unwrap TALRIK JV from the bubble wrap Be careful not to catch wires or drop the robot 2 Make sure that no cables have become disconnected from the robot during shipment If cables have disconnected refer to the TALRIK IV Assembly Manual for reconnection instructions Clear the bumper if it appears to be jammed a
5. Configure the terminal emulator as an ANSI terminal a The freeware version limits the screen size to 24 rows and 80 columns b Link emulator to COM port attached to the robot serial link c 115 2Kbaud 8 Data Bits No Parity 1 Stop Bit No Flow of Control d ASCII setup echo characters sent but do not send line ends with line feeds en Set other terminal parameters to suit your own taste Save your settings so you will not have to repeat this each time you invoke the terminal emulator With robot power on and the terminal emulator program executing both LEDs on the MB2325 communication board should light Refer to Section 3 14 Serial Communication from Host Computer to Robot for more details 6 Press the reset button on the robot This is a check for proper operation You should see the character C capital c appear on the screen If this does not happen make sure the terminal emulator is connected to communicate with the correct COM port If this does not work go over all serial connections and settings again to correct any possible errors To be specific the remainder of this procedure I will refer to HyperTerminal selections and responses 7 Select Transfer on the Menu Bar and then Send 8 In the pop up window select X modem for Protocol and then browse to find and select the hex file of interest say lt filename hex gt 9 Select Send button at bottom of pop up window 10 Press the reset button on the robo
6. If you want to compile another program you must set TRG equal to that program name and save the makefile before executing build MEA AEE AL ALATA EAE EAE A ETE AE APA AE AE EAE EMEA EAE A AEE AP EAE EAE DEAE EAE AEA EMEA AD TE AEE AEE EAE AERA AED TRG test Set path to your root file for programming your Mekatronix robot MEKA Ct TALRIK IV_DS01 avr Meka set path to Mekatronix standard library Lib_Meka Alter this definition as dictatec LIB MEKA Lib_Mcka libmeka a n 5 Col Figure 16 The makefile make is changed to reflect that the new target program is test c by writing TRG test Important the c extension must be omitted 44 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Line 21L1B MEKA Lib Meka libmeka a You will not need to change this line to execute Mekatronix robot programs Line 41 include MEKA meka_make This directive specifies that makefile continues with meka_make found in the folder lt c TALRIK IV_DS01 avr Meka gt specified by the string operation mMEKA Discussion of meka_make is beyond the scope of this manual DO NOT CHANGE LINE 41 4 After changing TRG to TRG test on Line 18 save makefile and close it Closing the file in the Avr Visual Studio window does not delete it from the proj
7. usartO getstr x Oxlb stop char is lt esc gt define getint usart0 getint define getlong usartO getlong define putchar x usartO putchar x define putstr x usartO putstr x NULL define putint x usart0O_ putint x define putuint x usart0O putuint x define putlong x usartO putlong x define puthex x usartO puthex x define puthex_ byte x usartO puthex byte x define putbin x usart0O_ putbin x 34 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 define putbin_byte x usart0O putbin byte x 5 1 6 waveform h The functions in this header file void waveform init void int waveform frequency change long freq allow program control of square wave signals of different frequencies on the FM headers FM1 to FM8 All FM signals must be the same frequency by hardware construction The function waveform init initiates the generation of a default 40KHz square wave on all of the FM header signal pins To change the default frequency to any value between 16Hz and 4MHz use function waveform frequency change new freq The variable new freq must be of type long int The macros WAVE_OFF WAVE_ON permit enabling or disabling square wave generation on the FM headers 5 1 7 me
8. Continuously Test TALRIK IV Sensors Specify Refresh Delay Between Data Sets Test TALRIK IV Sensors Manual Refresh Control Between Data Sets Test TALRIK IV Sensors Average Samples During Refresh Delay Test TALRIK IV Sensors Average Over N Samples Run TALRIK IV Motors Caution Wheels will turn immediately Test TALRIK I Servos and Motors Test Digital Input Output Test FM Waveforms 1 2 3 4 9 6 E 8 95 Connected 0 00 3 ANSI 115200 g SCROLL CAPS NUM ca ptu re Print echc Figure 22 The main menu of tk4avr_test c allows you to select one of nine robot tests 55 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 The first five Test through Test 5 of the nine test selections relate to sampling the 29 analog sensor channels in different ways Test 6 runs the motors through their speed ranges so be sure the robot wheels are elevated off the desk top when executing this test Test 7 allows you to individually control and test any servo or motor that you connect to the robot up to 16 total including hacked servos such as the wheel motors Test 8 allows you to manipulate and control the seven digital I0 ports PORTA PORTB PORTC PORTD PORTE PORTF and PORTG and their corresponding data direction registers DDRA through DDRG of the ATmega128 microco
9. TALRIK IV_DS01 avr Meka Lib_Meka libmeka a WI Map test map c avr objcopy O avrobj R eeprom test elf test obj avr objcopy O ihexO R eeprom test elf test hex elfcoff test elf coff test cof test sym Ended cp coff test cof cp coff avr objcopy j eeprom set section flags eeprom alloc load change section Ima ee avr size test elf text data bssO decO hexLfilename 48800 460 60 493200 1344Litest elf Errors none AVR Studio tk4avr apr Fo mi Ln 7 Co Figure 20 Compiling a program in Target Debug will leave the temporary files in the project folder In general when debugging a program correct only the first few errors and obvious errors listed Update save the corrected program file and recompile Since many errors generate numerous but spurious secondary errors efficient use of your time dictates this approach Once the program compiles you may still have program logic bugs The wide range of Mekatronix serial IO functions provide powerful tools for debugging program logic Insertion of serial functions allow you to print current program variables at strategic points in the program on a terminal emulator screen and hold up continued execution until you press a character key For example the program segment putstr r nInteger variable x putint x c getchar inserted into an appropriate location in the code compiled dow
10. gec lt g 02 Wall Wstrict prototypes Wa ahlms test Ist Ic TALRIK IV_DSO1 avr M lavr gec test o c TALRIK IV_DSO1 avr Meka Lib_Meka libmeka a Wl Map test map lt r avr objcopy O avrobj R eeprom test elf test obj avr objcopy O ihexO R eeprom test elf test hex a elelfcoff test elf coff test cof test sym Ended cp coff test cof cp coff avr objcopy j eeprom set section flags eeprom alloc load change section Ima eepr dec hex Cfilename 49360 1348Litest elf rm f test o rm f test s rm f test lst rm f test map rm f test elf rm f test cof rm f test obj rm f test a90 rm f test sym rm f test c_sym rm f test eep rm f coff rm f bak rm f log Errors none Compile process the first begin end block and the Clean process the second begin end block Without the Clean process all the files removed command rm would still be in your cod folder 48 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 7 6 Debugging a Program in Avr Visual Studio The current freeware does not provide all the debugging helps such as Debug Breakpoints Trace amp triggers Watch and many of the View options You w
11. if necessary to get folder lt tkIVavr gt and select program test c Figure 12b The results appear in Figure 13 If you created test c it will be saved in the same folder as the project file namely lt tkIvavr gt 39 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 2 Select Other Files with the mouse right click to open selections point mouse to Add File Browse if necessary to get folder lt tkIvavr gt and select program makefile This will add the file to the project Figure 14 IMPORTANT Make sure the makefile selected is in the same folder as the code in Source Files that you wish to edit and compile AVR Studio tk4avr apr File Edit Project Debug Breakpoints Trace amp triggers Watch Options View Tools Window Help CEAT ELEELE m E A Project tk avnapr Target Compite amp Ciesa Target Compile amp Clean Meore Face Header Files Project Settings Other Files a e ee ee ae a File Edit Project Debug Sreakpoints Trace amp triggers Watch Options View Tool Window Help DLATE e oe ol j im Project tk4aveapnly E ol x Targot Compile Clean Target Compile amp Clean Source Files n Sh te 3 Other Files one olx Stest c_sym Sitest hex H tk4avr apr Stk4avr_test c Stk4avr_test
12. on the right bridge support The red RESET button resets the MEKAVR1I28 microcontroller The POWER SAVE ON toggle switch in the POWER SAVE position completely disconnects the battery from the electronics and should rightfully be called POWER oFF A fully charged battery pack will last indefinitely in POWER SAVE POWER OFF position In the POWER ON position the red LED indicator lights In DOWN LOAD mode the DOWN LOAD RUN toggle switch permits the downloading of programs with Mekatronix s proprietary loader stored permanently within the MEKAVR 28 boot flash memory In RUN mode a press of the reset button will invoke the start up of the most recent program loaded into TALRIK IV 3 11 Can you Physically Damage TALRIK IV with Software The answer is YES A program that commands the robot to oscillate between 100 forward and 100 backward for 30 seconds or more may overheat and possibly burn out the servo drive electronics Anytime your program controls servos and motors you should take extra care to insure this type of behavior does not occur WARNING Rapid oscillations of motor direction and speed for extended periods of time will burn out the motor control electronics 3 12 Controlling TALRIK IV s Motors The library function motor hs which motor speed controls the wheel motors The parameter which motor specifies either the left or right motor and speed 100 lt speed lt 1003 drives the wheels forward with a
13. or waveform functions 15 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 3 7 Digital IO While the standard base kit of the TALRIK IV does not possess any digital IO except the DOWNLOAD RUN mode switch on PF4 the robot s MEKAVR128 microcontroller provides 23 digital IO pins for extended applications PE2 PE3 PES PE6 PE7 PBO PB1 PB2 PB3 PB5 PB6 PB7 PG3 PG4 PORTD PD0 to PD7 a These pins come out to three pin male headers with Pin_Signal Regulated_Power Ground to make interfacing easy 3 8 Frequency Modulation using Square Waves Eight two pin male headers labeled FM1 to FM8 all produce the same program specified square wave coming from PB4 The default frequency is 40KHz but the programmable frequency range is 16Hz to 4MHz The square wave generation facility can also be turned off under program control Whatever is connected across an FM header will also be in series with a 330 Ohm resistor Connect an IR or visible LED directly across an FM header and you have modulated light at the program frequency All eight of the FM connections however will modulate at the same frequency The header file lt waveform nh gt provides two functions waveform init and waveform frequency change long freq The first function must be executed
14. positive percentage and in reverse with a negative percentage of maximum forward or reverse speed respectively Unfortunately the motor speeds do not really specify percentage of maximum as the motor driver electronics exhibits extreme non linearity Further as the batteries drain the voltage drops and the robot motors move slower at any specified percentage than with fully charged batteries Eventually the batteries discharge to a point that the motors stop regardless of the percentage specified For smoother operation change motor speeds gradually When you program smooth motor control the robot motion looks more organic 17 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 3 13 Floating Bumper TALRIK IV s floating bumper slides on and is held into place by four bumper guides at 1 5 7 and 11 o clock and two bumper clips at 9 and 3 o clock While bumper provides coverage and protection around the edge of the Top Plate the rest of TALRIK IV s is vulnerable to small objects lower than TALRIK IV s platform or projections above the top plate Such obstacles do occasionally exist in home and office and can stall the robot when it strikes them A stalled robot is not a pleasant thing to watch or hear The wheels struggle to turn and could burn out th
15. record upper and lower limit values use black construction paper or black ABS plastic for example a pen to block the light to a photoresistor to get a dark reading Saturate the opening of the photoresistor with a bright light to get a light saturated reading Bumpers FRONT_BMP 5 switches REAR_BMP 5 switches 1 With a finger push the bumper at a spot over a switch Hold your finger steady and press a key with a finger on your other hand Read the bumper sensor value Repeat Steps 1 to 5 for a different bumper switch Now press multiple bumper switches and read their values ere ee ie You should get different readings on the bumper sensor for any combination of simultaneous bumper switch closures Charger 1 Plug the charger into the robot 2 Press a key 3 Read the Charge value 4 Unplug the charger 5 Press a key 6 Read the Charge value With these values you can tell whether the robot is plugged into a charger or not Battery 1 Press a key 2 Read the Battery value 10 5 Servo and Motor Test If you want to perform a quick check on the wheel motors select Test 6 Figure 22 Be sure the wheels do not touch any surface as they move immediately For more complete control select Test 7 The servo and motor test Test 7 allows you to interactively control any motor or sensor attached to the robot Figure 24 Refer to highlighted items in Table 3 for a description of the servo assignments for the sta
16. serial modem cable Part DB9RS232MC a Mekatronix MB2325 Communications board and a Mekatronix C2325 6 wire serial cable The modem cable connects a COM port on your computer to the MB2325 The C2325 cable connects the MB2325 to the 6 pin USARTO header on the MEKAVRI28 oases 20 Figure 4 A 6 wire pig tail brings out the 6 pin MEKAVR1I28 header USARTO PROG to make it easily accessible for plugging and unplugging the C2325 serial cable into the header The socket at the other end of the C2325 cable usually stays connected to the MB2323 b ardaneni enans E wee tana ence a E EATE 20 Figure 5 This PROGO program that commands the robot to trace out a polygon trajectory illustrates the readability of the language Check a Mekatronix distributor for pricing and f rth r d tails OG Oss ssas sista erian nceunnna sted siaatudeteanssaedantadcusameed E EERE EEE 21 Figure 6 This snapshot of TALRIK IV distribution software illustrates all its folders 28 Figure 7 ATMEL s Avr Visual Studio executable program is stored in folder lt Avr Se MT Tasca veel E E E ses neue cea a nen cee ected 29 Figure 8 This WINDOWS snapshot lists all the TALRIK IV header files required to program the robot using Mekatronix library functions 0 0 0 0 ceeceeceesceesceceeeceeceeeeeeseecaeceseeeeeeenseees 30 Figure 9 The object files for the Mekatronix library functions are archived in library file lt libmeka a gt found in folder lt MaKe
17. servo number and 1000 for the setpoint the 8 line down in the window will display servo zero data SERVO CONNECTOR MIN_SETPT MAX_SETPT SETPOINT 0 PAO 550 2400 1000 This line indicates that you can select any number in the closed range of 550 to 2400 steps If you enter any number not in the range the robot will substitute the closest limit value provided the control variable servo limit check equals 7 More on this later If you choose another servo number it is likely that you will not know or remember the minimum and maximum setpoints for the servo you wish to control To display them just type the servo number and 0 The servo will not move for a 0 setpoint In fact a 0 setpoint will turn off power to the servo motor but not its electronic control Any setpoint input will be forced to lie between MIN_SETPT and MAX_SETPT for the current servo as long as servo _limit check equals 61 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Typing T capital t will toggle the servo limit check variable between 0 and If the current value is 0 T will force it to 7 and vice versa With servo limit check equal 0 you can specify any positive integer as the setpoint Turning off the limit checks proves quite useful if you need to calibrate a servo Section 10 6 Servo
