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Radio Shack Mobile Robot User's Manual

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1. Right Left Ercoder Motor Bracket wheel with Coupling Motor Bracket Th deod B Whee Irene bore ER nd os F 10 Star US SOF SE Vasher Washer 3 Vet Jas ES rive Motor S RE Ge E le hm Om D VET E cod LI No J LI A Bronze id e K J 3 4 40 x 3 16 t Bear 32 N w 10 32 Nut TEANS Ee lt Hi Sion OS washer Encoder Sensor Mounts here Front ie Right Left Motor Bracket Motor Bracket Wheel fo N N YS Drive Motor Encoder Wheel BEE As Coupling Bearing N A Steering Motor and Rear Wheels Steering of the robot is accomplished using a standard RC servo motor attached to the rear wheels Read the assembly summary while viewing the drawings Summary E Bend both 4 wires into steering linkages with pliers using the drawing as a pattern E Attach the horn to the steering motor with a screw Turn the horn in both directions to determine the center position In the center position the horn should be oriented like the drawing shows E Mount the steering motor to the robot body per the drawing E Mount the rear axles to the robot body using collars You may have to put 6 32 x 1 4 screws in each collar first E Mount the wheels to the axles using collars E Attach the linkages to t
2. BASIC SE EE n LED 470 OHM A N NAN 6 el pV P1 KI e ON ines 23 UP V Pe COPROGCE SSOR 5 WH NETWORK POU PIN P8 Multiple Basic Stamp II Coprocessors AROBUI CONTROLLER BASIC Ipo ST P8 Ais H COPRUCE SSOR STAMP Il BASIC STAMP II BASIC STAMP I C j o TU AJ O 1 Y YW ER MOTORS USER USER DEVICES DEVICES 5 Using Other Controllers ARobot s controller board is designed to accept the Basic Stamp II controller chip made by Parallax www parallaxinc com Parallax makes other Basic Stamp II compatible controllers which offer more memory and greater speed Other manufacturers also make controllers that are compatible with the Ba sic Stamp II and most of them should work fine with ARobot s controller board It is possible to remove the Basic Stamp II and use a different type of high level controller board In stead of removing ARobot s entire controller board leave it to make use of the DC motor drivers pow erful output encoder sensor circuit RC servo motor drivers speaker LEDs switches and power regula tion that is available there Simply make a cable between the two controllers Cabling between ARobot s controller and another controller You have two cabling choices 1 Cable from
3. OO Washer 6 plastic SCH St asher whisker spacer Deeg i Whisker bracket ed Whisker wire attached to body cable Screw 4 40 x 3 16 Loop in whisker wire Ground Lug From Body Cable Full Scale Whisker Wire Pattern g 8 3 4 Total Length Small Loop Attaches to Whisker Bend both whisker wires using this Spacer pattern 15 Drive Motor and Brackets Locate the two motor brackets a left side and a right side Locate the drive motor Mount the drive motor to the left motor bracket using 2 or 3 screws according to the drawing Next attach the motor brackets to the robot s body using 3 screws 3 star washers and 3 nuts per motor bracket Minor bend ing may be required to align the mounting holes Summary E Locate the 2 motor brackets left and right sides and the drive motor E Mount the drive motor to the left bracket using 3 screws E Locate the 6 motor bracket mounting holes on the robot body 3 per bracket E Mount both brackets to the robot body Drive Motor Mounting Motor Bracket Mounting Robot Body Motor Bracket Placement bracket Left Motor Bottom View Bracket 2 or 3 Screws Drive Motor 4 40 x 3 16 mu Bottom View Whisker s EG a g CO Ga ke H d we Ee 3 Mountin
4. Analog inputs are inputs that can vary from 0 to 5 volts While the Basic Stamp II doesn t have a true analog input analog signals can be read using a little trick This is done by adding a capacitor to ground on a digital I O pin and a resistive sensor to 5 volts The sensor value can be read by first setting the digital I O pin low to drain the capacitor then the I O pin is changed into an input the resistive sensor will gradually charge the capacitor towards 5 volts The time it takes for the signal to read a logic one high is the value of the sensor Analog Light Sensor 5V CDS EN LIGHT I ee SENSOR N S DIGITAL A I O AGE CS Basic Stamp II light sensor example code This routine demonstrates detecting light The light level is read by determining the time it takes to charge the capacitor The CDS photodetector changes resistance as the light intensity changes This changes the current that is charging the Capacitor The output result is then output to the debug screen light var word light variable main pause 500 check every half a sec low 2 drain cap pause 50 wait for cap to drain rctime 2 0 light time cap charging debug light send result to PC More expansion information Our space is limited here so make sure to visit our web site for the latest expansion application notes complete with program examples www robotics com arobot projects html Also visit
5. The makers of the Basic Stamp II Parallax Inc offers PC based software that allows you to edit and download programs to the Basic Stamp II The disk included in the ARobot package includes a version of this program We suggest you visit their web site and download the latest version of software and also their documentation which gives greater detail about programming than we can offer here Install the software by coping the disk contents to a newly created directory on your hard disk Then run the editor downloader which is named STAMPW EXE for the windows version or STAMP2 EXE for the DOS version The program will require that you select the serial COMM port number Overview of programming E Install programming cable between your PC s serial port and ARobot s serial port E Install ARobot s batteries and turn the power switch on E Start the editor downloader software and select the correct serial port number E Load a program from disk or create a new one E Download the software to ARobot E Remove the programming cable E Press the reset button on ARobot s controller to start the program 26 Programs The ARobot package includes programs to E Test Program to test motors buttons whiskers speaker LEDs etc E Steering adjustment program to set the straight position of the steering motor E Wander program will move around avoiding obstacles Other programs and projects for ARobot are available at our websit
6. serin net baud hex4 ec Get encoder count into ec You can use this code within a loop to wait until the desired distance is completed Put a 100 ms delay between reads usinga pause 100 command Steering Motor The steering is an RC remote control style servo motor that is commonly used on model race cars and airplanes The coprocessor can control 4 RC servo motors 1 is used for steering When the Basic Stamp II needs to control an RC servo motor it simply sends a command to the coprocessor which han dles the task This frees up the Basic Stamp II for other tasks Here is a subroutine that can be used to control all 4 RC servo motors including the steering motor 1 Study the WANDER and TEST programs for additional insight Constants and Variables net con 8 coprocessor network pin baud con 396 coprocessor baud rate position var byte Position of motor motor var byte Motor Subroutine to control RC servo motors Motor 1 4 Position 1 255 O off 128 center The servo is moved to the desired position for 500 ms then turned off to conserve power reservo serout net baud 1R decl motor hex2 position Move Motor serin net baud charn Get A pause 500 Wait for servo to turn serout net baud 1R decl motor 00 Motor off serin net baud charn Get A return If you need your RC servo motor to resist movement after it has turned to the desired position don t turn 3