18. to describe what the program does Do this while you write the code This is more important than you might think You will especially appreciate the memory refresh comments provide when reading your program months later 46 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 AVR Studio test c olx File Edit Project Debug Breakpoints Trace amp triggers Watch Options View Tools Window Help aleaa o ercas RAe sE oR e l fmm Project tk4avr api S ol x Terget Compile amp Clean b Target Compile amp Clean 2 8 Source Files E test c amp Header Files 2 8 Other Files makefile E test c include lt usart0 h gt int main void usarto_init putstr r n r nHello World return 0 Figure 17 Open a source file for editing The source code window test c shows a complete corrected program 7 5 Compiling a Program in Avr Visual Studio After editing and saving your program edits in the DE window to the point you want to attempt to compile your code then select Project on the Menu Bar and then Build Visual Studio will invoke avr gcc GNU C compiler to attempt to compile and link your project and provide error messages You can do the same thing by right clicking on Target Compile amp Clean and selecting
19. turn portrays the robot reality in a computer graphics medium to create a virtual reality to bridge the species communication barrier 12 3 3 Relative calibration of sensors of the same type Manufacturing tolerances circuit tolerances and mounting variations make it possible for two instances of the same type of sensor to respond differently to the same stimulus Behaviors 3 Virtual Mind Meld Mekatronix 68 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 therefore should not be programmed to depend upon two sensors of the same type producing identical responses to the same stimulus Instead program sensors of the same type to relatively calibrate themselves in some fixed environment For example place a cardboard box in front of TALRIK IV and measure the response of the two cross eyed IR range detectors Note the differences in the readings If there are none that s great In general however they will differ somewhat The difference in these readings might materially affect some behaviors so a routine to relative calibrate the responses of the front sensors would provide behavior algorithms a balanced sensor view upon which to act If a sensor behaves consistently over time you can parameterize its characteristics and save those parameters in EEPROM effectively
20. using Mekatronix library functions ALR BEII Ox File Edit View Favorites Tools Help Back v I QSearch Folders E E X 2 Ely Address C TALRIK IV_DSO1 avr Meka Lib_Meka Y Go Folders s TALRIK IV_DSO1 Avr_Studio avrgec avr Meka Include_Meka aib Mekal 4 0 tkIVavr D 1 object s Dis 47 3 KB Figure 9 The object files for the Mekatronix library functions are archived in library file lt libmeka a gt found in folder lt Lib_Meka gt 30 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 5 1 2 clock h The clock functions void clock init void void wait _ms unsigned int n msec up to 65 537 milliseconds void wait_sec unsigned int n_sec up to 59 seconds void wait_minutes unsigned int n min up to 59 minutes void wait hours unsigned int n hr up to 23 hours void wait days unsigned int n_day up to 180 years in days allow you to program various delay times on the robot from milliseconds to years The global interrupt enable function sei must be executed before clock init The latter must be executed to enable any wait_x function Global clock variables volatile unsigned int msec seconds minutes hours days tim
21. 0 2975 850 2625 850 2625 850 2625 750 2975 750 2975 750 2975 750 2975 750 2975 750 2975 750 2975 750 2975 750 2975 750 2975 450 2675 461 2686 J indicates the nominal upper and lower setpoints for each servo in microseconds The defaults given here may not reflect the values for the servos on your robot You will have to determine these limit values for the servos you attach to the robot including the pan head servo that comes with the kit 5 1 5 usart0 h Mekatronix offers a wide range of serial IO functions To enable these functions your program must execute usart0O init The prefix usart0_ indicates the ATmegal28 microcontroller SCI interface used by the MEKAVRI28 Macros allow you to use the functions without this prefix For example the compiler will recognize both usart0_getchar and getchar as the same function The functions usart0_getch and usart0_ungetch operate a LIFO Last In First Out buffer on serial input so that a program examining an input string can back up to previous characters Mekatronix does not implement the stdio function printf Here is a list of the serial IO functions void usart0O init void char usart0 getchar void void usart0O putchar char outchar char usart0_ getch void void usart0_ungetch char c int usart0O putstr char buf char stopchar int usart0_getstr char buf char stopchar int usart0O getstring char buf char st
22. 2 Serial communications between the TALRIK IV robot and a host personal computer using RS232C protocol requires a voltage conversion device the Mekatronix MB2325 board to translate RS2325C voltages from the host computer to the 5 volts and ground expected by the robot s microcontrollers serial port USART0 Both LEDs are lit in the photograph indicating a proper serial connection between host computer and robot 3 14 1 COM port problems to avoid A terminal emulator program locks the COM port to which you assign the program and should release the port upon its termination Some older emulators might not be programmed to release 19 J K MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 the port upon termination and thus hang up your COM port and prevent you from reopening it without a computer restart If this is the case find a more recent terminal emulator that obeys current system protocol Personal Computer D9 to D25 Serial Modem Communications Cable C2325 6 wire Serial Communications Cable Figure 3 Serial communications between the TALRIK JV robot and a host personal computer requires a Mekatronix D25 to D9 serial modem cable Part DB9RS232MC a Mekatronix MB2325 Communications board and a Mekatronix C2325 6 wire serial cable The modem cable connects a COM
23. 4avr_test hex gt to test and verify various robot features before writing behavior programs In particular you will want to test the sensors motors and the pan servo for correct operation and you may wish to characterize your sensors by measuring their responses to various stimuli The program lt tk4avr_test hex gt serves as a useful hardware diagnostic as well Whenever the robot appears to malfunction or just simply when you want to verify all is in order you can use this program to verify sensor motor and servo operation Be aware however that what appears to be hardware failures or aberrant robot behaviors really amount to software errors or misconceptions about sensor capabilities or ill conceived behavior logic 10 1 TALRIK IV TEST PROGRAM Assumptions Correct serial connection terminal emulator running with correct settings batteries charged HyperTerminal will be used to illustrate 1 Download the program lt tk4avr_test hex gt and execute it How to do this is explained in Section 8 Downloading Code to the Robot and Section 9 Program Execution 2 The terminal emulator screen displays a menu Figure 22 from which you can select the test of interest e ATMEL HyperTerminal 5 x File Edit View Call Transfer Help ela 3 nale Title tk4avr_test c Programmer Keith L Doty Date Aprril 2005 Version 1 Select one of the following TALRIK IV test procedures Test TALRIK IY Sensors Refresh Data
24. 8 analog 8 MUX9 IR range sensor define IRDL analog 9 1 1 10 MUX10 IR range sensor define IRDFL analog 10 at 10 o clock define IR10 analog 10 MUX11 User Defined define SENSOR11 analog 11 13 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 fi E Oe MUX12 IR range sensor define I a define TF define I at 2 o clock MUX15 IR range sensor define I ADC3 User Defined ADC4 User Defined define SENSOR18 analog l1l ADCS5 User Defined define SENSOR19 analog 1l 2 2 2 MUX1 Battery Charging define CHARGE analog MU 7 2 7 MUX3 Front bumper define FRONT BUMP analog 2 MUX4 User Defined define SENSOR25 analog 2 define IRO4 analog 2 MUX5 User Defined define SENSOR26 analog 2 define IRO5 analog 26 MUX6 IR range sensor define IRDBM analog 2 at 6 o clock Optional define IROG analogta MUX7 User Defined define SENSOR28 analog 28 define IR07 analog 2 The 12 clock positions on the Top Plate have legacy Infrared sensor assignments These IR sensors can be IR range or proximity detectors depending on user configuration and have program definitions define IRxx where 07 lt xx lt 12 The basic TALRIK IV provides only for 5 IR range sensors at clock positions 9 10 2 3
25. Build Select Build for the correct version of test c and you will get the results in Figure 18 The Project Output window displays between the first begin and end the lines generated by the command line compilation of the program The numbers under text data and bss indicate respectively the number of flash memory bytes the number of RAM data bytes and the number of bytes for uninitialized global variables used by the program IMPORTANT IMPORTANT IMPORTANT 47 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 If data exceeds about 4000 bytes of RAM the program will compile but not execute properly as the data requirements exceed the 4Kbyte capacity of the on board RAM Unfortunately no error notice is given for this so be alert and make sure data does not exceed about 4000bytes especially when writing large programs The error indicator at the end of the first block Errors None informs you as to the success of compilation The second begin end block performs the Clean process that removes all the generated files except the hex object code AVR Studio tk4avr apr E O X File Edit Project Debug Breakpoints Trace amp triggers Watch Options View Tools Window Help meagere ae aE aiaee e Ti avr
26. Calibration including supposedly identical servos WARNING WARNING WARNING With the servo_limit_check variable equal 0 you can overdrive a servo and burn out the motor or electronics within a minute or so If you do overdrive a servo quickly change its setpoint to a value within the range of motion of the servo Table 3 TALRIK IV Standard Kit Servo and Motor Assignments Highlighted SERVO MEKAVR128 SERVO_ENABLE_ TALRIK IV Number Header Assignment X A for PortA X C for PortC i 0 PAO 0x01 1 PAI 0x02 2 PA2 0x04 3 PA3 0x08 4 PA4 0x10 5 PAS 0x20 6 PA6 0x40 7 PA7 0x80 8 PC7 0x80 9 PC6 0x40 10 PC5 0x20 11 PC4 0x10 12 PC3 0x08 10 6 Servo Calibration Calibrating the servos means assigning upper and lower limit checks for your particular servos and saving the results in EEPROM Electrically Erasable Programmable Read Only Memory for reference by the servo programs The procedure described here does not apply to servos hacked as gearhead D C motors 62 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 1 Enter servo number based upon the port connector to which servo is attached Table 3 2 Enter 0 for the servo setpoint to display its servo limits 3 Turn off the global vari
27. DOWNLOAD RUN switch to DOWNLOAD position You did not select the Xmodem file transfer protocol You forgot to turn the robot power on The batteries are low The serial connection is not secure or properly made DN NS 9 PROGRAM EXECUTION The flash memory of the processor retains the program in memory even with power off Anytime after you successfully download a program to the robot you can execute it either then or the next day or next year as long as you do not download another program in the meantime Procedure to Execute Program in Robot Flash Memory 1 Turn on power to the robot 2 Switch the DOWNLOAD RUN switch to RUN position 3 Press reset The program now executes Mekatronix robot programs that involve motion use the START macro command which requires you to press the back bumper for the robot program to continue executing past the command Thus you can start your robot program disconnect it and place it on the floor and then press the back bumper to continue executing the programmed behavior This is a safety precaution and recommended for your robot programs too 54 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 10 TALRIK IV TESTING Now that you can download programs into your TALRIK IV robot you will want to download the program lt tk
28. EEA EEEE EO EEES 17 3 11 Can you Physically Damage TALRIK IV with Software occ eeeeeeeeee 17 3 12 Controlling TALRIK IV S Motors ccccccsscsesceesseceeceseceeeeeeseecsseceseeseeeenaees 17 313 Floating Bumper as icrsexciscsxawccstcparcanscswcgiesenssaatessioussuetncdueswesstnedsecnensdivoss 18 3 14 Serial Communication from Host Computer to Robot cceecceteeteeeeteeeeeee 18 3 14 1 COM port problems to avoid ysccidscecnccecsveshenratcendesconteastansteansionedaunedecvisans 19 3 14 2 Plugging MB2325 into the host computer s sessssseesseseesesseseesssserssrsesse 21 3 14 3 Connecting the Host computer to TALRIK IV ooo eeeseeneeneeeeeees 21 3 14 4 Minor Troubleshooting of Serial Connections ccccecseceteeeeteeeteeeeees 21 3 15 Where is TALRIK IV during Program Development cccecceesceeeeeees 22 3 16 Halting a Moving TALRIK JV ssvccsivsdiecsusoscssnisiesssstausecoarendecvetesdasseuanesereentduiess 22 3 17 Runtime on a Full Charge jcccos xssccinncpeccsesssdecceasncdansabanccinvstheccauasdanaiancenneahecansess 22 3 18 Programming Time on a Full Charge isa snsarevs sccncieenonavuvesnsdns Mssabiuentosdastevetiess 22 3 19 Robot ASCI Command Interpreter RASCI 0 cece ceeceeseeeseeeeeeeteeeeeeenaees 23 TALRIK AV NSE T UP eanan e ocean 24 4 1 TALRIK IV Hardware Requirements cccccccsscecsseceseceeeeeescecseeceeeseeeeeaeees 24 42 TALRIK TV Software Requirements siv secassesesscessvinstev
29. G Set path to your root file for programming your Mekatronix robot MEKA c1 TALRIK IV_DS01 avr Meka Set path to Mekatronix standard library Lib Meka Alter this definition as ieee j Z I inac e Figure 15 The makefile of project tkavr apr must have a specific structure part of which can be seen here 42 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 ee OO ONNNBWNR PEPEEE TEER PETE PEPE TE PE PETE PEPE EE PE PEEP PE FE PEPE PEPE AARRE Mekatronix Robobug Robot Makefile Keith L Doty Copyright 2004 Mekatronix Inc RHR P AHHH Set TRG equal to your program name WITHOUT the c extension The system will compile TRG If you want to compile another program you must set TRG equal to that program name and save the makefile before executing build ARH TRG Set path to your root file for programming your Mekatronix robot MEKA c TALRIK IV_DS01 avr Meka Set path to Mekatronix standard library Lib_Meka Alter this definition as dictated below LIB MEKA Lib_Meka libmeka a P ARH Mekatronix libraries you might need to specify with the standard library Lib_Meka Depending upon your configuration you will add one or more of the following to LIB MEKA Lib_ Bug libbug a Robob
30. In function main C TALRIK 2 avr Meka tkIVavr test c 3 undefined reference to putstr make exe test elf Error 1 Errors detected during link stage Stopped Figure 19 An attempted compilation of a version of test c with several errors results in the error message display in the Project Output window the program and press the Enter key once to insert a final line that is blank Multiple Enter keystrokes will also work but this is not really necessary After you make all the corrections your program should be program equivalent compiles to the same object code to the program in Figure 17 The Project Output window should then look like that of Figure 18 If you compile the program under Target Debug you will get the Project Output window display in Figure 20 The files normally eliminated by Clean Process are highlighted in Figure 21 50 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 File Edit Project Debug Breakpoints Trace amp triggers Watch Options View Tools Window Help als ug o r enc nel WR oe ROT PORE 8 e a Fa eee o m ieee o Target Debug 8 Source Files test c Project Output amp Header Files Other Files ayr gec c g 02 Wall Wstrict prototypes Wa ahlms test Ist Ic TALRIK IV_DSO1 avr B makefile avr gcc test o c
31. MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 4 3 Integrated Development Environment and C Compiler System Requirements You can use any WINDOWS 95 98 XP ME 2000 NT or UNIX based computer system to develop programs for the TALRIK IV Mekatronix configures software development around the Integrated Development Environment IDE of AVR Visual Studio 3 56 from ATMEL http www atmel com which operates on WINDOWS 95 98 XP ME 2000 NT and the C Compiler avr gec the AVR FREAKS version of the GNU C Compiler http www avrfreaks net The TALRIK IV distribution software includes the avr gcc compiler and the ZDE freeware without fee Further details on the distribution software can be found in Section 5 TALRIK IV DISTRIBUTION SOFTWARE page 28 If you use a UNIX based system you will have to obtain a UNIX version of the GNU compiler While AVR Visual Studio 3 56 is not available for UNIX based systems UNIX IDE s are available This manual will discuss implementation on a WINDOWS environment but UNIX users should be able to translate non artifact information into the UNIX environment without too much difficulty 4 4 C Language and Integrated Development Environment Support Mekatronix does not provide technical support for the GNU compiler and ATMEL IDE AVR Visual S
32. More complex behaviors may require the combination of primitive behaviors in a way not well understood Neural network activation non linear dynamics and fuzzy logic all offer techniques for integrating behaviors Each technique offers specific advantages and specific difficulties Discussion of such issues is beyond the scope of this manual The reader s attention is brought to this matter to encourage investigation into these possibilities Enjoy your robot 70
33. PORTG and their corresponding data direction registers DDRA through DDRG of the ATmega128 microcontroller PORTA and PORTB have been assigned to the Servo Bus and are not available for Digital IO The port pins available for digital IO on the TALRIK JV implementation are PE2 PE3 PE5 PE6 PE7 PBO PB1 PB2 PB3 PB5 PB6 PB7 PG3 PG4 PORTD PDO to PD7 Pe Each of these port signal pins come out on 3 pin male headers consisting of signal power and ground connections You can download the hexadecimal object code for these three programs extension hex using Mekatronix boot program loader that comes embedded with the MEKAVRI28 microcontroller Directions on program downloading will discussed in Section 8 Downloading Code to the Robot 6 INSTALLATION OF TALRIK V DISTRIBUTION SOFTWARE This installation includes the avr freaks avr gcc C Compiler ATmel s AVR Visual Studio and the Mekatronix library include and code files discussed in Section 5 TALRIK IV DISTRIBUTION SOFTWARE Installation of TALRIK JV is simplicity itself Just transfer the folder lt TALRIK IV_DS01 gt to your host computer root directory or folder For example on the host hard drive lt c gt lt cC TALRIK IV_DSO1 gt For expository reasons the rest of this manual will assume your distribution software is installed on the hard drive labeled lt c gt You can create considerable problems for yourself if you chang
34. TALRIK IV Users Manual by Keith L Doty MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 AGREEMENT This is a legal agreement between you the end user and MEKATRONIX If you do not agree to the terms of this Agreement please promptly return the purchased product for a full refund 1 Copyright Notice MEKATRONIX hereby grants to any individuals or organizations permission to reproduce and distribute copies of this document in whole or in part for any personal or non commercial educational use only This copyright notice must accompany any copy that is distributed 2 Copy Restrictions Other than cases mentioned in Copyright Notice no part of any MEKATRONIX document may be reproduced in any form without written permission of MEKATRONIX For example MEKATRONIX does not grant the right to make derivative works based on these documents without written consent 3 Software License MEKATRONIX software is licensed and not sold Software documentation is licensed to you by MEKATRONIX the licensor and a corporation under the laws of Florida MEKATRONIX does not assume and shall have no obligation or liability to you under this license agreement You own the diskettes on which the software is recorded but MEKATRONIX retains title to its own software You m
35. Vavr gt to code files will not be specified explicitly from here on Double click on the project file name to open it You will get the window in Figure 11 of an empty project the first time you do this Later this will not be the case We wish to add a C program file with extension c to Source Files and a makefile file to Other Files both of which have no entries at this point The Target Compile amp Clean found in the Project tk4avr apr window in Figure 11 that execution of Build selected from a right click on Target Compile amp Clean or a left click on Project in the Menu Bar will invoke the compiler and then delete all the non object code files generated by the process Some of these files may be useful for debugging and in the initial stages of program development you may not want to delete those files Select Target Debug in the drop down window in the project window to change to Target Debug This will leave all the files created in the process in the same directory as the code Refer to 7 5 Compiling a Program in Avr Visual Studio for further discussion of this topic AVR Studio tk4avr apr 0 x ee jasago te i Anse sie PoS OR 4 Figure 11 AVR Studio window for project file tkavr apr which is currently empty 1 Select Source Files with the mouse right click to open selections point mouse to Add File Figure 12a If you are creating a new program select Create New File Otherwise browse
36. able servo limit check 0 by typing the capital letter T This step permits you to exceed the servo limits posted Calibrate MIN_SETPT of a Servo 4 Enter servo number 5 Enter setpoint First time through use MIN_SETPT 6 After the servo completes its move enter the servo number and a setpoint of 0 The latter disables the servo action 7 Attempt to rotate the servo output shaft in the direction of the previous motion If shaft does not rotate go to Step 10 otherwise the servo is not at its true minimum 9 Repeat Steps 4 to 8 with a servo setpoint entry in Step 5 that is 50 steps less than the current setpoint 10 If the servo shaft does not rotate with the new setpoint either the servo is at its minimum setpoint or it is being overdriven 11 Back off the setpoint by adding 10 steps 12 Enter the servo number and a setpoint of 0 and attempt to manually rotate the servo shaft back to the limit position 13 Repeat Steps 11 and 12 by adding or subtracting small amounts to the new setpoint until you can manually rotate the shaft only a small amount to its limit position at which time you continue with the next step The main concern is not to overdrive the servo at the minimum setpoint 14 Type L to save this new MIN_SETPT for the current servo The display will reflect this new value 15 Type S to save to EEPROM all servo limits as now constituted In particular the new MIN_SETPT you just entered will be sa
37. acceptance of the products purchased from MEKATRONIX will be construed as agreeing to these terms NETWORK SITE http www mekatronix com TECHNICAL SUPPORT techsupport mekatronix com MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 MANIFESTO Mekatronix espouses the view that the personal autonomous agent will usher in a whole new industry much like the personal computer industry before it if modeled on the same beginning principles e Low cost e Wide availability e Open architecture e An open enthusiastic dynamic community of users sharing information Our corporate goal is to help create this new exciting industry MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 1 2 3 TABLE of CONTENTS SAFETY AND HANDLING sssstaiceacesansscastaconnntcctasunsdereseaedtareneasascevuntearssnstenierasstanessats 8 1 1 TALRIK IV s Static Sensitive Parts i sssssccassscocvessssnecaavsdavessspatenaernsenvasavsacaieaies 8 1 2 Caution for Biological Organisms cicdesacsustarcisatvencasiNasaanoispnsesebesecsdbindseseSioadsetiaves 8 1 3 Holding Carrying and Transporting TALRIK IV sssseseeseeseeee
38. act any surface so they turn freely 7 Allows manual control of servos and motors and to develop servo default limits This test is described in further detail below 8 Digital IO ports can be controlled individually with this test Further description appears below 9 The frequency of the square wave generated on the FM header signal pins can be manipulated with this program The frequency ranges from 16Hz to 4MHz If you have 56 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 an oscilloscope attached to one of these pins you can observe the square wave At 16Hz you can attach a visible LED to an FM header and watch it 10 3 Sensor Testing and Characterizing A typical sensor display Test 4 appears in Figure 23 The robot sensor names listed in three columns and their values display in the upper part of the window The standard TALRIK JV kit sensors include only those highlighted in Table 2 Table 2 Standard Kit Sensors Highlighted MEKAVR128 SENSOR DESCRIPTION PROGRAM ACCESS Header analog Sensor Index or Associated Program Defines FO MUXI6 Argos Left IR detector 4 MUX20 Argos Head define RIRA analog 4 Right IR detector User Defined define SENSOR8 analog 8 define IRO8 analog 8 11 MUX11 User Defined define SENSOR11 analog 11 define IR11 an
39. aesateate vecasseusacesunientviees 24 4 3 Integrated Development Environment and C Compiler System Requirements 25 44 C Language and Integrated Development Environment Suppott 25 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 4 5 PROGO La guiage Sip OOr eneon a E EN 25 4 6 PROGO as a Vehicle for Learning C Programming cceceeeeeseeteeeeee 26 3 TALRIK IV DISTRIBUTION SORT W AR Ba scesncesniesivcscastiaternteeusecccanteiess 28 5 1 Brief Descriptions of TALRIK K IV Header Files 0 0 0 ceceeccesceseeeeeneeeeeeeeees 29 5 1 1 analog b aaciadcdsensaiocseskantee iasied dd RE E E RE E E a 29 5 1 2 ore IG o S E E E E E 31 5 1 3 eprom Ayr setena E E RE E AEA RE EER EEE ARR 31 5 1 4 SEVO a a ee R 32 5 1 5 usartO Pesne a E E ann een ae eer ene 33 5 1 6 wave lorm Dasein e ETA R ee 35 5 1 7 mekatronix_avr h Mekatronix General Purpose Header File 35 5 1 8 ANT DASE a E E EE E E 35 5 1 9 tkIVavr h Required Header File in all TALRIK IV Programs 35 5 2 Brief Descriptions of TALRIK IV Code Files 0 ccceeeecceseeeteeneeeeeeeeeeenaee 36 6 Installation of TALRIK IV DISTRIBUTION SOFTWARE eccccesseeteeeteeeeees 38 7 Using AVR Visual Studio IDE a cczassicecvtecsannntanee ceaceecattees canranvareatwnteneddacestnr
40. al28 and have great familiarity with how interrupts work Mekatronix uses the following signals for its interrupt routines SIGNAL SIG _OUTPUT_COMPARE3B For TALRIK IV clock driver SIGNAL SIG OUTPUT _COMPARE3C For TALRIK IV servo driver Mekatronix strongly advises you not to change existing interrupt service routines Caution If you change any of the standard TALRIK IV drivers Mekatronix applications and system software will not run correctly 66 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 12 PROGRAMMING BEHAVIOURS 12 1 TALRIK IV and MEKAVR128 for Robot Behavior Development Programming behaviors is what autonomous mobile robots is all about or at least a substantial part of what its all about Without being technical a behavior is whatever the robot does The emphasis is on action From the engineering viewpoint you want to program behaviors that produce useful results Make a robot vacuum cleaner or a robot valet With an artistic eye you want to program behaviors that esthetically please or excite Why not make TALRIK IV dance A ballet on wheels From the scientific perspective you can inquire about the scope of machine intelligence and test your theories on a real robot Out of intellectual curiosity and the creation urge you
41. allowing you to write code independent of a particular sensor s characteristics For example take 2 sample points of a particular IR range detector response curve to objects at varying distances and record these in EEPROM Any program that uses this IR range detector will just ask the distance from a service routine that extrapolates the answer from the EEPROM data If another version of this sensor on a second TALRIK JV has also been characterized in its EEPROM the program that ran on the first robot will run on the second without changing threshold values and the like This powerful concept allows robot groups to share code as long as they agree where to characterize sensors in EEPROM 12 3 4 Adjusting to Ambient Conditions A programmed behavior will often be brittle not flexible or adaptive if that behavior depends upon specific magnitudes of robot sensor readings Brittle behaviors fail when the environment changes from the environment in which the behavior was developed The smaller the change that causes the failure the more brittle that behavior is Robot behaviors and sensors therefore should adjust to ambient conditions Biological organisms perform this function fantastically well The human eye adjusts to bright sunlight or a darkened cathedral with dimly lit candles This procedure is easier to state then execute but serves as a general principle 12 3 5 Create simple behaviors The beginning robot practitioner usually for
42. alog 11 13 MUX13 User Defined define SENSOR13 analog 13 define IR01 analog 13 57 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 AE User Defined define SENSOR16 define SENSOR16 analog 16 User Defined SS SENSOR17 analog User Defined User Defined define SENSOR19 analog User Defined define SENSOR20 analog 21 mxo OO E Ek 22 wa OOo eee 3 we O REE EL Be Sc define SE define I amp ATMEL HyperTerminal File Edit View Call Transfer Help TALRIK IV ADVANCED VERSION ROBOT SENSOR READINGS IRDFL SENSOR20 SENSOR11 BATTERY IRDFH CHARGE SENSOR13 REAR_BHP IRDFR FRNT_BHP IRDR SENSOR25 SENSOR16 SENSOR26 SENSOR17 IRDBH SENSOR18 SENSOR28 SENSOR19 Enter Refresh Delay in Milliseconds 200 Number of Samples Averaged during Refresh Delay 294 Press RESET Switch on Robot to select another test Connected 0 39 0 ANSI 115200 8 1 SCROLL CAPS NUM Ca pture Print echc Figure 23 This window displays a snapshot of Test 4 with the refresh delay set at 200ms Note the number of samples taken for each sensor during this time was 294 Depending on the program execution delay chosen this number may vary by a small number 58 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intellig
43. and the fifth one placed at user discretion for example at 12 o clock at 6 o clock or hanging centered from the Bridge facing forward The IR range sensors at 10 and 2 o clock must be cross eyed to provide adequate collision avoidance capability Other sensors can be purchased and added later 6 9 6 5 5 4 5 5 8 0 1 8 8 The C Language analog functions void analog init void int analog unsigned char sensor number are contained in library archive libmeka a which is found in directory Lib Meka Before using the function analog a program must first execute the function analog init to initialize 14 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 the MEKAVR128 analog to digital converter This initialization is include in the definitions ROBOT INIT and ROBOT AND SERIAL INIT Section 3 6 3 6 Robot Program Initialization The initialization of the analog to digital converter mentioned in the previous section is part of a more general robot initialization Before any computer program can use the resources of the robot various functions must initialize the appropriate hardware configuration Two such initializations are common 1 ROBOT_INIT 2 ROBOT AND SERIAL INIT where