7. Berg 499 Ocean Ave East Rockaway NY 11518 516 599 5010 The Berg catalog contains gears bearings and large assortment of unusual belts and pulley systems Z World Engineering 1724 Picasso Ave Davis CA 95616 916 757 3737 Manufactures single board computer for control applications Internet Robot Resources The Internet contains a wide variety of resource pertaining to robots Virtually all Universities provide research documents and files on the Internet for those interested Many contain information about robot programming navigation and control issues This information can be obtained using a Web browser such as Netscape or via FTP File Transfer Protocol Various newsgroups are available that allow readers to exchange ideas and ask questions Arrick Robotics maintains an Internet Web Site at www robotics com At this site you can browse pages describing various product offerings and view the latest demonstration code and example programs You can also send e mail to info robotics com to get technical and sales questions answered The following information is a sample of robot related information available on the Internet at the time this manual was printed Web Sites www robotics com arobot ARobot Information Page FAQ Projects etc www robotics com arobot faq html ARobot FAQ www robotics com arobot projects html ARobot Projects www parallaxinc com Parallax Basic Stamp Information www robotics com r
8. Star Washers Arms Spacers 4 40 nuts 10 32 nuts 6 32 x 1 4 12 Painting ARobot s paint job is your first chance to be creative and have a little fun Who wants every robot to look alike anyway Five parts are candidates for painting The robot base 2 motor brackets encoder wheel and the motor coupling Or if you prefer simply leave these parts unpainted Here s the process E Sanding E Paint primer E Finish coat E Accents Sanding Sand the metal especially the edges with fine sand paper 200 600 grit This process could also be done with a file When done clean the surface well using soapy water Dry thoroughly before continu ing Paint Primer Paint primer is a special kind of fast drying paint that helps paint stick to a surface Primer is normally gray or red and comes in a normal spray can You ll need less than one can Read and follow the in structions on the paint can Make sure the surface is clean and dry before priming Finish Coat Apply the finish coat according to the directions on the paint can You may want to check out some of the non conventional paints that add texture to a surface Normally you should let the finish coat dry overnight before continuing Accents Be creative consider using special accents to make your robot stand out E Masking to create special shapes such as flames or zebra stripes E Colored electrical tape from Radio Shack Catalog 64 2340 E Colored adhesive dots from an
9. a typical personal computer the baud rate is the number of bytes per second times 10 Each byte consists of 8 data bits 1 start bit and 1 stop bit BASIC A high level programming language Binary A numbering system using 2 numbers 1 and 0 Bit Abbreviation for binary digit Each bit can have a value of 1 or 0 Byte A group of 8 bits C A high level programming language Cellular Automata A system constructed with an array of cells where each cell can act according to preset instructions and can respond to nearby cells Once started the system proceeds without further instructions Central Processing Unit CPU The central component of a computer that executes instructions written by a programmer and controls I O devices and memory Chaos Disorder displayed by some complex systems Closed Loop In motor control the use of a feedback device such as an encoder to adjust the motor driver to achieve the desired position speed or acceleration ARobot s drive motors are closed loop Compiler A program that converts a high level program into a low level program that can be executed directly by a CPU Digital Signals Signals that can have a value of on or off 1 or 0 Encoder A feedback device used by a motor to sense position and speed Normally a wheel with holes or slots that are detected with an optical sensor EEPROM Electrically Erasable Programmable Read Only Memory A type of memory IC
10. electrical connection to the body Slide the whisker wires through the bracket hole Mount the whisker to the spacer with a 4 40 x 3 16 screw through the whisker s loop When done bend each whisker so it rests in the center of the bracket hole without touching Place a piece of tape on the end of each whisker Summary E Locate the 4 mounting holes 2 per whisker 2 small 2 large E Scratch off any paint around the two small spacer holes E Bend whisker wires using the drawing as a full scale pattern E Mount the spacers and brackets according to the drawing E The whisker wires should rest inside the bracket hole without touching E Place a small piece of tape over the ends of prevent poking people How it Works The robot s body is connected to the battery minus wire ground which connects to the spacers and the whisker wires When the whisker wire is bumped it touches the metal bracket These metal brackets are wired to the controller through the body cable In a program the robot can read the whisker status Whisker Placement Large Holes Small holes Bottom View 14 Whiskers continued Side View Robot Body Front ZS A whisker LEN Screw 6 32 x 1 4 Screw 4 40 x 3 16 N Scrape Paint ur y _Washer 6 plastic shoulder Robot body
11. other tasks An encoder wheel and encoder sensor are used to measure rotation of the drive wheel resulting in dis tance measurement There are 20 encoder slots counts per revolution As it rotates the slots are de tected by the encoder sensor The drive wheel is about 3 1 2 in diameter so each count represents about 1 2 of robot travel 3 25 x 3 141 20 Reading of the encoder is also handled by the coproces sor to free up the Basic Stamp II The count distance can be read from the coprocessor by the Basic Stamp II when needed The following PBasic subroutine will show how to control the drive motor through the coprocessor We suggest you also study the WANDER and TEST program Drive Motor Control Subroutine speed var byte Speed variable 0O 9 TAT distance var word Motor distance variable 0 65535 direction var byte Direction l fwd O rev net con 8 Coprocessor network pin baud con 396 Coprocessor baud rate Subroutine to start drive motor drivemotor serout net baud 1M1 decl direction speed hex4 distance serin net baud char Get A back return 31 Drive Motor and Encoder continuec The previous subroutine will START the drive motor You can monitor the progress of the drive wheel by reading the encoder counter from the coprocessor Here is example code that will read the encoder ec var word Encoder count serout net baud 1E1 Ask for encoder count
12. pre built so sol dering is not required During assembly you will do these things E Sand and paint the metal robot body pieces this is optional E Mounting whiskers drive motor steering motor wheels etc E Route cables E Install the Basic Stamp II onto the controller board You ll learn E Identification and names of all parts E Screw nut and washer sizes E Basic electronic terminology E Basic mechanical assembly techniques E Basic wiring skills Tools you ll need E Medium Phillips screwdriver E Needle nose pliers E Sand paper 200 600 grit or file E Wire cutters Parts ARobot is easy to put together Make sure you have all of the parts listed below before beginning If something doesn t look right send us some email at info robotics com Quantity 1 2 1 7 12 16 12 5 13 2 2 4 2 4 1 1 4 1 1 1 8 2 1 1 2 2 2 3 1 1 1 Description Robot Body Sheetmetal Motor Brackets Encoder wheel Screw 4 40 x 3 16 Screw 4 40 x 3 8 Screw 6 32 x 1 4 Nut 4 40 Nut 10 32 Washer 4 star teeth Washer 6 plastic Washer 6 shoulder Washer 10 star teeth Spacer 4 40 x 1 4 Spacer 1 plastic RC Servo Motor DC Gear Motor Plastic wire tie Body Cable Encoder sensor Shaft coupling Collar Rear axle Front axle Bronze bearing Steering arm Steering arm linkage wire Whisker wires 8 3 4 Wheel 3 1 4 di
13. that converts infrared energy into electrical signals Motion detectors for alarm systems often use PIR sensors to detect moving living objects PC 104 Embedded computer system standard which has connectors with 104 pins PC 104 modules are similar to cards found in desktop personal computers except that they stack together instead of plug ging into a mother board Complete computer systems can be created using PC 104 products Printed Circuit Board PCB A non conductive board that is laminated with layers of copper to pro vide electrical connections between components ARobot s controller is a PCB Pulse Width Modulation PWM In motor control the use of electrical pulses of various widths to control the motor s position and speed In speech and sound creation the use of various pulse widths to generate an analog signal by using a low pass filter RAM Random Access Memory Read write memory Remote Control Control of a system at a distance Resolution In a motor control system the smallest motion that a motor can make Robot Any device that operates automatically performing tasks like a human Rule based System See Expert Systems Sensor A device that converts light temperature and other phenomena to electrical signals Also re ferred to as transducer The ARobot uses many different sensors to detect the environment Serial Data Data that is transmitted a signal bit at a time over one wire Servo Mot