44. at 1475 steps This setpoint faces the sensor head directly forward PVE the GOL Vy VISCO ccc csea a a 61 Figure 25 Display of the servo limits MAX SERVO 2 values in C notation 64 LIST of TABLES Table 1 Program Access to TALRIK IV Sensors s2cccasaicescsteaderesidgeceuneniareatailentinaacteeensates 13 Table 2 Standard Kit Sensors Highlighted ce cccecceccseseeeseeceseceeeeeeeeeeseecsaecneeeseeeeeseecnseeesaeens 57 Table 3 TALRIK IV Standard Kit Servo and Motor Assignments Highlighted 62 Table 4 Primitive Behaviors cee dascivasnssacencatenduswaveseaneasequaves ts acenunvestuneanuaceeate secnantecenseattecdneamrectennes 67 Table 5 Measurement Behaviors ccc cssziaccndsanccenscnncesoaktaccianstcuanedaanessnsxtnccupsnccdneasaneseeixtnccipsssbicesaioeds 67 AIS CGAP AS CAV VOIR sasscresicanchsiecincusecaisaasued pu Sena Munaaniien sbueneiipdacnuehenstweaniandeepiacnuatsadtyuesetineevies 68 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 1 SAFETY AND HANDLING 1 1 TALRIK IV s Static Sensitive Parts Some of TALRIK IV s components are static sensitive These are located on the printed circuit boards Do not touch these boards without being properly grounded Static discharge can destroy these parts 1 2 Caution for Biological Organis
45. ay not rent lease loan sell distribute MEKATRONIX software or create derivative works for rent lease loan sell or distribution without a contractual agreement with MEKATRONIX 4 Limited Warranty MEKATRONIX strives to make high quality products that function as described However MEKATRONIX does not warrant explicitly or implied nor assume liability for any use or applications of its products In particular MEKATRONIX products are not qualified to assume critical roles where human or animal life may be involved For unassembled kits you accept all responsibility for the proper functioning of the kit MEKATRONIX is not liable for or anything resulting from improper assembly of its products acts of God abuse misuses improper or abnormal usage faulty installation improper maintenance lightning or other incidence of excess voltage or exposure to the elements MEKATRONIX is not responsible or liable for indirect special or consequential damages arising out of or in connection with the use or performances of its product or other damages with respect to loss of property loss of revenues or profit or costs of removal installation or re installations You agree and certify that you accept all liability and responsibility that the products both hardware and software and any other technical information you obtain has been obtained legally according to the laws of Florida the United States and your country Your
46. bots and do not include the entire downloads which you can obtain from http www avrfreaks net and http www atmel com respectively if you so desire Mekatronix robot application and support programs are stashed into folder lt avr Meka gt a oree L olx File Edit View Favorites Tools Help Bi Back v amp QSearch Folders 3 Address amp C TALRIK IV_DS01 v eGo Folders Bie TALRIK IV_DSO1 a Avr_Studio s ayrgec 5 A avr Meka Include_Meka Lib_Meka m a tkIVayr My Computer Figure 6 This snapshot of TALRIK IV distribution software illustrates all its folders The ntegrated Development Environment IDE of AVR Visual Studio 3 56 Figure 7 from ATMEL http www atmel com which operates on WINDOWS 98 XP ME 2000 NT can be executed directly from the lt avr Studio gt folder Details on how to use this IDE is discussed in Section 7 Using AVR Visual Studio IDE This software come with no warranty or support and is provided gratis for the convenience of Mekatronix clients 97 bytes Mekatronix uses the freeware C Compiler lt avr gcc gt in a subfolder of lt avrgcc gt an AVR_FREAKS build http www avrfreaks net of the GNU http www gnu org C Compiler This software come with no warranty or support and is provided gratis for the convenience of Mekatronix clients The AVR_FREAKS build of the C Compiler depends upon speci
47. cesnhs tessnmasensbanannuaneinereaisavetaunaucntaumssanvir 30 Figure 10 The code file folder lt t kIVavr gt contains a few useful programs and their compiled hex files which can be downloaded into the robot microcontroller and executed 36 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Figure 11 AVR Studio window for project file tkavr apr which is currently empty 39 Figure 12 Add source file test c to empty project tkIVavr apr esssessesereseessereresressesse 41 Figure 13 Project tk4avr apr now has one source file test C n sssssssseseesesseserssrsersessrsee 41 Figure 14 Add a makefile to the project tkavr apr essessssesssseseesersssessessrssressessssresseese 42 Figure 15 The makefile of project tkavr apr must have a specific structure part of which can HE SCEN GOT catesshccscasacteceieaceccguseaiecersanacen ecencces ne ae ete eeeeid 42 Figure 16 The makefile make is changed to reflect that the new target program is test c by writing TRG test Important the c extension must be omitted 0 0 ee eeeeeeneees 44 Figure 17 Open a source file for editing The source code window test c shows a complete CORRE CSU Prosta aen eaa a E A E 47 Figure 18 After invoking Build the Project Output window appears on screen and shows the results
48. ck underneath the robot to verify the battery cable has not come undone If LED D1 on the MB2325 board does not function as specified check that your terminal emulator program on the host computer is both executing and connected to the correct host computer s serial port If this is not the problem check to make sure no other program or device is using the host computer s serial port and thus is blocking your terminal emulator program s access to the port 21 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 3 15 Where is TALRIK IV during Program Development The user will spend considerable time developing and testing programs to run on TALRIK IV During the initial phases of this process the user will undoubtedly make many changes and run many variations of the programs This procedure can be expedited by mounting TALRIK IV on a test platform that elevates the drive wheels off the floor or desk top so that the wheels turn freely without moving the robot To prolong battery pack life during these long development sessions keep TALRIK JV connected to the charger and the robot power switch off until ready to download or execute a program Also keep the serial communications cable to TALRIK IV connected to minimize plugging and unplugging it When you are ready to tes
49. code so that main will return the lt value gt specified To correct this insert return 0 in the line before Even though most of the time the return value of main is not used to avoid this warning you must end main with return 0 The second error on Line 5 test c 5 2 warning no newline at end of file may be somewhat obscure because the error is not visible It just means that after the last line of your program you need a newline character To correct this error go to the end of the last line of 49 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 AVR Studio tk4avr apr elles File Edit Project Debug Breakpoints Trace amp triggers Watch Options View Tools Window Help a saG olemen a 8il S OOO DEO A main void putstr r n r nHello World m Project Output avr gcc c g 02 Wall Wstrict prototypes Wa ahlms test lst Ic TALRIK IV_DS0O1 avr Meka test c 2 warning return type defaults to int test c In function main test c 3 warning implicit declaration of function putstr test c 5 warning control reaches end of non void function test c 5 2 warning no newline at end of file avr gec test o c TALRIK IV_DS0O1 avr Meka Lib_Meka libmeka a WI Map test map cref test o
50. cture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 type D before saving with S you can still salvage your work by copying the matrix from the display and pasting it as the initialization of servo limits MAX SERVO 2 You must then set the global variable unsigned int prom servo limits indicator attribute section eeprom found in lt eeprom_avr h gt to any value but OxAAAA For example if your program executes eeprom write int amp eeprom_servo limits indicator 0 the initialization from the matrix in lt servo h gt will not be changed to the EEPROM values by macros ROBOT _INIT Or ROBOT AND SERIAL INIT at the next reset 11 TALRIK IV PLAY 11 1 1 Checkout TALRIK IV Operation with tk4avr_test hex Refer to Section 10 TALRIK IV Testing for details 11 1 2 Get TALRIK IV Moving Load avoidtkavr hex This program demonstrates the IR collision avoidance and bumpers Although the collision avoidance algorithm in avoidtkavr c operates on a simple principle TALRIK IV will avoid most large obstacles For smaller objects such as chair legs the front bumper detects the collision If you crowd TALRIK IV with obstacles all about it it may just spin around in a circle trying but unable to get away You can make the robot less sensitive by making a copy of this program and changing the th
51. ding to the host robot sensor readings robot data collection and the robot s general configuration or state and downloading commands command sequences and data to the robot from the host RASCI allows you to connect the processing power of a host computer either remotely ZR or wireless serial link or locally wired serial link with computer mounted on a modified bridge to the mobility and data acquisition characteristics of a robot For example a video camera on the bridge of the robot transmits the image seen by the robot to a receiver attached to the host Artificial Intelligence A programs on the host processes the image and sends appropriate command responses to the robot for execution 23 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 4 TALRIK IV SET UP If you are not familiar with TALRIK IV we recommend you read TALRIK IV OVERVIEW starting at page 11 before continuing 4 1 TALRIK IV Hardware Requirements To create an operational robotic system you will need a few items in addition to the basic kit or assembled robot Specifically a complete robotic system requires the following hardware 1 A completely assembled TALRIK JV robot 2 A fully charged 6 pack of AA NiCd rechargeable batteries connected to the MEKAVR128 circuit board 3 Opti
52. e wheel motors if the surface has high friction I recommend as general rules to 1 TALRIK IV proof such obstacles and to 2 Hang around and get it out of trouble 3 14 Serial Communication from Host Computer to Robot This section assumes TALRIK JV has fully charged batteries and the processor functions Without either of these prerequisites the user cannot begin The MB2325 serial communications board Figure 2 generates the proper voltage conversions that permit the user to download code and data to TALRIK JV and upload data from the TALRIK IV via a 6 wire serial communications link Whenever testing programs on TALRIK IV the host computer links with the TALRIK JV via this interface or an equivalent wireless option For the standard serial link rather than duplicate the MB2325 interface circuit on each robot Mekatronix uses a single external interface for the host computer This approach has a twofold advantage 1 it reduces the amount of circuitry on the robot platform reducing battery energy consumption and printed circuit board cost 2 only one M B2325 board is required per computer instead of one per robot In multiple robot systems or swarm systems this approach yields an increasing cost advantage The photograph Figure 3 illustrates a complete serial hookup between a TALRIK IV and a host computer At one end a six wire communications cable Mekatronix part number C2325 type FoW6F6 inserts into a 6
53. e the names of any folders or their placement on your hard drive For the general user I recommend you stay with the standard setup described in this manual Expert users who have familiarity with makefile files and path specifications can make modifications to the folder structure as desired The level of detailed knowledge to do this is beyond the scope of this manual however 7 USING AVR VISUAL STUDIO IDE The powerful Integrated Development Environment IDE offered by ATmel s AVR Visual Studio allows you to edit and build projects in a convenient WINDOWS setting While this configuration does not provide most of the features of AVR Visual Studio it does provide sufficient capabilities for practical usage The following exposition illustrates just those capabilities A more advanced version freeware is being devised to use these facilities 38 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Sophisticated programmers who wish to update their AVR GNU tools or obtain further information about recent advances should check http www avrfreaks net 7 1 Opening an Existing but Empty Project File Open project file tk4avr apr extension apr found in folder lt c TALRIK IV_DS01 avr Meka tkIVavr gt when understood by context the path lt C TALRIK IV_DS01 avr Meka tkI
54. eaeinenteniiee 38 7 1 Opening an Existing but Empty Project File ssi cecsssscecessvcasedisvsceesaevccsrcemsecnevne 39 7 2 Creating a New Project Folder and File c ccc cecceseceeeeeeeeeescecesecnteeeeeeeenees 45 7 3 Changing a Project s Target Code nssenseesessseesseseesseesseserssreesessresseeseesersseesee 46 7 4 Editing a Program in Avr Visual Studio ooo ccc ccccesceeeceeeceeseeceeceseeeeeeennaes 46 7 5 Compiling a Program in Avr Visual Studio 0 0 0 ceeeccecseceteceseeeeeeeeseeeeeeens 47 7 6 Debugging a Program in Avr Visual Studio 000 ee ecceeceeseeceteceeeceteeeeaes 49 8 Downloading Code to the Robot ccececccecscecsseceseceeeeeeseeceseceeeeeeeeeeaeecaeceeeneeeenaaes 52 8 1 X Modem Download Procedure cays cacsasicecnsausasteetunaacetsvnsntavencteaieennacean 52 8 2 Download Summary s ssssesssenssesseeseesseesesersseesetsrsseesseserssressesstssressessessresseeses 54 8 3 Common Download Failure MOdG8 scccscscsiasessnicasasiociereariclaniaaxisioateaetannines 54 9 Program Execution sseseseseessesseeseesstesresresstestesesseestesrtsstesesetsssesstsstesseestssesseeseese 54 TO TALRIKAVM Testing soisiiciiisi eiiiai Eein EA eE EA E EE Nes 55 10 1 TALRIKIV TEST PROGRAM sriesesnosienseiieuaann i 55 10 2 TALRIK IV Test Program Summary vj sicssssssccaasssducssassacctsacssdesssassecssansteceonses 56 10 3 Sensor Testing and Characterizing cccsscsrevsassinsswesaiccessatuitensia Wwecaswurtbedaatin
55. ear screen Display POLYGON DRAWER on_screen New_line Display Enter number of sides on_screen Set N to input_number Display Enter length of sides in inches on_ screen Set side to input_number Display Disconnect your robot and place on floor on_screen New_line Display Robot traces polygon with press of rear bumper on_screen New_line Set angle to 360 N ok Do_ forever START ok Repeat N times angle side call Repeat _end end Do_ forever Program end Figure 5 This PROGO program that commands the robot to trace out a polygon trajectory illustrates the readability of the language Check a Mekatronix distributor for pricing and further details on PROGO 27 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 5 TALRIK IV DISTRIBUTION SOFTWARE In this section we will discuss the different components of the TALRIK JV distribution software This software comes bundled with the purchase of a complete TALRIK IV kit or preassembled The WINDOWS EXPLORER snapshot Figure 6 presents all the folders in the distribution To reduce your software costs Mekatronix provides without charge the freeware software in folders lt avrgec gt and lt Avr Studio gt We have configured the software in these two folders specifically for use with Mekatronix ro
56. easurement behaviors Table 5 These behaviors allow TALRIK JV to quantify some of its environment While the measurements taken by these sensors are not precise TALRIK IV can be programmed to perform a number of surprising tasks with the information provided Table 5 Measurement Behaviors Relative headings Circumnavigating an object Length of a path Wheel speed Mean free path distance 67 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 From the primitive and measurement behaviors one might with great skill have TALRIK IV perform the behaviors in Table 6 These behaviors are still research issues so if you come up with something that really works well let the rest of the robot community know about your results Table 6 Complex Behaviors Navigate its own map Learn about its environment Develop curiosity about unexplored environments 12 3 Advice on Developing Behaviors The following advice is based on several years experience teaching engineering students to program autonomous robot behaviors 12 3 1 Vulcan Mind Meld To effectively program a behavior for TALRIK IV or quite possibly any autonomous robot and gain insight into the problems you face in developing your concept you should play Vulcan to the robot and imagine a Vulcan mind meld with it All yo
57. ect Although you can select any file in the project and delete it with the delete key on your keyboard DO NOT DELETE the makefile as you will need it each time you change TRG to compile and link a different code file in lt tkIVavr gt At this point you are ready to open edit and compile test c Before doing this however I will show an easy way to create a new project from the distribution project tk4avr apr 7 2 Creating a New Project Folder and File As you become more expert you may want to create more program folders with their own project files and multiple programs When you do create a new program folder say lt new_code gt it must be in the root specified by MEKA c TALRIK IV_DS01 avr Meka as is lt tkIVavr gt Copy makefile from lt tkIVavr gt to the new directory lt new_code gt All code files to be compiled in the new directory will use the same makefile file except for Line 15 TRG That line must be reassigned to the name of the program to be compiled and makefile saved before compilation of the program The detailed procedure is METHOD Create New Project Folder and File Create new folder say lt new_code gt in MEKA Copy tk4avr apr and makefile from lt tkIVavr gt into folder lt new_code gt If you have already started the program say new _test c copy it to lt new_code gt also Change the name of tk4avr apr in lt new_code gt to new project name new _proj apr say Open up file new proj ap
58. ent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 At your leisure you can examine the sensor response to various stimuli and if you have a spread sheet program available enter the data and plot the sensor response versus distance or intensity of the stimuli or some other parameter of interest For example you can plot the IR range detector response to a white obstacle say a sheet of paper versus distance You will find the plot is highly non linear and useful to know when programming robot behaviors You should characterize all the sensors on your robots with plots obtained in this manner You might want to save selected sensor values in EEPROM to fully characterize your robot A way to do this for servo limit checks 1s illustrated in Section 10 6 Servo Calibration 10 4 Quick Verification of TALRIK IV Sensor Operation Depending on what information you want to gain your test procedures will vary If you just want to check to make sure the sensors respond to stimuli but the exact values are not of interest then a quick verification is all that is needed This approach checks for major failures in the hardware Assumptions Correct serial connection terminal emulator running with correct settings batteries charge robot loaded with tk4avr_test hex program is executing and the menu selection display in Figure 22 appears on your terminal emulator screen
59. er ms indicate the current values of the various software counters used to keep track of elapsed time since the previous clock init The global variable volatile unsigned int elapse ms acts as a software millisecond down counter The value of elapse ms will decreases by one every millisecond after it has been set to a positive value The count stops at 0 and remains there until reset by assigning elapse ms a new positive value Programs use elapse ms to enable executing computations while the value of elapse ms is not zero and then to cease such computations when the value becomes zero 5 1 3 eeprom_avr h The EEPROM Electrically Erasable Programmable Read Only Memory in the MEKAVR128 is programmed with special functions unsigned char eeprom read byte unsigned char padr void eeprom _ write byte unsigned char padr unsigned char data unsigned int eeprom_read_int unsigned int padr void eeprom _ write int unsigned int padr unsigned int data unsigned long eeprom_read_long unsigned long int padr void eeprom write long unsigned long int padr unsigned long int data void eeprom write servo limits void void eeprom servo limits init void 31 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 The first six functions allow you to read byt
60. es integers or long integers from EEPROM or write bytes integers or long integers to EEPROM The remaining two functions transfer the values of the global variable servo limits to EEPROM global variable eeprom servo limits or transfer eeprom servo limits to servo limits EEPROM global variables unsigned int eeprom servo limits MAX SERVO 2 _ attribute section eeprom unsigned int eeprom servo limits indicator attribute section eeprom facilitate saving into EEPROM the servo upper and lower bounds servo _limits for the specific servos on your robot Since standard servos are not so standard in these limits you can calibrate your servos once and save the calibrated values into EEPROM The function eeprom write servo limits allows you to write the calibrated values into eeprom servo limits MAX SERVO 2 The function eeprom write int permits you to assign the hex number oxaaaa to the EEPROM variable eeprom servo limits indicator which indicates the calibrated values in EEPROM will transfer to servo_limits at initialization with ROBOT AND SERIAL INIT or ROBOT INIT macros In this way your robot specific servo parameters stay with the robot making possible servo code transference to other TALRIK JV robots without recompiling Of course the target robot must have its calibrated servo values in its EEPROM for this to work 5 1 4 servo h The servo functi
61. es the danger of the robot from moving off your lab bench before you unplug the serial and charge cables and place the robot on the floor Most of the program consists of terminal IO using the commands 25 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Clear_screen Display on_screen and New line The quoted text between Display and on_screen is output to the terminal screen whereas New_line performs a carriage return linefeed cursor operation The Do_forever construct is important in robotic behavior programming where the robot normally executes behaviors without conceptual end The other program actions I hope should be discernable without further explanation Mekatronix PROGO product line includes 1 PROGO Language Reference Manual 2 PROGO Applications Manual 3 PROGO Distribution Software Check with a Mekatronix distributor for availability 4 6 PROGO as a Vehicle for Learning C Programming For the expert programmer PROGO may be too cumbersome and too limited in scope However the easy to learn PROGO does serve as fine vehicle for seamlessly learning C programming Since PROGO is defined on top of C all PROGO programs are in fact C programs in disguise The programmer can mix any legal C Language statements and constructs
62. esesserersseseeseese 8 1 4 SIKO E 1 21 E E EEE 8 GETTING TALRIK IV READY vs asnnseevess seats daacncsncansacedaanententevexeotamnessintatuecanaeeneal 9 2 1 Unpacking An Assembled TALRIK IV cccccsscscassecsassaenscesssinvecesnsysscaessseciaceannens 9 2 2 Nickel Cadmium Batteries Required cccccecceesceesseeseecesecseeeeeseecueceseeseeeeseees 9 2 3 Recharging Batteries ee ee cre REAN a 9 2 3 1 If you purchased Charger and Batteries cccceccceesseceteceseeeeeeeeeeenaeees 10 2 3 2 Installing or Replacing Batteries IMPORTANT AA NiCad Rechargeable only eeceeeeees 10 TALRIK IV M OVERVIEW ciecssanees ncn snd anecs baw exes eie acs eco ve ganna eRe eae ese 11 3 1 What Can TALRIR IY iO occssucctsseeceanlennsininaaeeaeecmeien 11 3 2 Pera ENVION t sxcncsdswonncesrennaesnenesnadvuatesaestoviadenseboesiuavinndsbienaisaiactsuisss 11 3 3 Physical Omen ayn joss isiin rean nae REEERE 11 3 4 Sensor Layout sraon enere EE E E E E EET NE N NS 12 3 5 Program Access to Sensor Readings ccscssssssecssesecesiessaseseeansasaeesecestessiesss 13 3 6 Robot Program Initialization cocci csssecasadscadecweanidareeytecacstidexeoalceuabermonecends 15 34 Digital ener na ae e a ee eer eer ere ee 16 3 8 Frequency Modulation using Square Waves ccccesceseeeseeeseeceseceseeeeeeensees 16 BO TALRIK IV SM Bi secsec iisas aidien essas ia aaiae reas neies ae iiS 16 BLO SWitChE Sessionistas eisite ia eea sia EE EEEE EA
63. fic directories or files so do not rename or change the contents of any of the subfolders or files in folder lt avrgcc gt unless of course you know how to do such things Otherwise you might confuse the linker and not be able to compile your programs 28 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 WARNING WARNING WARNING DO NOT RENAME OR OTHERWISE CHANGE FOLDER lt AVRGCC gt OR ANY OF ITS CONTENTS ox File Edit View Favorites Tools Help Back v v Search Folders S ie xA Hw Address ja C TALRIK IV_DSO1 Avr_Studio v Go Folders x O TALRIK IV_DS01 a AvrStudio exe SENT Ie ReadMe txt 0 avrgec lUninst isu a 0 avr Meka O Include_Meka Lib_Meka 2 tk Vavr y 4 3 object s Disk fr 1 13 MB Figure 7 ATMEL s Avr Visual Studio executable program is stored in folder lt Avr Studio gt 5 1 Brief Descriptions of TALRIK IV Header Files Read the TALRIK IV program header file listed in Figure 8 to obtain information on library functions and their usage The Linker finds the object files for header functions in library libmeka a Figure 9 Basic information about each header file follows 5 1 1 analog h This header file references two functions which we have explained in Section 3 5 Pro
64. file change TRG to the new target program name without the c extension and save makefile 4 Add additional code files to the project needed by the new target 5 Add any header files in folder Header Files by right clicking the mouse on the folder icon and selecting the appropriate action 6 You are now ready to edit and compile the new target 7 4 Editing a Program in Avr Visual Studio Open up a source file in Source Files for editing by double clicking it With the configuration shown in Figure 14 double click on test c to get Figure 17 The ZDE editor features typical program editor functions some identical to those you find in any word processor and others specific to code generation The best way to determine what these functions are is just explore the keyboard as you write a sample or test program I do not suggest such explorations when you work with code you have concern about loosing Once you familiarize yourself with the editor capabilities you can begin editing programs in earnest Look at the distribution source programs to see example program layouts layouts constructed for readability Editor features allow you to auto indent successive lines at the same lexical level that is professor speak for auto tab setting to generate such layouts easily When composing your own program use a layout suitable to your tastes and style Save your program frequently while editing Do not forget to meaningfully comment your code
65. gainst any of the bumper switches If it is just gently shift the bumper away from the switch Latter program testing will reveal any specific problems 3 Download software from the vendor who sold it to you Download TALRIK JV documentation on line from lt www mekatronix com gt You can purchase a CD containing any purchased software and all the TALRIK JV manuals at any time The following must be purchased separately 4 A wall plug adapter for recharging the robot 5 An MB2325 serial communications board and cable 6 Six AA Nickel Cadmium rechargeable batteries DO NOT USE ALKALINES 2 2 Nickel Cadmium Batteries Required TALRIK IV requires a minimum of six AA Nickel Cadmium NiCd rechargeable batteries Mekatronix recommends our own high capacity 8300mah AA NiCd batteries Only use nickel cadmium AA batteries A 6 pack of batteries that produce more than 1 2volts per cell will produce too much voltage and will damage attached servos For example alkaline batteries produce 1 5volts per cell and therefore must not be used The battery pack is located in front of the rear caster on the underneath side of the robot NiCad batteries sustain useful power until just before they become fully discharged So if you see TALRIK IV really slowing down it is time to recharge it 2 3 Recharging Batteries TALRIK IV s AC adapter output must be rated at 12 volts D C and be able to supply 300 milliamps at that rating Lo
66. gram Access to Sensor Readings void analog init void int analog unsigned char sensor number The first function analog _init initializes the analog to digital converter and must be executed before using the second function Function analog sensor number provides access to the current values of the specified sensor 0 lt sensor number lt 28 29 MEKATRONIX Design amp Manufacture of Intelligent Machines and Robots 316 NW 17 Street Technical questions techsuppor mekatronix com TALRIK IV Users Manual WWW mekatronix com Gainesville Florida 32603 c TALRIK IV_DS01 avr Meka Include_ Mekal sia olx File Edit View Favorites Tools Help Back gt amp Search Folders 4 fe E XK A e Address C TALRIK IV_DSO1 avr Meka Include_Meka Folders TALRIK IV_DSO1 Avr_Studio a ayrgec avr Meka Include_ Meka Lib Meka a tk Vavr Compact Disc D Control Panel 8 My Network Places a Recycle Bin 11 object s Disk free spaci 41 9 KB analog h avr_base h I clock h l eeprom_avr h M iom128x h E mekatronix_avr h Il servo h M tkIVavr h two _wheel_motion h M usart0 h M waveform h gt a My Computer y Figure 8 This WINDOWS snapshot lists all the TALRIK JV header files required to program the robot
67. he host computer may be disabled or used by another application In either case the computer will be unable to communicate with the robot 3 14 3 Connecting the Host computer to TALRIK IV After connecting the MB2325 to the computer take the 6 wire C2325 cable and insert either end onto J2 of the MB2325 Connect the 6 pin socket at the other end of the C2325 cable to the 6 wire pig tail cable with a male connector at its open end making sure to connect pin 1 to pin 1 at each end On the MB2325 and MEKAVR128 boards pin 1 is the leftmost pin of the 6 pin male header The 6 pin socket end of the pig tail inserts into the 6 pin male header USARTO PROG on the MEKAVR 28 board Connect the 6 pin male header at the end of the pig tail to the socket at the other end of the C2325 cable coming from the MB2325 When you turn power on to the robot LED D2 should shine Both LEDs shining indicates an established serial link LED D1 shining indicates connection to the host computer and LED D2 shining indicates connection to the robot 3 14 4 Minor Troubleshooting of Serial Connections The lights on the M B2325 let you know that the basic connections are working If on power up of the robot LED D2 does not light the C2325 cable may not be connected properly or the batteries may not be charged Reverse the C2325 cable to see if the light comes on If the batteries are charged check battery and power connections to the circuit boards Particularly che
68. hex Slusart0 c Files of type fa Files x Cancel 40 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 b Figure 12 Add source file test c to empty project tkIVavr apr AVR Studio tk4avr apr File Edit Project Debug Breakpoints Trace amp triggers Watch Options View Tools Window Help osgo mesecne Ree MOT CURE CAE PE TKS elle amp Header Files 3 Other Files a A SRT Figure 13 Project tk4avr apr now has one source file test c 3 The makefile is extremely important to the compiler and linker and must have the specific structure provided To see the contents double click on it A window of the file will open up in the AVR Visual Studio window Figure 15 The two landscape pages following displays the entire makefile with line numbers for easy reference The in the file indicates a comment line The actual makefile actions occur in Lines 15 18 21 and 41 each of which I shall discuss Line 15 TRG TRG specifies the name WITHOUT the c extension of the target program to be compiled In this case the target program is test c so write TRG test in the make file Figure 16 You will need to change TRG each time you change the target source program Line 18 MEKA c TALRIK IV_DS01 avr Meka Assigns the root directory fo