14. the Basic Stamp II socket to the new controller 2 Cable from the expansion port to the new controller See the expansion port connector pinout and the Basic Stamp II pinout in the schematic for pin numbers and signal usage Cabling to the Basic Stamp II socket will allow access to the RS 232 connector raw DC voltage and the reset button These signals could also be wired to unused pins on the expansion connector if needed Signals that go directly from the Ba sic Stamp II socket to the Expansion connector and are not used anywhere else can be ignored The ones you re interested in are the signals that go to the coprocessor whiskers LEDs speaker and other devices you wish to utilize See the coprocessor command structure section of this manual to learn how to control the DC drive motor RC servo motors and powerful output through the coprocessor Using ARobot s controller as a coprocessor Another option is to use ARobot s existing controller with a Basic Stamp II installed as a coprocessor which receives commands from a master controller Communication between these two controllers could be accomplished using the serial port A program could be written on the Basic Stamp II that would respond to commands as needed This arrangement would offload motor control and other tasks such whisker reflexes to the coprocessor and free up the master processor Using ARobot s controller as a coproces MASTER SLAVE User s ARok
15. very large servos that need a lot of current may require an additional power supply to prevent overload or electrical noise that could crash the Basic Stamp II or coprocessor 38 Expansion Port Circuit Examples ARobot s expansion connector provides access to the Basic Stamp II s I O pins to the RC servo motor signals and to the wheel encoder s signal These signals can be used to control accessories and to read sensors 5 volts is made available to power accessories Observe current specifications to prevent overload of the power supply components on the controller board Many unused pins are also available that can be soldered to various signals on the controller board or to components in the prototype area Breadboards and Perfboards ARobot s controller board is the same size and has the same mounting hole pattern as breadboards and perfboards from Radio Shack Part numbers 276 174 and 276 170 respectively 2 x 6 The breadboard allows circuits to be created easily without soldering The perfboard allow construction of more permanent circuits Boards can be stacked on top of each other using long screws or spacers Two sets of board mounting holes exist on ARobot s body The set towards the rear is occupied by the controller board and the other set can be used to mount breadboards or perfboards Soldering and other basic electronic skills Books are available from Radio Shack and other sources that teach basic electronic s
16. 2 Coprocessor Command Summary This section describes how the coprocessor works and how each command is constructed The controller board contains a coprocessor that is used to control the drive motor powerful output en coder sensor and the 4 RC servo motors 1 is used as the steering motor This frees the Basic Stamp II for other tasks The coprocessor receives commands from the Basic Stamp II via the coprocessor net work bus on pin P8 SERIN and SEROUT commands are used in PBasic to communicate with the co processor Each command sent to the coprocessor is preceded by a start character and an address character This allows other coprocessors to be attached to the network The coprocessor responds to some commands by returning an A to indicate acknowledged The co processor never speaks until spoken to this is called a Master Slave network The Basic Stamp II is the master and the coprocessor is the slave This creates a multi processor system Each command intended for the motor control coprocessor begins with 1 Drive Motor Control Example 1M11200E7 The command begins with 1M1 to indicate the drive motor The next character 1 in the example indicates the direction 1 forward 0 reverse The next character 2 in the example is the speed which should be 0 1 2 3 4 5 6 7 8 9 A Speed of 0 is off A is full speed The next 4 characters are the desired encoder count in hexadec
17. 2 inch from the wheel s hub Follow the assembly summary below while looking at the drawings If you bend the whisker wires in this process don t worry we ll fix them later Summary E Locate the wheel with the threaded bore It has a red mark on the hub E Thread the front axle through the wheel so that it protrudes 1 2 on one side E Don t damage the threads on the axle E On the short axle side slide on a star washer and screw on the coupling tighten E On the long axle side slide on a star washer then screw on a nut tighten E On the long axle side screw on a nut a washer then another nut per the drawing E Slip the bronze bearing onto the long side of the axle flange first E Insert the long axle side through the hole in the right motor bracket and the coupling on to the drive motor shaft The bronze bearing should fit in the hole If not use a knife to enlarge the hole E Move the nut washer nut combination installed earlier so they push against the bronze bearing E Now install the encoder wheel with the nuts and washer as shown in the drawing The encoder wheel should ride in the slot in the encoder sensor without touching it E Tighten the set screw in the coupling against the motor shaft tighten the wheel against the coupling tighten the other nut against the wheel tighten the two nuts together and finally tighten the nuts against the encoder wheel The encoder wheel should not touch the sensor
18. AROBOT Mobile Robot For Hobbyist Research and Education Assembly and User Guide Copyright c 2005 Arrick Robotics All Rights Reserved se Ce ee N e Robotics com ARobot Mobile Robot Revision D 11 17 2005 Table of Contents Introduction Introducnon 1 About ARobot ee see ee ee ee ee ee Re Re ee 1 What Youll Need ee es ee ee se Re 2 Feature List 2 S PeCiliCaliONS ege 3 Precautions ii SS EE e 4 Component Locator sssesseeesseessesseeesseeeseee 5 Glossary of TSTMS ses ees Ee 6 Assembly Assembly Overview c cesccrseccessceeeteeeee 9 Parts N eege 10 el TEE EO OE Ra 13 KEE 14 Drive Motor and BracketS ees esse sesse 16 Encoder Sensor c cccccccccsssssssseceseceeeesensaees 17 Front Wheel Assembly iese sees ee 18 Steering Motor and Rear Wheels sesse 19 Controller Board sesse sees ee Re ee ee 21 Bates Dak ui Si EG LE Ed es 22 Body Cable see AR ge SEGE Ee Ee sed 23 Finishing Us esse se eg es ee 24 Usage About the Controller iii iese esse see ee ee 25 Basic Stamp II Installapon eee 25 Cable to your PEER ee 26 PC Editor Downloader iese sesse se se ee ee se 26 The Test Eerad 27 Steering Straightening Steering esse 27 Wander Program ss ee ES eg aa 27 Controller Schematic iese sees se se ee ee 28 Batteries sis Ve EE Ge VERE Ge ei EN Ee 29 Power On Off Switch 29 Reset Burton 29 WHISKERS te EE EE ee Ge estes 30 SPEAKER EN ster
19. Bg EE ee ek 30 LED Indiceators ee ee ee ee ee 30 Push Buttons and Jumpers 31 Drive Motor and Encoder esse se sees esse 31 Steering Motor s sicesccctsiscsecstiavedactesegecivamieedes 32 Coprocessor Command Summary 33 Hexadecimal Binary Bytes Words 35 Table of Contents Continued Connectors Battery Omer Re doce 36 Body Connector cue EE EE eg 36 Serial Port Connector se nese 36 RC Servo Motor Connectorg sesse esse esse ee 37 DC Motor Connector iese sesse ese se ee 37 Powerful Output Connector esse esse see 37 Expansion Expansion Connector sesse esse se ee se ee 38 User RC Servo Motors 38 Expansion Circuit Examples sesse esse esse ee 39 Coprocessor Network Expansion 42 Using Other Controllerg iese se esse es see see 43 Additional Information Suggested Reading eege eege 44 Component Accessory Suppliers iss 45 Internet Robot Resources esse esse es see see 47 RE 49 Warranty Information eee se se ee ee 50 ARobot Project Database www robotics com arobot projects html ARobot FAQ www robotics com arobot faq html Introduction Congratulations for purchasing the ARobot mobile robot This manual should answer all of your questions We suggest that you read and understand all of it before using your new robot If you have any questions please view our web site at www robotics com arobot The software provided is designed for use with IBM style personal com