69. ill have to debug from the error messages given by the compiler To illustrate debugging refer to Figure 19 Attempt to compile the program test c with several errors The Program Output window displays the warning and error messages generated by the compilation process These messages have the form lt program gt lt line_number gt lt error_number gt Do not ignore warning messages In fact standard programming practices now insist on eliminating all warnings We will do that here The first warning test c 2 warning return type defaults to int indicates that the function name just scanned on previous line namely main void must return an integer To eliminate this warning you must declare int main void In fact main must always be declared to return an integer The next warning concerns the function putstr found on line 3 of the function main test c 3 warning implicit declaration of function putstr To correct this is more difficult unless you know that the function putstr is declared in the header file usart0 h with object code in the Mekatronix library 1ibmeka a found in Lib_Meka The correction is to add include lt usart0 h gt above the main declaration The next warning test c 5 warning control reaches end of non void function actually couples to the first warning Since main must return a value there has to be a return lt value gt function somewhere in the
70. into a PROGO program without compilation error provided of course PROGO syntax is not violated in the process Since novices can learn PROGO quickly the usual barrier to fun programming a Mekatronix robot namely C language syntax and semantics is initially bypassed Thus after learning PROGO a novice programmer can learn and use new C Language constructs one at a time within the surrounding PROGO support structure without losing programming momentum and with high motivation intact An instructor also can introduce C programming constructs one at a time into a student s PROGO programs while preserving understood PROGO components of the code As each construct is introduced applied and understood the student learns to replace PROGO constructs with more comprehensive and powerful C language constructs In other words the novice programmer can continue successful robot programming without a complete knowledge of C all the while increasing C competency on his own or under instruction 26 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 include lt tkIVavr_progo h gt Dictionary angle side N ok Function angle side Function _begin Forward side inches Wait 1000 ms Turn_right angle degrees Wait 1000 ms Function_end Program begin Cl
71. katronix_avr h Mekatronix General Purpose Header File All Mekatronix avr robots use this header file This header file contains the initialization macros ROBOT AND SERIAL INIT and RoBoT_INIT The serial functions CLEAR SCREEN and HOME CURSOR provide useful screen control for terminal emulator interaction include lt avr_base h gt include lt analog h gt include lt clock h gt include lt eeprom_avr h gt include lt servo h gt include lt usart0 h gt include lt waveform h gt define CLEAR SCREEN usart0O putstr xlb 2J x00 x1lb 2J x00 x1b 2J x00 NULL define HOME CURSOR usart0O putstr xlb 1 1H NULL Home cursor define NSENSORS 29 5 1 8 avr_base h This header file uses the avr freaks header files necessary for the avr gcc compiler and linker The exception is lt iom128x h gt developed for Mekatronix code use include lt io h gt include lt interrupt h gt include lt sig avr h gt include lt iom128x h gt 5 1 9 tklVavr h Required Header File in all TALRIK IV Programs This header file expresses the robot specific TALRIK IV macros and legacy functions of the earlier TALRIK IJ and is the only header file that must be included in all TALRIK JV programs The includes of this header file are 35 MEKATRONIX Design amp Manufacture of Intelligent Machines and Robots Technical questions techsuppor mekatronix com include lt mekatronix avr h g
72. lt coff gt and lt tkIVavr gt are highlighted in the windows shown above 8 DOWNLOADING CODE TO THE ROBOT After successfully compiling a program you will want to download it to the robot to test and verify the principal components of its logic Initial testing of your robot code may not actually involve running the robot on the floor but rather will use the serial communication techniques described in Section 7 6 Debugging a Program in Avr Visual Studio for preliminary verification of program logic Before executing the program you must download it to the robot microcontroller MEKAVR128 microcontroller 8 1 X Modem Download Procedure The Mekatronix MEKAVRI28 robot microcontroller has a program downloader installed at manufacture into the 4Kbyte boot loader section of the flash memory If you use non Mekatronix means for downloading code to the robot microcontroller be careful not to erase the boot loader 52 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 To download code to the robot Turn the robot power switch on and verify that the robot power indicator lights Switch the DOWNLOAD RUN switch to DOWNLOAD position Connect the robot serially to a COM port on the host computer Figure 3 Execute a terminal emulator program on the host computer say HyperTerminal
73. maavenes 57 10 4 Quick Verification of TALRIK IV Sensor Operation 0 ccceeseeteeteeeees 59 10 5 Servo and Motor Test cco tesiaoceasius ads ei ee 60 10 6 Servo Cali At OIh aa sanesncesceansereaweoxceasaaeaceeseneanca ace arene eat reews 62 11 TALRIK AV M Pl Y oresar aE ERTA eee 65 11 1 1 Checkout TALRIK IV Operation with tk4avr test hex 65 11 12 Get TALRIK IVMMOVi E eissira risiti ine ita E EER E 65 11 1 3 Write your own IR Ranging Program sseseseessesessssesseserssressessresresseese 65 11 2 Tips for Writing Programs esssseseesessssessessresressesstssressessrsseesseeseeseesseesesenssee 66 11 3 Writing your own Interrupt Service Routines for TALRIK IV using avr gcc66 12 PROGRAMMING BEHAVIOURS ssnssccssssteenisscxeceactndeceeseneceduninaiatnisnmmee ine 67 12 1 TALRIK IV and MEKAVR128 for Robot Behavior Development 67 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 12 2 Some Possible Hela vigrs isurian a E E RNa 67 12 3 Advice on Developing Behaviors cecccesscessceenceceeceseceeeeesseecsseeneeseeeennees 68 12331 Vulcan Mind Meld y ccaiceinccancn eee eee 68 123 2 Virt al Mind IMI cauisasscuncshixynarsanpsnepeaaiwuncaunnsaneneite nsi aai 68 12 3 3 Relative calibration of sensors of the same type cccceesece
74. mekatronix com 316 NW 17 Street Gainesville Florida 32603 3 TALRIK IV OVERVIEW This section provides the user general orientation to TALRIK IV 3 1 What Can TALRIK IV DO TALRIK IV provides a platform for the development and testing of machine intelligence and autonomous behavior algorithms The creative and entertainment value of developing your own intelligent physically embodied autonomous agent provides tremendous motivation and pleasure As with most high tech tools toys the implications have broad scope By attaching different mechanisms to such an autonomous agent the user can develop autonomous vacuum cleaners autonomous lawnmowers autonomous construction vehicles autonomous butlers or maids intelligent kinesthetic art tile laying robots security robots maintenance robots space station robots planetoid explorers undersea mining rescue vehicles war robots and so on As the community of autonomous robot developers increases the applications coming forth will be legion many of which may be totally surprising Mekatronix offers a number of sensor kits and mechanisms to enhance the TALRIK IV range of applications In particular the ARGOS provides IR proximity sensors photoresistors and sonar on a pan tilt head that mounts directly on the bridge You can also purchase more IR Range sensors and mount them on the bridge fore and aft or at the 12 clock positions on the robots Top Plate 3 2 Operating Envi
75. might want to develop physically embodied animats artificial animals Develop your own ecology with predator robots that drain the prey robots batteries and prey robots that hide and avoid predator robots and seek battery recharging stations as food sources Or you can tailor a robot to enter many of the robot contests around the world using the MEKAVRI128 as your robot controller While building your robot you can use the TALRIK IV to test many of your ideas before committing your own robot design greatly facilitating implementation Many of these contests require manipulation and sensors not supplied with TALRIK IV but the TALRIK IV can often be expanded to meet contest requirements 12 2 Some Possible Behaviors TALRIK IV programs provide the basic hardware interrupt and device driver routines for the robot These allow the user to access the sensor readings and drive the motors and servos With these routines the user can program an unlimited number of behaviors A representative set but by no means an exhaustive set of primitive set of behaviors from which more complex ones can be developed are listed in Table 4 Table 4 Primitive Behaviors Collision Avoidance Collision Detection Line following Light following Light avoidance Collision detection Shy behavior Aggressive behavior Exploring behavior Wall following With shaft encoders not included and the IR ranging sensors TALRIK IV can develop m
76. ms Most individuals find TALRIK IV exciting enjoyable amusing and fascinating TALRIK IV s small size minimizes its threat to organic life although pets and small children might find TALRIK IV either an interesting playmate or an alien to avoid A child s hands feet and mouth probing TALRIK IV may lead to minor injury to both child and robot so to eliminate adverse reactions with pets children or nervous adults be sure TALRIK IV operates under supervision by someone who knows how to turn it off Remember TALRIK IV is an autonomous machine and as such becomes out of control once set in motion 1 3 Holding Carrying and Transporting TALRIK IV TALRIK IV s small size and portability make it ideal for safe demonstrations and presentations of machine intelligence algorithms Porting TALRIK JV from desk top platform to floor and back the most frequent carrying operation requires handling TALRIK JV carefully The recommended carrying technique is to firmly hold TALRIK JV on both sides at the base of the bridge supports next to the wheels with fingers curled underneath the robot and thumbs on top Other carrying techniques can be devised by users at their own risk To transport TALRIK IV for long distances place it securely padded into a suitably sized box Do not expose TALRIK JV to extreme cold or heat in an automobile during winter and summer for more than a few hours Although TALRIK IV
77. mulates behaviors too complicated to implement directly With experience the virtue of simple direct behaviors become apparent Complex behaviors should be broken down into sequences of simple primitive behaviors If this can be done the chances of successful implementation are high If not there is little value in trying to implement such behaviors directly 12 3 6 Build on simple behaviors As the user accumulates a repertoire of primitive behaviors complex behaviors open up Perhaps the easiest way to generate complex behaviors is simply to sequence a collection of primitive behaviors For example wall following might be decomposed as follows 69 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 1 Detect a large object 2 Approach the object until near 3 Turn until the robot front to rear axis to align parallel with the surface of the obstacle 4 Move parallel to the obstacle surface At each instant of time a particular behavior in the sequence is invoked based on the current state of the robot and its sensory inputs Of course the programmer will have to establish to the robot s perception the meaning of such terms as large near surface and parallel Remember to Vulcan Mind Meld 12 4 Integrating Behaviors
78. ndard TALRIK IV kit 60 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 gt ATMEL HyperTerminal File Edit View Call Transfer Help De e s na e MEKAVR128 SERVO TEST SERVO_ENABLE_A SERVO_ENABLE_C servo_limit_check OxO0FF 0xO0FF 0x0001 MOTOR_ENABLE_A MOTOR_DIRECTION_A MOTOR_ENABLE_C MOTOR_DIRECTION_C 0x0000 0x0000 0x0003 0x0002 SERVO CONNECTOR MIN_SETPT MAX_SETPT SETPOINT 0 PAG 590 2400 1475 Enter Servo Number 0 to 15 i Enter Servo SetPoint 1475 T to complement servo_limit_check variable to save SETPOINT as lower servo limit TE U to save SETPOINT as upper servo limit D to display all servo_limits on screen S to save all servo_limits to EEPROM Press RESET Switch on Robot to select another test Connected 2 45 0 ANSI 115200 8 l SCROLL CAPS NUM Capture Print echc Figure 24 The servo test allows you to specify a setpoint for any one of a possible 16 servos attached to the MEKAVR128 servo bus In this window servo 0 the pan servo on top of the bridge has been set at 1475 steps This setpoint faces the sensor head directly forward for the servo used To move a servo first enter the servo number a number between 0 and 15 and then the setpoint a number between MIN_SETPT and MAX_SETPT After entering 0 for the
79. nloaded and executed successfully as part of the program would print the variable x presumably yielding critical information to help you to debug a program logic error The program stops at 51 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 c getchar and waits for you to press a key on the keyboard before continuing execution File Edit View Favorites Tools Help Back QSearch Folders 9 FS x 2 Ely Add ress a C TALRIK IV_DS01 avr Meka tkIVavr x Go Folders Name coff lavoidtkavr c avoidtkavr hex avoidtkavr_smooth c avoidtkavr_smooth hex makefile i D ED By ro E TALRIK IV_DSO1 File Edit View Favorites Tools Help Avr Studio aa Back amp OSearch Folders S S x 2 Ew avrgec t cor i Address C TALRIK IV_DS01 avr Meka tkIVavr coff Go es O Include _Meka Folders Lib_Meka TALRIK IV_DSO1 S tkIVavr Avr_Studio s avrgec 0 avr Meka Include _Meka Sitk4avr apr Lib_Meka tk4avr_test c e QO tklVavr ltk4avr_test hex Si coff 4 3 object s selec 194 KB 4 9 object s selected 265 KB My Computer Figure 21 Files generated by the compiler that Clean process removes from the directories
80. ns techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 These programs collectively illustrate how to use or test most of the resources of the robot The program test c is the classical Hello World test program A simple collision avoidance program avoidtkavr c will read the front cross eyed JR range sensors and turn away from any obstacles in its path Also if something hits the bumper the robot will backup turn and go on To start this program executing the back bumper must be pressed This is a precautionary technique to prevent the robot from inadvertently driving off your workbench surface and is recommended for use by you as a robot coding practice This version of the program induces sudden jerky movement when the robot quickly changes direction to avoid an obstacle A variation avoidtkavr_smooth c executes smoother transitions between motor speeds as the robot avoids obstacles The program tk4avr_ test c allows you to test all the features of the TALRIK IV microcontroller MEKAVR 28 in the context of the robot In order to run this program the robot must communicate with the host computer running a terminal emulator A physical serial communication link must be present e g the standard Mekatronix serial cable connection via the MB2325 board or optional infrared JR or radio frequency RF serial communication devices For more details on the usage of this program refer to Section 10 TALRIK IV Testing
81. ntroller PORTA and PORTB have been assigned to the Servo Bus and are not available for Digital IO The port pins available for digital IO on the TALRIK JV implementation are PE2 PE3 PE5 PE6 PE7 PBO PB1 PB2 PB3 PB5 PB6 PB7 PG3 PG4 PORTD PD0 to PD7 09 SLA M Each of these port signal pins come out on 3 pin male headers consisting of signal power and ground connections 10 2 TALRIK IV Test Program Summary The nine tests in order perform the following functions 1 Outputs the sensors as fast as the program executes Since the sensor data tends to vary from reading to reading the data is often unstable and difficult to read 2 Allows you to specify a fixed delay between each display of data to allow you to read these changes more easily provided the delay is long enough 3 Permits indefinite delays as it requires you to press any character key to refresh the sensor display 4 Averages the data samples of a sensor over a fixed period of time The number of samples taken during that period is also displayed 5 Averages the sensor data over a fixed number of samples This gives you an indication of how many samples you have to take of a specific sensor to stabilize the reading a word of advice do not write programs that rely on precise sensor readings rather use frequent sampling and decision making in its place 6 Run the motors forward and backwards repeatedly Make sure the robot wheels do not cont
82. of the Compile process the first begin end block and the Clean process the second begin end block Without the Clean process all the files removed command rm would still be in your code folder e cee cecceeeeeeeeeeteeeeteeeneeees 48 Figure 19 An attempted compilation of a version of test c with several errors results in the error message display in the Project Output window cceeceesceseeseeeeessceseeeeesseeseeees 50 Figure 20 Compiling a program in Target Debug will leave the temporary files in the project NOVEL ccs siccssesssaaentoatitstasesas tocounsdsaucnmbadeoidtsadea tes debesiesssacadiduecdatetadentaupiniecdtacassobectouunshonsituaion 51 Figure 21 Files generated by the compiler that Clean process removes from the directories lt coff gt and lt tkIVavr gt are highlighted in the windows shown above cc000 52 Figure 22 The main menu of tk4avr_test c allows you to select one of nine robot tests 55 Figure 23 This window displays a snapshot of Test 4 with the refresh delay set at 200ms Note the number of samples taken for each sensor during this time was 294 Depending on the program execution delay chosen this number may vary by a small numbet 00 58 Figure 24 The servo test allows you to specify a setpoint for any one of a possible 16 servos attached to the MEKAVR128 servo bus In this window servo 0 the pan servo on top of the bridge has been set
83. onal Back up 6 pack of AA NiCd rechargeable batteries 4 a A host computer with an RS2325 COM port or b A host computer with USB and a USB to RS2325 converter 5 A Mekatronix MB2325 communications board a A serial cable between the host computer COM port and the MB2325 board b A 6 wire serial cable C2325 from the MB2325 board to the USARTO PROG header on the MEKAVR128 board c Optional Recommended A pigtail connection between the USARTO PROG header on the VEKAVR1I28 board and the end socket of the C2325 The batteries MB2325 communications board C2325 6 wire serial cable the serial cable between a COM port on the host computer and the MB2325 board and the host computer itself must be purchased separately All components but the host computer may be purchased from a Mekatronix distributor 4 2 TALRIK IV Software Requirements Mekatronix TALRIK IV Distribution Software consists of 1 AVR Visual Studio 3 56 Gratis 2 AVR_FREAKS version of the GNU C Compiler avr gcc Gratis 3 TALRIK IV library functions include files and test programs This Mekatronix portion of the software is bundled with your purchase of the robot Arrangements to download the distribution software which includes both the freeware and Mekatronix software must be made with the vendor Such downloads take place online through the World Wide Web For your convenience you can also purchase a CD with the distribution software 24
84. only once to initialize the waveform generation on the FM headers The second function allows you to specify the frequency of the square wave The macros WAVE _OFF and WAVE _ON permit you to turn the waveform generation off and on 3 9 TALRIK IV s Bridge TALRIK IV s horizontal cross piece referred to as the bridge supports in the basic configuration a servo driven sensor head with three cadmium sulfide cell photoresistors These photoresistors allow TALRIK IV to sense different ambient light levels or follow beacons The pan tilt ARGOS sensor head can also be installed on the bridge as an accessory The bridge allows extensive sensory and servo expansion capabilities The bridge supports the following arrangements of servos and microcontrollers 1 five servos 2 four servos and a MEKAVR128 3 three servos and two MEKAVRI28 s or 4 two servos and three MEKAVR128 s The bridge can also be used to support small laptop computers or personal data assistants PDAs configured to perform computer vision and artificial intelligence operations for the robot As mentioned previously you can also hang various sensors from the bridge 16 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 3 10 Switches TALRIK IV provides easy access to the robot control switches
85. ons must execute sei and then servo _init before servo handler operates void servo init void general servo routine void servo unsigned char servo number unsigned int set pulse width routine to drive hacked servos void motor hs unsigned char index int percent enable program control of motors and servos As with other resources the initialization functions sei and servo init must be executed to enable the others The motor control parameters of motor _hs x y specify a motor index x 0 1 anda percent of maximum motor speed 100 lt y lt 100 A negative percentage causes backward motion of the wheels and a plus percentage a forward motion of the wheels 32 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 In actuality the percent does not reflect a speed truly proportional to the maximum The non linear relationship between the speed parameter and actual speed may be determined experimentally But if your robot application program requires this information you may not be approaching the problem from a robust point of view There are a number of parameters constants and variables too complicated to get into here but one deserves consideration The servo global variable volatile unsigned int servo limits MAX SERVO 2 75
86. opchar int max_length get an integer int usart0 getint void get a long integer long usart0_getlong void 33 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com 316 NW 17 Street Gainesville Florida 32603 Technical questions techsuppor mekatronix com put an integer void usart0O putint int n put an unsigned integer void usart0O putuint unsigned int n put a long integer void usart0 putlong long n put a hex integer void usart0O puthex int n put a hex byte integer void usart0 puthex byte char n put a binary integer void usart0O putbin int n put a bin byte integer void usart0O putbin byte char n string integer conversions Convert string sp into an integer sxp index of last char x valid 1 not valid integer bi valid 2 not valid integer and at end of string a valid 1 valid integer X valid 2 valid integer and at end of string 7 int atoi_meka char sp int sxp char valid convert integers embedded in string sp into an array ip of integers int atoi_array char sp int ip simpler version of atoi_meka convert ASCII into integer int atoi char sp convert integer n into string sp int itoa_meka int n char sp Shorthand IO function names define getchar usartO getchar define getstr x
87. or the current servo The display will reflect this new value 27 Type S to save to EEPROM all servo limits as now constituted In particular the new MAX_SETPT you just entered will be saved along with the rest of the current limit values of the other servos 28 Repeat the above limit calibrations for each robot that you attach to your robot After you have calibrated all the servo limits to their correct values for your robot and saved them as the default values in EEPROM you can display them by typing D Figure 25 Do not type D before saving changes with S or you will loose the recently determined calibrated values ATMEL HyperTerminal eal x File Edit View Call Transfer Help Dl s n 550 750 If desired copy and save to global variable volatile unsigned int servo_limits MAX_SERY0 2 in servo h located in folder Include_Meka Press RESET Switch on Robot to select another test ff Connected 5 37 3 ANSI 115200 g SCROLL CAPS Num Capture Print echc Figure 25 Display of the servo_limits MAX_SERVO 2 values in C notation If you executed S save to EEPROM at any time in the calibration process at the next robot reset the servo variable servo limits MAX _SERVO 2 in header file lt servo n gt will be initialized from the EEPROM by the macros ROBOT _INIT or ROBOT _AND SERIAL INIT If you 64 MEKATRONIX TALRIK IV Users Manual Design amp Manufa
88. ower 3 18 Programming Time on a Full Charge You will most likely spend considerable time developing and testing programs to run on TALRIK IV To conserve batter power while programming turn the robot power off and keep the robot on recharge Of course you must turn the robot power on when downloading and running programs but do not remove the charger connection unless you do a floor test of your program with robot wheels moving Following this procedure will allow you to extend programming time on a single charge from 4 to 8 hours depending on usage If you work more than a few hours at a time on programming you will need back up battery packs or a power supply adapter of 7 5 volts rated at 3 amps The output of the adapter must interface with a 4 pin socket to fit the 4 pin BATT header on the MEKAVR1I28 22 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 3 19 Robot ASCII Command Interpreter RASCI If you purchased the optional software package ROBOT ASCII COMMAND INTERPRETER RASCI program Mekatronix part number lt RASCI_avr zip gt along with infrared or radio interfaces for data transfer to and from the robot you will be able to control the robot remotely from a host computer using ASCH command sequences Further RASCI provides functionality for uploa
89. pin header on the M B2325 bi directional serial communications board and to the 6 pin serial interface header USARTO PROG on the MEKAVR1I28 microcontroller board A 4 inch long pig tail extension of the USARTO PROG header Figure 4 makes the header easier to access for the frequent plugging and unplugging the 6 wire C2325 cable from the robot The MB2325 connects directly into COMI port of older personal computers with 25 pin D25 connectors Current computers have a 9 pin D9 connector so you will need to acquire a D25 to D9 serial modem cable to be able to connect COM to the MB2325 board If the host computer only has USB connections you will need a hardware dongle to convert from USB to RS232C The output of the dongle will then drive the M B2325 normally Floating Bumper Mekatronix 18 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Whether downloading code or data the host computer always communicates with the robot at 115 2KBaud on the serial communication link described above An ANSI terminal emulator program such as HyperTerminal for WINDOWS on the host computer provides the software interface to the hardware communication link f MB2325 D25 to D9 Serial Modem Communications Cable C2325 6 wire Serial Communications Cable Figure
90. port on your computer to the MB2325 The C2325 cable connects the MB2325 to the 6 pin USARTO header on the MEKAVR128 Pig tail Extension of 6 pin USARTO0 PROG Header Figure 4 A 6 wire pig tail brings out the 6 pin MEKAVR128 header USARTO PROG to make it easily accessible for plugging and unplugging the C2325 serial cable into the header The socket at the other end of the C2325 cable usually stays connected to the MB2325 board 20 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 3 14 2 Plugging MB2325 into the host computer The MB2325 serial communications board Figure 2 has a 25 pin female type D connector On older computers COMI is a 25pin male D connector Today s computers however possess a 9 pin connector or Universal Serial Bus USB connector You will need a 9 to 25 pin converter available at most computer and electronics stores to enable connection between the host computer COM port and the MB2325 When the MB2325 is plugged into the COMI port of the host computer and a terminal emulator program attached to COM is open and connected then the LED D1 will light If LED D1 does not light check your terminal emulator program to make sure it is associated and connected to COM If it is and D1 still does not light then the serial port of t
91. r Mekatronix library Line 21 and include files to the symbol MEKA DO NOT CHANGE THIS PATH unless of course you have the expertise to do so 41 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 AVR Studio Bee ne ene ein conan edie Te RBOE OP VOT ORE PE TSS se SSS it fs ts POS ee DR fa IEA Figure 14 Add a makefile to the project tkavr apr AVR Studio makefile si Pe Ba eee Dia BE ee viet Wet Cee ee ee isegic gt eo ael zaneo Target Compie Clean Si Tomot Camnile amp Cloon HHABAHHEAH ADAH A AME Mekatronix Robobug Robot Makefile Keith L Doty Copyright 2004 Mekatronix Inc BUMS BEDE SE AE AO SAY AB AEE AE AB MEE BAO AE RS EDO ME 08 98D ID 08 AAD AY EAA TO MED EAE DE AD BEDE DB 98 BEI DB AO EAB AO EAD BO D8 APE ME AP 8 DE AD EEA AB AE EA A ln oh el lod faa yl Ag ot LAB Sa alo Gf galled Set TRG equal to your program name WITHOUT the c extension the system will compile TRG If you want to compile another program you v4 must set TRG equal to that program name and save the makefile before a executing build AO AP OD AU AD OE PO BE AE OE AA BE AE PEAU AA PE AAE BE PE AO EDE HAO E PE PHE AE AE PH AE AE AO FE DE AE AO EO AE AE AA AE AE AO HE AE DEAE AE DE DEAE HE OE DEAD AE AO DEAE DE AABO IE IE AOPE IEAA EAE TR
92. r and delete all files in the project including makefile these are the old tk4avr apr project files 6 From lt new code gt Add or create new test c to the Source Files and Add makefile to Other Files Be sure both of these files are selected from the lt new_code gt directory so that Avr Visual Studio knows where to find them Proceed normally with editing and compiling Save your project before quitting Next time you can just open the project and start right away a S MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 There are more difficult ways to create a new project but these are unnecessary to explain here 7 3 Changing a Project s Target Code You do not have to create a new folder and new project each time you want to develop a new program The following shows how to write any number of programs using the same project name For really complicated projects or for a large number of programs that naturally should be collected into one folder you may want to create a new project file and folder as described in Section 7 2 Setting Up a New Target for a Project 1 Open the project and add new target to Source Files 2 Delete the old target code in Source Files and all the other project files not used by the new target Do not delete makefile 3 Open make
93. reshold for turning away from an object 11 1 3 Write your own IR Ranging Program Mount an IR range detector on the panning Sensor Head To do this you may want to drill some holes in the top of the Sensor Head to pass 4 40 machine screws and mount the range detector as you would on the robot s top plate This system can be used to range out to about meter along 180 of arc in front of the robot with maybe 10 accuracy You will have to calibrate the IR detector as explained in Section 10 TALRIK IV Testing 65 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 11 2 Tips for Writing Programs With few exceptions you will declare include lt tkIVavr h gt In the main program ROBOT AND SERIAL INIT will be the first line of executable code if the program uses serial IO otherwise ROBOT INIT will be the first line of executable code The second line of code for those programs that will cause the robot to move is usually the macro START which waits for back bumper switch closure before further execution takes place The program avoidtkavr c illustrates these points 11 3 Writing your own Interrupt Service Routines for TALRIK IV using avr gcc You should not attempt to write interrupt service routines unless you have extensive experience with the ATmeg
94. ronment TALRIK IV is designed to operate in an office or home environment with smooth floor surfaces Although TALRIK JV can handle short pile rugs it spends more energy overcoming rug friction than smooth floor friction and its operational lifetime on a battery charge reduces considerably Shag rugs and extremely rough surfaces are inimical to TALRIK JV and should be avoided In general operating environments comfortable to lightly clothed humans will probably be suitable for TALRIK IV However we reiterate the previous caution on environmental constraints Caution TALRIK IV should not be exposed to moisture or continuous high humidity 90 or high temperatures 40 C 100 F or low temperatures 5 C 40 F 3 3 Physical Orientation TALRIK IV s wheel axis determines the robot s left to right axis The diameter perpendicular to the wheel axis determines the front to back axis The TALRIK IV label appears on the front of the robot s Top Plate The left and right side of the robot is determined from the handedness of a driver sitting on the bridge facing forward The control switches therefore are on the right side of the robot and the charge jack on the left side The caster wheel is at the rear of the robot near the battery pack on the underneath side of the Top Plate Locations around the Top Plate of 11 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robo