20. N 0 672 30301 9 Book covering artificial life cellular automata and other various other interesting topics Disk included Artificial Life Lab By Rudy Rucker Waite Group Press ISBN 1 878739 48 4 Book covering artificial life programming and related topics Disk included Component Suppliers The following list of suppliers has been compiled to help in the expansion of ARobot These vendors offer such items as single board computer sensors and actuators Most of the companies listed have catalogs which contain detailed part and technical information and can be obtained at little or no cost Ampro Computers 990 Almanor Ave Sunnyvale CA 94086 408 522 2100 Manufactures a wide variety of computers and controller boards including PC 104 based systems Boston Gear 14 Hayard St Quincy MA 02171 800 343 3352 A good selection of medium and large gears pulleys gear reducers and shaft components DU BRO Products Inc P O Box 815 Wauconda IL 60084 708 526 2136 Manufactures hardware minature servo linkages and Edmund Scientific 101 E Gloucester Pike Barrington NJ 08007 609 573 6250 Optical and other educational supplies and equipment Helical Products 901 W McCoy Lane Santa Maria CA 93456 805 928 3851 Manufactures precision shaft couplers 45 McMaster Carr Supply Company P O Box 740100 Atlanta GA 30374 404 346 7000 Huge catalog containing mechanical parts tools
21. ROBOTICS Attn Repair Dept 10768 Technology Dr CR2335 Tyler TX 75707 USA You agree to prepay shipping charges and to insure the product or assume the risk of loss or damage in transit All express or implied warranties for this product including the warranties of merchantability and fitness for a particular purpose are limited in duration to a period of one 1 year from the date of purchase and no warranties whether expressed or implied will apply after this period If this product is not in good working order as warranted above your sole remedy shall be repair or replacement as provided above In no event will ARRICK ROBOTICS be liable to you for damages including any lost profits lost savings or other incidental or consequential damages arising out of the use of or inability to use this product Some states do not allow limitations on how long an implied warranty lasts so the above limitations may not apply to you Some states do not allow the exclusion or limitation of incidental or consequential damages for consumer products so the above limitations may not apply to you This watranty gives you specific legal rights and you may also have other rights which may vary from state to state 50 ROBO TICS Robotics com
22. S EXPANSION Programming 4 Yov ll be programming the Basic Stamp II ee in a language called PBasic Documenta 5 5 tion for PBasic is available free from the 3 E Parallax Inc web site at cio J RT 3 t_ http www parallaxinc com Pin 1 P nn RESET SU3 de As SUL SW2 25 Cable to your PC ARobot s controller board is programmed by connecting it to an Personal Computer PC running Mi crosoft Windows The serial port 9 pin male connector will be used for this A 9 pin male female ca ble is included to connect your PC s serial port to ARobot It may be necessary to remove your modem or other device except your mouse to free up the serial port Switch boxes are also available from computer stores that allow one serial port to serve two devices Most computer stores also offer serial port cards that can be added to your computer USB Port If you don t have a serial port on your computer you can use a USB to serial converter cable Programming Note You ll be Programming the Basic Stamp II These programming details are beyond the scope of the ARobot User s Guide Therefore you ll need documentation that details the commands and procedures Parallax Inc the makers of the Basic Stamp II offer this information free on their web site at www parallaxinc com Also due to the popularity of the Basic Stamp many books on the topic exist PC Editor Downloader Software
23. We refer to this as the Powerful Output The command begins with 1M2 and is followed by a character indicating the action O off 1 forward 2 reverse If the command is accepted an A will be returned indicating acknowledged Coprocessor Communication Rules Communication between the Basic Stamp II Master and the coprocessors follow these rules E Single wire bidirectional serial communication E Serial communication parameters 2400 baud 8 data bits and 1 stop bit E Coprocessor network is a master slave setup Slaves only talk when asked to Coprocessors never send 1 which is reserved to identify the beginning of a command E Each command sent by the master begins with 1 E All commands should be upper case E Second character of each command is the coprocessor address character Usually 1 2 etc E The third character of each command is normally the actual command itself Such as M R etc E Commands are fixed length and do not require carriage returns or other termination E 8 bit values are sent received using 2 hex digits OO FF 16 bit values are 4 hex digits Leading zeros required to maintain fixed length E Single digit values from 0 9 can be a single character 0 9 Such as motor etc E Commands return a value or return an A to indicate acknowledged 34 Hexadecimal Binary Bytes Words etc Most commands require parameters in the form of hexadecimal valu
24. al COMM port Pinout 1 No connect 2 Transmit data from Basic Stamp II 3 Receive data to Basic Stamp II 4 Attention signal 5 Ground 6 Jumpered to pin 7 7 Jumpered to pin 6 8 No connect 9 No connect 36 RC Servo Motor Connectors J2 J5 Usage Connects controller to RC servo motors J2 is used for the steering motor D an J3 J4 J5 are user defined Je SPA JO Controlled by the coprocessor 1 1 1 Connector 3 pin 1 4 total Pinout elle 1 1 Control Pulse aie aie alee 2 5 volts eN EE IE 3 Ground Drive Motor Connector J10 Usage Connects H Bridge driver to DC motors Controlled by coprocessor Polarity can be con D trolled Type 2 pin MTA 1 Voltage 12 volts Maximum Current 500ma ne Circuit Example Pinout Lae IC MOTOR 2 1 OR M C J Powerful Connector J11 Usage Connects H Bridge driver to accessory devices such as a DC motor or light Controlled by coprocessor Polarity can be controlled Type 2 pin MTA 1 E E Voltage 12 volts Maximum Current 500ma Pinout EE Circuit Example ER LAMP pp 37 Expansion Connector J1 Usage Connects controller to user devices Connector 40 pin 1 IDC Header AAARRE AEEEEEBEE Pinout 21 RB7 to coproc
25. ameter 3 Velcro Used For Body Mounting front drive wheel assembly Encoder assembly Whisker spacers drive motor Motor brackets encoder sensor steering motor Collars whisker brackets steering arms controller spacers Motor brackets encoder sensor steering motor Front axle encoder wheel Motor brackets encoder sensor steering motor Under whisker brackets Whisker bracket mounting Encoder wheel front axle Whisker mounting Controller circuit board mounting Rear wheel steering motor with horns attachments Front wheel drive motor Bundling wires Connects controller to whiskers and encoder sensor To sense encoder wheel slots mounts to motor bracket Attach front wheel axle to drive motor Rear wheel assemblies Rear wheels Front wheel assembly Don t damage threads Front axle Connects steering linkage wire to rear wheel axle Links steering servo motor to steering arm Whiskers Front and rear wheels Battery pack mounting Battery holder for 8 AA cells Power source Battery cable About Screw nut and washer sizes Numeric screw sizes start with a number indicating the diameter such as 4 6 10 etc ower numbers are smaller followed by the number of threads per inch 32 40 etc then the length For example 4 40 x 3 16 is a 4 screw with 40 threads per inch and a length of 3 16 Nut sizes are the same except they do not have a length Spacers are like nuts but have a length Washers simply have t
26. and 4 6 32 x 1 4 screws Place the controller board on the robot body and find the 4 holes that match the 4 mounting holes on the comers of the controller board There are 2 sets of mounting holes select the set towards the robot s rear Install the 4 spacers in those holes The controller board will simply snap onto these spacers and can be removed any time The 9 pin serial port connector should point towards the rear of the robot the expansion connector will be towards the front Summary E Find 4 mounting holes on robot body There are 2 sets select the set towards the rear E Mount 4 plastic spacers E Snap the controller board onto the spacers Controller Mounting Detail Controller Board Spacer 1 Plastic Robot Body Tu Screw 6 32 x 1 4 Expansion Connector Body Controller Board Connector Power Connector LEDs Ar ce UU tel lel Basic Stamp EE E Il This side towards rear of Robot Serial Port Connector 21 Battery Pack Don t install batteries yet Power is supplied to ARobot using a battery pack that contains 8 AA size batteries Locate the battery cable which has a batter snap on one end and a 2 pin MTA connector on the other Pin 1 has the red wire and is 12 volts Pin 2 is the black wire and is ground 0 volts Plug the MTA connector from the battery cable onto the power connect
27. and materials Mouser Electronics 2401 Hwy 287 N Mansfield TX 76063 4827 800 346 6873 Distributor carring a variety of electronic components Nordex 50 Newtown Rd Danbury CT 06810 6216 203 792 9050 Source for small gears bearings shafts and various other precision components Parallax Inc 3805 Atherton Road 102 Rocklin CA 95765 http www parallaxinc com Makers of the Basic Stamp and related tools and accessories PIC Design P O Box 1004 Middlebury CT 06762 203 758 8272 Stocks a wide variety of gears pulleys bearings and lead screw assemblies SAVA Industries 70 Riverdale Rd Riverdale NJ 07457 201 835 0882 Manufactures cables and pulleys Small Parts 6891 N E 3rd Ave P O Box 381736 Miami FL 33238 1736 305 751 0856 This company stocks a broad range of precision parts such as screws tubing and tools Stock Drive Products 2101 Jericho Turnpike New Hyde Park NY 11040 516 328 0200 Broad line of precision mechanical components available including gears pulleys bearings and hardware Metric sizes Several catalogs and technical books are available SuperCircuits 13552 Research Blvd B Austin TX 78750 512 335 9777 Small video products including cameras and transmitters Tower Hobbies P O Box 9078 Champaign IL 61826 9078 800 637 6050 Catalog lists a wide variety of model kit components such as servos and linkages 46 Winfred M
28. b site at www parallaxinc com provides complete information about the Basic Stamp II including the programming manual ARobot is a versatile system that can perform a variety of tasks Here are just a few examples E Hobby robotics projects E Education and training E Research in artificial intelligence A life etc E Science projects E Testing platform for navigation algorithms E Simulation of planetary exploration E Maze solving E Contests E Publicity E Fun Fun Fun What You ll Need To build and program ARobot you will need the following items E Common hand tools screwdriver pliers etc E Your choice of spray paint optional E Basic Stamp II computer chip E Basic Stamp II programming information available free on the Internet or you can purchase a book E Understanding of Basic programming or a willingness to learn E IBM style PC running DOS or Windows 3 1 2 disk drive unused serial port 9 pin connector E Internet access for technical support and application notes E 8 AA batteries over 5 hours of continuous run time E A never ending desire to experiment and play with robots Note Expansion may require knowledge of electronics soldering and other advanced skills Feature List The following list of features will help you get aquatinted with ARobot m Safe low voltage system E Dimensions 10 x 10 5 tall 2 1 4 lbs Whiskers extend beyond these dimensions E High qua
29. bot S Controller Controller Sariei Cable Me serie R Serial Pasic Port ll Beet Stamp 8 if 43 Suggested Reading PC AI Magazine Knowledge Technology Inc 3310 West Bell Rd Suite 119 Phoenix AZ 85023 602 971 1869 Periodical covering PC based AI topics Robot Science amp Technology Magazine Dedicated to Real Robots 2351 Sunset Blvd Suite 170 Rocklin CA 95765 http www robotmag com 1 888 510 7728 Robotics Digest Practical Applications of Systems Control Vision Motion and Navigation in Robotic Mechanisms Willian E Gates 1700 Washington Ave Rocky Ford CO 81067 719 254 4558 102505 3055 compuserve com AI Magazine AAAI 445 Burgess Dr Menlo Park CA 94025 415 328 3123 Periodical by the American Association for Artificial Intelligence Computer Applications Journal 44 4 Park St 20 Vernon CT 06066 203 875 2751 Monthly periodical covering computer control projects Embedded Systems Programming Miller Freeman Inc 600 Harrison St San Francisco CA 94107 415 905 2200 Monthly periodical computer programming covering embedded Robot Builder s Bonanza By Gordon McComb Tab Books ISBN 0 8306 2800 2 Book popular among some robot hobbyist containing many circuits and ideas about robot building Some circuits do not work when breadboarded Artificial Life Explorer s Kit By Ellen Thro Sams Publishing ISB
30. c Genetic algorithms in computing Announcements of the Journal of AI Research Papers published by the Journal of AI Research Natural language processing by computers All aspects of neural networks Natural Language and Knowledge Representation Philosophical aspects of Artificial Intelligence Expert systems and other artificial intelligence shells Vision processing Cognitive engineering Computer assisted languages instruction issues Info on scientific visualization Home automation devices setup sources etc Discussion about PROLOG Discussion about Smalltalk 80 Issues related to real time computing All aspects of robots and their applications Speech processing Examining standards for wireless network technology The Transputer computer and OCCAM language Discussion of books about technical topics Promoting the use of creativity in all human endeavors Giant robot games Radio controlled models for hobbyists Packet radio and other digital radio modes Discussion of Lego Duplo and compatible toys Video and video components The engineering of control systems The field of mechanical engineering Objects of non integral dimension and other chaos Scientific image processing and analysis Natural languages communication etc Self reproducing molecular scale machines Virtual Reality technology and culture Current and future uses of virtual worlds technology 48 Troubleshooting The foll
31. circuit boards ICs integrated circuits transistors etc H Bridge An arrangement of 4 transistors in the shape of the letter H used to control the direction of a DC motor ARobot uses a single IC that contains 2 H bridges to control the drive motor and powerful output Hexadecimal Base 16 numbering system Each digit is written as 0 9 A F Hexadecimal makes it easier to enter data and address values Example of a hex byte is 4A example of a hex word is A04F High Level Language A computer programming language that allows the user to create complex programs using instructions that represent many simpler instructions PBasic used by the Basic Stamp II is a high level language Infrared IR Electromagnetic radiation generated by thermal agitation IR is invisible to the human eye IR is used by most TV and Stereo remote controls Also see Passive Infrared Integrated Circuit IC A device where many electrical components are built together as a single component ARobot uses integrated circuits on it s circuit boards to perform most functions Interpreter A computer language that converts instructions while the program is running Unlike a compiler that first converts the program to machine code Interpreters are normally slower than compilers Joystick A control device that employs a stick to achieve 2 axis control Laws of Robotics Three laws written by Isaac Asimov which prevent robots from intentionally harming hu