95. rs for the batteries to become fully charged 2 3 2 Installing or Replacing Batteries IMPORTANT AA NiCad Rechargeable only 1 Place the robot switch into POWER SAVE mode 2 With the Sensor Head fully forward carefully and gently flip TALRIK JV over so it leans on the back edge of the Bridge Top 3 Unhook the snap connector from the battery 6 pack WARNING WARNING WARNING DO NOT ACCIDENTLY OR OTHERWISE REVERSE THE BATTERY PACK SNAP CONNECTIONS OR YOU MAY DAMAGE THE ELECTRONICS 4 Unfasten the Velcro battery pack strap and remove the pack 5 Replace with a second pack of fully recharged batteries or place six fully charged AA NiCad batteries into the old battery pack oriented with proper voltage polarity as labeled on the pack Failure to do the latter may damage the electronics 6 Attach the battery pack tightly with the Velcro strapping Fasten the snap connector onto the battery pack terminals CAREFULLY Accidentally touching the battery pack terminals with reversed snap connectors may damage the electronics Remember even though the snap connector will fit only one way onto the battery pack this mechanical keying does not protect against accidental reversal of the terminal voltages by slight simultaneous contact of the snap connectors on the wrong terminals 10 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor
96. six photoresistor light sensors three on the Top Plate for line following and three on the Sensor Head to detect ambient light conditions The floating bumper is sensualized with 10 switches five for the front bumper at 10 11 12 01 02 o clock and five for the rear bumper at 4 5 6 7 8 o clock 3 5 Program Access to Sensor Readings Each TALRIK IV sensor has an index i 0 lt i lt 28 assigned to it The index i along with the standard library function analog i allows a program to read the output of sensor with index i Column lof Table 1 specifies the index of the sensor described in Column 2 The last column indicates defined label s for each sensor A program can access a sensor s value either through the function analog i as mentioned or through the label defined define for that sensor in the last column of the table The include file tkIvavr h in directory Include Meka provides a complete description of sensor definitions as well as motors servos and TALRIK II legacy functions Table 1 Program Access to TALRIK IV Sensors MEKAVRI128 SENSOR DESCRIPTION PROGRAM ACCESS analog Sensor Index or Associated Program Defines 0 MUXI6 Argos Left IR detector LIRA 0 ao Argos me Argos Sonar Argos 4 UX20 Argos Head define RIRA analog 4 Ll For UX21 define NCDSL analog 5 Line Follow E UX22 define NCDSM analog 6 Line Follow UX23 define NCDSR analog 7 Line Follow define IRO
97. t include lt two wheel motion h gt 316 NW 17 Street TALRIK IV Users Manual WWW mekatronix com Gainesville Florida 32603 The second one among other things provides some useful motor control macros for open loop control of the robot motion define Go move MAX SPEED MAX SPEED 1 define Stop move ZERO SPEED ZERO SPEED 1 define Halt Stop define Revers move MAX SPEED MAX SPEED 1 define Spinccw move MAX SPEED MAX SPEED 1 define Spincw move MAX SPEED MAX SPEED 1 5 2 Brief Descriptions of TALRIK IV Code Files Figure 10 illustrates the three programs distributed with the robot File Edit View Favorites Tools Help Back v 7 4 QSearch Folders 2 Ye OS K Ew Folders a TALRIK I V_DSO1 Avr_Studio Cl avrgee avr Meka Lib_Meka gt SIE CiInclude_Meka E lavoidtkavr hex lavoidtkavr_smooth hex I test hex 2Itk4avr_test hex gt 11 object s Disk free sp 101 KB My Computer YG Figure 10 The code file folder lt tkIVavr gt contains a few useful programs and their compiled hex files which can be downloaded into the robot microcontroller and executed 36 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questio
98. t again This reset actually starts the downloading You should see activity on the screen and blinking lights on the MB2325 serial communications board 11 If the download is successful the terminal emulator screen will display Program Download Successful Program Size in Bytes lt decimal gt lt hexadecimal gt Where the program size in bytes is expressed both in decimal and hexadecimal 53 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 12 To execute the downloaded program switch the DOWNLOAD RUN switch to RUN position and press reset again 8 2 Download Summary Assumptions Correct serial connection terminal emulator running with correct settings batteries charged 1 Turn on robot power 2 Switch the DOWNLOAD RUN switch to DOWNLOAD position 3 In the terminal emulator select Xmodem protocol transfer and browse to get the program hex object code lt filename hex gt 4 Select Send on terminal emulator 5 Press reset switch on robot to start the Xmodem file transfer 6 A message on the emulator screen alerts you to a successful or unsuccessful transfer 8 3 Common Download Failure Modes 1 You selected the wrong extension for the program s object file for example lt filename c gt instead of lt filename hex gt You forgot to put the
99. t TALRIK JV on the floor disconnect both the charger and the serial communications cable from TALRIK IV If you work more than a few hours at a time you will need back up battery packs or a power supply of 7 5 volts rated at 3 amps which you must configure with a 4 pin socket to fit the 4 pin BATT header on the MEKAVRI28 3 16 Halting a Moving TALRIK IV Chasing down a moving TALRIK JV takes more skill than transporting it A recommended procedure is to chase it from behind and turn the POWER SAVE ON mode switch to POWER SAVE or pick up the robot and turn it off being careful to avoid the motors and sharp objects on the robot The user can also program clever behaviors which halt the robot on certain conditions that can be artificially generated For example you can program the robot so that a touch of the rear bumper while the robot is going forward will stop it 3 17 Runtime on a Full Charge The length of time a TALRIK JV robot will run on fully charged batteries depends upon the robot program executing and how the robot reacts to its environment under the control of that program The sample program avoidtkavr c for example which moves the robot about an environment while avoiding collisions runs about 1 hour on a full battery charge The motors and the five IR range sensors run continuously during the hour The five IR range sensors collectively consume more energy than the motors and place a significant drain on battery p
100. teceteeeeeeeeees 68 12 3 4 Adjusting to Ambient Conditions cs jacssestussspiscseuveriesennsiasisostiortadeianenuess 69 12 3 5 Create simple DehaVi fs sjasicsessciacesouhcataiadsseaavesanstesedesaceiacianlibedintesesieaseianics 69 12 3 6 Build on simple behaviors scncenkccicemneiiccuin haem 69 12 4 Integrating Bea Vi OLS a sesacssnszavssnntaxessantencincnseneenettincesvarextnnseeneennanmncesunteeeranateagines 70 LIST of FIGURES Figure 1 This 3 D drawing locates the standard sensor complement of a TALRIK IV namely five IR range sensors and six photoresistor light sensors three on the Top Plate for line following and three on the Sensor Head to detect ambient light conditions The floating bumper is sensualized with 10 switches five for the front bumper at 10 11 12 01 02 o clock and five for the rear bumper at 4 5 6 7 8 O CIOCK 0 cece eecceesseceteceseeeeeeeeseeeeeeees 13 Figure 2 Serial communications between the TALRIK IV robot and a host personal computer using RS232C protocol requires a voltage conversion device the Mekatronix MB2325 board to translate RS2325C voltages from the host computer to the 5 volts and ground expected by the robot s microcontrollers serial port USARTO Both LEDs are lit in the photograph indicating a proper serial connection between host computer and robot 19 Figure 3 Serial communications between the TALRIK IV robot and a host personal computer requires a Mekatronix D25 to D9
101. ts www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 the robot are designated by clock positions Front center defines 12 o clock and the Left Bridge Support defines 9 o clock From these o clock definitions you can determine the remainder clock positions on the Top Plate For example the Right Bridge Support is at 3 o clock 3 4 Sensor Layout The drawing in Figure 1 points out the standard layout of TALRIK IV s sensor suite which includes five IR range sensors and six photoresistor light sensors three on the Top Plate for line following and three on the Sensor Head to detect ambient light conditions The floating bumper is sensualized with 10 switches five for the front bumper at 10 11 12 01 02 o clock and five for the rear bumper at 4 5 6 7 8 o clock Mekatronix provides additional sensors kits for mounting on the robot Check a Mekatronix distributor ns P Eye Photoresistors Top Plate Right Bridge Support Nose Photoresistors MEKAVR128 Sensors SS a me 12 o clock Floating Sensor Bumper 12 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 Figure 1 This 3 D drawing locates the standard sensor complement of a TALRIK IV namely five IR range sensors and
102. tudio 3 56 If you have issues with the C Compiler please seek remedy at http www avrfreaks net or http gcc gnu org For problems with AVR Visual Studio 3 5 refer to http www atmel com 4 5 PROGO Language Support PROGO is a simplified robot language for beginners defined on top of the C Language to be easily read without much training Advanced Middle School students have demonstrated a basic programming competency in PROGO with as little as four hours of instruction and laboratory experience I wrote PROGO to enable inexperienced programmers the pleasure of immediate access to robot programming The ease in learning PROGO eliminates the prerequisite and daunting task of developing programming skills in a complex computer language with incomprehensible syntax just to write simple robot programs Figure 5 presents a PROGO program that moves the robot along the perimeter of a regular polygon PROGO Language key words appear in boldface type The only obvious C Language construct is the include statement include lt tkIVavr_progo h gt at the beginning of the program This statement defines PROGO for the C Preprocessor to convert the PROGO code to C The Dictionary for this program defines integers N the number of sides and the side length side which serve as inputs to the program through the serial port START requires a press of the back bumper before the program continues execution This feature reduc
103. u Trekkie fans know what this means But to be specific try to perceive the universe as the robot does with its limited capabilities As you imagine yourself one with the robot play out different sensations and responses Help yourself by actually recording robot sense data and examine typical responses or responses to special environmental conditions of interest in the behavior you are developing The mind meld will help prevent the common error of asking the robot to respond to environmental conditions it cannot detect with its sensors While this statement is so totally obvious it is also a difficult self discipline to psychologically enforce Why Humans typically interact with each other or intelligent animals expecting and receiving sophisticated behavior and sensory performance These expectations seem to subconsciously creep into our agenda when working with autonomous machines often with disappointing results Autonomous robots have no where near the sensory and behavioral capabilities of an insect let alone higher animals 12 3 2 Virtual Mind Meld To assist in perceiving the universe as the robot does you can write host computer programs to generate computer graphic displays that depict the robot s perception in any sense that makes communication with the robot easier Robot Rorschach tests color maps a virtual robot environment This process we coin as a Virtual Mind Meld The robot transmits data to the host computer which in
104. ug MEKA Lib_Arm libarm a MekArm MEKAY Lib_Argos libargos a Argos Pan Tilt Head If you have all the above Mekatronix products then define LIB as follows LIB MEKA Lib Meka libmeka a MEKA Lib_Bug libbug a MEKA Lib_Arm libarm a MEKA Lib_Argos libargos a PEPEPETEEEEE TE PE PETE PEPE TEPE PETE PE PE EE PE FE PEPE TE PEPE ARH 43 44 45 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 FEPEEEEE EE EE EE EEEEEE PEPE TEEPE ETE PEPE PEPE PEPE PEPE PEPE PEPE PEPE PEPE EPP PEPE PEPE The make continues with meka_make Typically you will not need to change the include line below nor change meka make HHH HHHHHHHHH include MEKA meka_make AVR Studio makefile File Edit Project Debug Breakpoints Trace amp triggers Watch Options View Tools Window Help isugojseoccas era Rano ODM ORE MaTe S alla MAMMA ADRENAL ETE AE TEA TEAL AL AE AP AE AE AEE AE AEE EAE EAE EAE TEAR TEA AE AD AE AE AE AEE AEE AE EE EEE AE TEAR AAA AE Mekatronix Robobug Robot Makefile Keith L Doty Copyright 2004 Mekatronix Inc HNHHUNHBHNHHANNHUNNHHANHHNNHHUNAHHNNANNNHHNNHHNNHHUNNAHANAHUNHHHUHHANNHHNHNHH ee settee a eae eae ota aaa atk Set TRG equal to your program name WITHOUT the c extension The system will compile TRG
105. ved along with the rest of the current limit values of the other servos 99 Calibrate MAX_SETPT of a Servo 16 Enter servo number 17 Enter setpoint First time through use MAX_SETPT 18 After the servo completes its move enter the servo number and a setpoint of 0 The latter disables the servo action 19 Attempt to rotate the servo output shaft in the direction of the previous motion 20 Ifshaft does not rotate go to Step 22 otherwise the servo is not at its true maximum 21 Repeat Steps 16 to 20 with a servo setpoint entry in Step 17 that is 50 steps greater than the current setpoint 22 If the servo shaft does not rotate with the new setpoint either the servo is at its maximum setpoint or it is being overdriven 23 Back off the setpoint by subtracting 10 steps 63 MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 24 Enter the servo number and a setpoint of 0 and attempt to manually rotate the servo shaft back to the limit position 25 Repeat Steps 23 and 24 by subtracting or adding small amounts to the new setpoint until you can manually rotate the shaft only a small amount to its limit position at which time you continue with the next step The main concern is not to overdrive the servo at the maximum setpoint 26 Type U to save this new MAX_SETPT f
106. wer voltages will not charge the batteries and higher voltages my damage the electronics The charger plugs into the receptacle mounted on the left bridge support When not in use keep TALRIK JV connected to the charger with the power off If power is left MEKATRONIX TALRIK IV Users Manual Design amp Manufacture of Intelligent Machines and Robots www mekatronix com Technical questions techsuppor mekatronix com 316 NW 17 Street Gainesville Florida 32603 on while charging the batteries will discharge completely after a few hours as the current load of the electronics exceeds the charge current A Mekatronix AC adapter plugs into the charge jack receptacle on the Left Bridge Support of the TALRIK IV The charging technique uses a trickle charge This means that a small current is constantly applied to the batteries Because this is a low level current the robot can be left charging indefinitely While the robot is not moving around plug it into the charger especially while programming the robot on your desktop This will extend operating time for programming 2 3 1 If you purchased Charger and Batteries 1 Plug the Mekatronix AC adapter into a power socket and insert the 12 volt DC output power plug into the power jack on the left bridge support of a completely assembled robot The green LED charging indicator should light 2 Place the two toggle switches on the robot in POWER SAVE and DOWN LOAD mode respectively 3 Wait 6 hou

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