32. e www robotics com arobot Test Program TEST BS2 The test program tests all functions on ARobot When it powers up it beeps several times to test the speaker The program then responds to the following inputs Whiskers One whisker makes it beep once and turns on the green LED The other whisker beeps twice and turns on the red LED Buttons One button toggles the LEDs on and off and sends data out the serial port counts from 1 to 25 The other button moves all RC servo motors from left to right and back again Jumpers One jumper causes the drive motor to move forward The red LED will go on and off as the motor turns indicating an operating encoder The other jumper turns on the powerful output If one button is pressed the powerful output will reverse polarity Steering Adjustment Program STRAIGHT BS2 This program helps the robot builder adjust the steering system for straightness The program will wait for the user to push one of the buttons Once the button is pushed the robot straightens the steering wheels beeps once moves forward 10 feet then reverse 10 feet Adjust the steering arms and check the robot s travel until straight Wander Program WANDER BS2 This program is a simple object detection avoidance routine It drives forward until a whisker comes in contact with an object It then reverses direction and steers away from the object After a short period it returns to straight forward movement The Wander pro
33. er ARobot quits working when the drive motor or accessory is activated A low battery could cause this Or an accessory that is defective or pulling to much current or creating electrical noise Communication can not be established with ARobot Insure that you are using the correct communications parameters Make sure you are using the right serial COMM port number Check cable connections ARobot does not drive in a straight line when requested to Make sure you re using a steering direction of 80 Adjust the steering arms using the steering program Make sure the servo horn on the steering motor is straight when in the center of travel Some other problem If you ve read the manual and our on line FAQ but the problem still can t be resolved don t waste another second e mail us at info robotics com for the answer 49 Warranty Information ARRICK ROBOTICS warrantees this product to be in good working order for a period of one 1 year from the date of purchase Should this product fail to be in good working order at any time during this period ARRICK ROBOTICS will at its option repair or replace the product at no additional charge except as set forth below This limited warranty does not include service to repair damage to the product resulting from accident disaster misuse abuse or modification of the product To obtain watranty service send the product along with proof of purchase in its original packaging to ARRICK
34. es and many commands return hexadecimal values Sometimes the bits in these values will represent certain things We ll use the term hex to refer to hexadecimal Hexadecimal Hex numbers are easy for computers to work with because each hex digit can represent 4 bits 2 hex dig its can represent a byte and 4 hex digits can represent a word Sometimes hex digits are referred to as nibbles Hex numbers are base 16 instead of base 10 like our decimal numbering system Hex digits are 0123456789ABCDEF 16 total Bits A bit is a single binary base 2 digit which can be a 1 or a O Digital computers such as the Basic Stamp use binary values for processing A 1 is ON or HIGH a 0 is OFF or LOW Bytes A byte consists of 8 bits A byte can be represented as a hex value such as 00 or FF The range of values that a byte can represent is 0 255 decimal 00 FF hex Words A word consists of 2 bytes 16 bits A word can be represented as a hex value such as 0000 or FFFF The range of values that a word can represent is 0 65535 decimal OO00 FFFF hex The following table shows the binary equivalent for each hex digit Hex digit Binary value bits Decimal Hex digit Binary value bits Decimal 0 0000 0 8 1000 8 1 0001 1 9 1001 9 2 0010 2 A 1010 10 3 0011 3 B 1011 11 4 0100 4 C 1100 12 5 0101 5 D 1101 13 6 0110 6 E 1110 14 7 0111 7 F 1111 15 Basic Stamp Commands The Basic Stamp II s PBas
35. essor 1 Ground 22 Encoder signal 2 Ground 23 RC servo motor 1 steering 3 5 volts 200ma max 24 RC servo motor 2 4 5 volts 200ma max 25 RC servo motor 3 5 PO of Basic Stamp II Left whisker 26 RC servo motor 4 6 P1 of Basic Stamp II Right whisker 27 No connect 7 P2 of Basic Stamp II to body conn 28 No connect 8 P3 of Basic Stamp II to body conn 29 No connect 9 P4 of Basic Stamp II 30 No connect 10 P5 of Basic Stamp II 31 No connect 11 P6 of Basic Stamp II 32 No connect 12 P7 of Basic Stamp II 33 No connect 13 P8 of Basic Stamp II network I O 34 No connect 14 P9 of Basic Stamp II speaker 35 No connect 15 P10 of Basic Stamp II Red LED 36 No connect 16 P11 of Basic Stamp II Green LED 37 No connect 17 P12 of Basic Stamp IT Jumper 1 38 No connect 18 P13 of Basic Stamp II Jumper 2 39 No connect 19 P14 of Basic Stamp II Button 1 40 No connect 20 P15 of Basic Stamp II Button 2 Expansion Port RC Servo Motor Signals All four RC servo motor signals are available on the expansion connector for use with user devices These are the same signals available on J2 J3 J4 and J5 RC servo motor signal 1 J2 is dedicated to the robot s steering motor The signals are standard 1ms to 2ms positive going pulses at 50hz which is required by most RC servo motors Using
36. g holes on each i ae Steering Motor O O O 16 Washer 4 star g Nut 4 40 Screw 4 40 x 3 8 LEEG ee CIT l Motor Bracket Robot Body Encoder Sensor The encoder sensor counts the teeth in the encoder wheel using invisible IR infrared light to measure the distance traveled The encoder wheel has teeth that interrupt the beam of light Locate the encoder sensor and notice the dots placed on it see the drawing Mount the sensor using 2 screws 2 star wash ers and 2 nuts The encoder wheel will be mounted to the axle later Summary E Locate the encoder sensor E Mount the encoder sensor on the right wheel bracket according to the drawing Encoder Wheel Encoder Sensor ers SO W I Encoder Sensor Mounting Right Motor Bracket 7 N SX Cae 2 OO 0 Ne Le ee Sta Washe 4 Nut 4 40 Encoder Sensor Dots AR ae 17 Front Wheel Assembly A picture is worth a thousand words so take a look at the drawings below before starting to building the front wheel assembly First locate the front wheel which has a threaded bore and a red mark on the hub Screw the threaded front axle into the wheel so that one side of the axle protrudes about 1
37. gram is an excellent starting point for the crea tion of new programs 27 About the Controller Board UOSP4EUSTH UO4ey fq une A0 ma 1 1 nasus dyz iz ZB 8661 0Z Z1 8 0 1dLNO 10d0Hy WNAYAMOd HATIOH1INOJ L0OdOHU UOTYdT AJSag t8weu alrj WO5 tte ANN gZ9p IZS 218 SITIOGOY TAAH STd EA ZMS NOLLNA eid ANT SA3O0 1a NOTLO3LOUd ON9 lt SAANTAA HOLON nee 3901HA4 H 1NA 69 19 GEEN dt N esd TE Bd 1437 T H3NSIHM SHILIIA HAdOONA gr N9 E O ondas uasn S zz T J PUSS bys pr ONS E onuas asn Z zz T tal EUIS GEES ONO 4 er OND 4s E andas Hien Z zz T tal GER YyOLOW NOISNYdX3 Lage SAHOLOM zr ONS E z zz 9NTA44IS T m TJaS ONAIS DA dIS HOLSISIA NId ot D A b ZN 13538 Cl EHS UNO 4s Duch 8621 3901HA H KI ONS ze ONG 9082 N Z350 HOH Den 7b Dun Ev adeg Erg Tad Ze SdHIALX Zn HOSSAVOMA ANT 13 dIS yOLSISay oftewel d S a oa ol ol al oj ajaj o D co NY VD w a pan a a al a Ra W sau NLY TONS xa did xl ANT FU II dW 1S 210 ONS ONO 4 N ot HAAT MN CO OE P x 4anod NOTLIAS O7nOd BOOFNT 30 NYIT vd di VIOHINOJ LOO Batteries ARobot s controller board requires 9 to 12 volts supplied by 8 AA size batteries We ve found that the best batteries are DuraCells You can also use AA size rechargeable batteries First t
38. he size and no threads per inch or length Star washers have small teeth to prevent slipping Connects battery pack to controller 10 Parts continued Here are drawings of SOME of the parts in the ARobot package Drawings are not to scale As you build ARobot refer back to these drawings to identify parts Screw 4 40 x 3 16 Encoder Wheel Encoder Sensor Screw 4 40 x 3 8 Screw 6 32 x 1 4 Ko N i Collar S S a Nut 4 40 Washer 4 star Washer 6 plastic Spacer 4 40 x 1 4 Body Cable Nut 10 32 Front Axle Rear Axle S e Steering Arm Washer 10 star Sees fo o Bronze Bearing Washer 6 shoulder o D Robot Body Spacer 1 plastic Coupling See Steering Motor z Horn N T Pi MO H J e oo PP CF a 8 Drive Motor d os Ut et Motor Brackets OOOO Parts continued Encoder Wheel Motor Brackets Drive Motor RC Servo Steering Motor Body Cable vy ya Controller Battery Cable a3 d Body Battery Holder Wire Ties Encoder Sensors 4 40 x 3 8 4 40 x 3 16 p Front Axle Whisker a Whisker Shoulder Washers o EN Whisker Linkages Spacers Bronze Bearing Whisker Plastic Rear Axles Washers Velcro Steering Controller Collars 4
39. he steering motor and to both steering arms E Attach the steering arms to the axles E Straighten the system put the steering horn in the center of travel loosen the steering arms and straighten the wheels then retighten the arms Full Scale Steering Linkage Pattern 1 4 i ad wy X 1 4 1 4 Steering Motor and Horn Horn Steering Motor Shown in center position More drawings on the next page 19 Steering Motor and Rear Wheels continues Steering Motor Mounting Ki SS lt P ca Kg sher 4 star on oo Nut 4 40 lt bk Steering Motor Use 4 screws washers nuts Wheel and Axle Steering Ar m d Robot Body i i Collar d wheel 7 N ds ei Tee N Collar 7 K fe i pam S Axle Same Both Sides Steering System Steering Arm N Steering Motor Ge g J Wa es A Se Es Wheel Steering Arm Controller Board ARobot s controller board is the brains of the system It accepts a Basic Stamp II controller chip which can be programmed from a personal computer The controller board contains electronics used to drive the motors sound the speaker control the LEDs read whiskers etc An expansion port allows addi tional circuits to be added to the system The controller board is mounted to the robot body using 4 1 plastic spacers
40. ic language has special commands used to convert numbers to hexadecimal as needed by the coprocessor See the SERIN and SEROUT commands in the Basic Stamp Program ming manual for details available at the Parallax web site http www parallaxinc com Examples serout net baud 1R1 besi position Move RC Servo Motor serin net baud hex4 ec Get encoder as 4 hex characters into ec 35 Battery Connector J9 Usage Supplies battery power to all systems Type 2 pin MTA 1 Pinout 1 12 volts 2 Ground DO Body Connector J8 Usage Connects controller to encoder whiskers and ground whisker lug Switches Connector 10 pin dual row header 1 unaa Pinout 2 1 PO on Basic Stamp II whisker 1 AR 2 P1 on Basic Stamp II whisker 2 C 6 8 j0 N tf O 3 P2 on Basic Stamp II optional 1 gt 9 4 on oI 4 P3 on Basic Stamp II optional N N 5 Encoder 1 output drive motor gt ae N 6 Ground for encoder sensor 6 WI Irie iin 7 Ground for encoder sensor Sensor 8 Encoder LED drive PX 9 Encoder 2 output open collector 8 10 Body Ground Lug 9 10 ed Serial Port J12 Usage Connects controller to PC s serial port Connector 9 pin female D sub connector Cable Use a 9 pin straight through cable for connection to PC seri
41. imal OOE7 in the example Each encoder count represents about 1 2 of travel When this command is given the current encoder count is reset If the command is accepted an A will be returned indicating acknowledged Read The Encoder Count Example 1E1 This command asks the coprocessor to return the current encoder count as 4 hexadecimal digits which represents the current distance that the robot has traveled Each encoder count represents about 1 2 of travel Continued on next page 33 Coprocessor Command Summary continues RC Servo Motor and Steering Motor Control Example 1R380 This command begins with 1R and is followed by a character indicating the RC servo motor number 3 in the example followed by the position in hexadecimal 80 in the example Possible position val ues are 01 through FF which results in about 120 degrees of motion This varies depending on the motor A position value of 80 hexadecimal will center the motor A position value of 00 will de energize the servo motor to conserve power It normally takes less than one second for the motor to po sition itself During that time do not de energize the motor If the command is accepted an A will be returned indicating acknowledged Motor 2 Control Powerful Output Example 1M20 A second motor control port is provided that can be used to control DC motors or other powerful loads such as lamps
42. kills such as component identification and soldering These subjects are beyond the scope of this text and will not be taught here Expansion ideas in this book require these basic skills and knowledge Expansion port cables The expansion connector is a common 40 pin dual row header with pins on 1 centers The cable is 40 pin flat cable with 05 centers and is easily cut with scissors Cable is crimped onto the connector by pressing This is the same type of connector used for many disk drives on desktop computers You can simply purchase a disk drive cable which has connectors and cut it to length or buy individual cable and connectors from an electronic supply company such as Radio Shack or Digi Key Part sources Expansion Port Cable Here are some sources for electronic es components useful for the robot experimenter Radio Shack www radioshack com Digi Key Electronics 701 Brooks Ave South Thief River Falls MN 56701 USA 800 344 4539 www digikey com Mouser Electronics 958 N Main St Mansfield TX 76063 USA 800 346 6873 Wwww mouser com Expansion Port Circuit Examples coninued Digital Inputs Basic Stamp input signals can be used to read Switch Input Example This example shows how to interface a TTL level signals such as switches or sensors The input signal should not exceed 5 volts DC or go below 0 volts Each input SWITCH pin has a pull up resistor to 5 volts mechanical switch to one of the digita
43. l ee n DIGITAL INPUT Sensor Input Example This example shows how to interface a sensor that has an open collector OC output to a digital input Digital Circuit Input Example This example shows how to attach logic gates to the digital input signals PEN COLLECTOR SENSOR an 74HC SERIES GATE ee eae USER DIGITAL AE N INPUT SE SEN GITA AKG CIRCUIT LAT INPUT Digital Power Output The digital signals can be used to control external circuitry Large loads can be driven with an external power transistor such as a MOSFET A clamping diode should be included to protect the transistor when switching inductive loads such as relays Digital Output Example Power Output example N CHANNEL 74HC SERIES GATE LOGIC LEVEL yyay 12 DIGITAL So USER MOSFET N SE DEE DE UTPU S CIRCUIT Sg PE DIGITAL GEEN zk lt DEVICE UTPU Iy Er ES 2X SA IN4000 More expansion information Our space is limited here so make sure to visit our web site for the latest expansion application notes complete with program examples www robotics com arobot projects html Also visit the Parallax web site which has an entire section dedicated to application notes for the Basic Stamp Il www parallaxinc com 40 Expansion Port Circuit Examples coninued Analog Inputs
44. led on Here s a PBasic code example to control them redled con 10 Define red led pin grnied con 11 Define green led pin low grnled Green LED on high redled Red LED off To help conserve battery power turn off the LEDs when not needed 30 Push Buttons and Jumpers switches Two general purpose buttons and jumpers also called switches are provided on the controller card which can be read by the Basic Stamp II Buttons are momentary after you press them they return to the off state Jumpers can be left in the on or off position using the jumper plug or wired to external switches Buttons and Jumpers can be use in your program to set certain parameters or modes as needed They may be ignored and not used at all Here is a piece of PBasic example code that reads them Notice they are active LOW LOW on if in12 0 then jmplon If jumper 1 on then jmplon if in13 0 then jmp2on If jumper 2 on then jmp2on if inl4 0 then buttonl T button 1 on then bution if in15 0 then button2 If button 2 on then but Zon Drive Motor and Encoder The drive motor moves the motor forward and backward using the H Bridge driver circuit see the con troller drawing for location The H Bridge is controlled by the coprocessor which receives commands from the Basic Stamp II using serial I O commands over the coprocessor network pin P8 This frees the Basic Stamp II for
45. lity machined aluminum frame no plastic or wood E Dual front whisker sensors E Maximum speed 10 per second E Surfaces Low pile carpet tile concrete moderate bumps and inclines E pound payload capacity for radio data link embedded PC accessories E Removable battery pack uses 8 standard AA cells or rechargeables E 5 hour or longer typical run time E Socket accepts the popular Basic Stamp II controller E Controllable Red and Green LEDs E Sound output transducer E Two user defined push button switches E Two user defined jumper switches E Rear wheel steering RC servo motor E Front wheel DC gear drive motor E Optical wheel encoder for distance measurement E Second H bridge for motor or power device control E 3 User defined RC servo motor control ports E Serial communications port E Program using a desktop PC then download for autonomous operation E Expansion port allows unlimited possibilities E Mounting holes for Radio Shack Breadboard or perfboard E Coprocessor network allows multiple processors to communicate and distribute tasks E Application notes for sonar range finding head light light sensors compass and more Technical Specifications E Body 062 aluminum cut punched and formed E Configuration 3 wheel front wheel drive rear wheel steer E Dimensions 10 x 10 5 tall 2 1 4 lbs E Payload capacity Ibs E Wheel size 3 25 diameter E Drive Motor 12 volt DC gear
46. mans and set other task priorities E A robot may not injure a human being or through inaction allow a human being to come to harm E A robot must obey the orders given it by human beings except where such an order would conflict with the First Law E A robot must protect its own existence as long as such protection does not not conflict with the First or Second Law Light Emitting Diodes LED Semiconductor that gives off light Liquid Crystal Display LCD A type of display that can be controlled electrically and uses minimal power Many calculators use LCD type displays Loops In a computer program the re execution of instructions using control flow statements such as GOTO and WHILE Low Level Language The set of instructions used directly by a CPU to perform operations Often referred to as assembly language Glossary of Terms continued Mechatronics A combination of mechanical and electrical devices to create a system Natural Language Language used by humans to communication Neural Network A network of processing elements that are connected together to simulate the intelli gence created by biological brains Often used to perform pattern recognition Open Loop in motor control the lack of a feedback device Parallel Data Data that is transmitted multiple bits at a time using multiple wires Parameters Values used to control functions Passive Infrared PIR sensor A type of sensing device
47. ml Robotics Aids for the Disabled ranier oact hg nasa gov telerobotics page telerobotics shtm Telerobotics at NASA For more links see www robotics com robots html 47 Internet News Groups The following newsgroups are a goldmine of information Most newsgroups have a FAQ frequently asked questions file associated with them that will answer many questions about the particular subject Questions not answered in the FAQ can be posted to the newsgroup for a direct response from other readers Parallax also offers a Basic Stamp forum see www parallaxinc com Newsgroup Name comp robotics misc comp al comp ai alife comp ai fuzzy comp ai genetic comp ai jair announce comp al jair papers comp ai nat lang comp ai neural nets comp ai nlang know rep comp ai philosophy comp ai shells comp ai vision comp cog eng comp edu languages natural comp graphics visualization comp home automation comp lang prolog comp lang smalltalk comp realtime comp robotics misc comp speech comp std wireless comp sys transputer misc books technical misc creativity rec games mecha rec models rc rec radio amateur digital misc rec toys lego rec video sci engr control sci engr mech sci fractals Scl image processing sci lang sci nanotech sci virtual worlds sci virtual worlds apps Description All aspects of robots and their applications Artificial intelligence discussions Research about artificial life Fuzzy set theory aka fuzzy logi
48. motor 74 full load RPM 1 6 amp full load current E Quality machined wheel coupling and bearings E Optical wheel encoder for distance measurement E Encoder 20 counts per revolution 2 per inch of travel 1 2 resolution E Motor driver H bridge 1 amp max E Speed control Pulse Width Modulation E Controller PCB size 2 1 x 6 E Steering Motor Standard size RC servo motor E Power source 8 AA cells in removable pack E Runs on 8 AA cell batteries for 5 hours or more E Current draw 50ma at standstill 200ma with motor running typical E Coprocessor PIC16F84 for motor control E Expansion connector 40 pin 2x20 IDC 1 centers Precautions The following precautions must be taken to insure trouble free operation of ARobot The order that these precautions are listed does not indicate their importance Failure to observe these precautions may result in loss of life damage of property and or damage to the Robot E Never attach or remove cables while power is applied to the Robot E Never use the robot in areas near water such as swimming pools E Never allow the whisker wires to be inserted into electrical outlets or other dangerous places E Never use the robot in areas that could result in a fall such as lofts stairways hills E Never allow cables to fall out or to be broken by the robot s motion E Never control devices with the robot that could be dangerous to life or property such as lawn mowers or high powe
49. n connector It will only install one way Next find the 2 MTA connectors on the body cable Attach them to the encoder sensor by match ing the dots Summary E Route the body cable up through the opening in the body E Plug the cable into the body connector on the controller board E Plug the MTA connectors onto the encoder sensor by matching the dots Encoder Sensor e ge gt Sf V MTA Connectors Motor Bracket ody Cable Body Cable Ground Whisker Encoder Brackets Sensor Connectors Finishing Up You re almost finished building ARobot Finish up by doing these things E Route the steering motor cable up though the rectangular hole in the robot body Connect the steering motor cable to the 3 pin connector on the controller board near the body connector see the controller drawing Align the white sometimes yellow wire to pin 1 Installing this cable backwards will not harm the motor or controller but it will not work E Use the plastic wire ties to attach the body cable to the robot body Use any unused holes in the body You can also attach the steering motor and the battery cable if you want E Route the drive motor cable up through the rectangular opening in the body and attach it to the motor connector on the controller board It will only plug in one way Steering Motor Drive Mot
50. nected to the PO pin and the right whisker is connected to the P1 pin When an object is detected these pins return a logic zero low The pins must be in the input mode The following PBasic code example shows how the whiskers can be read if in0 0 then whl if inl 0 then wh2 If left whisker on then jump to whl If right whisker on then jump to wh2 See the WANDER and TEST program for examples on how to use the whiskers for navigation It is possible to attach additional whiskers to the robot Simply wire them to unused Basic Stamp pins available on the expansion connector and read them in your program Mounting holes are provided for side and rear whiskers Speaker A speaker is connected to P9 on the Basic Stamp II It can be used to send various signals to the opera tor Simply toggle the pin at various frequencies to create different tones Here s a PBasic code exam ple speaker con 9 Define speaker pin to 9 fregout speaker 200 1500 200 freguency 1500 duration low speaker Finish with pin LOW It s very important to leave the speaker output pin LOW when done or power will be drained from the battery This pin should also be set LOW upon program startup See WANDER and TEST programs for additional examples LED indicators Green and red LED Light Emitting Diodes are mounted on the controller board and are connected to the Basic Stamp II pins P10 red and P11 green A low condition will turn an
51. obots html Robotics Information Central Tons of good links www robotics com mechpart html Mechanical Parts Source List www robotics com robomenu The RoboMenu allows you to show off your robot www robotics com motors html What s the difference between servo and stepper motors www robotics com highload html Driving high power loads www controlled com Journal of Computer Controlled Systems PC 104 www dprg org Dallas Personal Robotics Group www frc ri cmu edu robotics faq The Robotics FAQ Frequently Asked Questions www ncc com misc rcfaq html The Robotics Competition FAQ www cs ruu nl wais html na dir microcontroller faq html Microcontroller FAQ www realtime info be encyc techno publi faq rtfag htm Real Time Computing FAQ piglet cs umass edu 4321 robotics html UMass Laboratory for Perceptual Robotics mpfwww jpl nasa gov NASA Mars Pathfinder www yahoo com Science Engineering Mechanical_Engineering Robotics Robotics at Yahoo robotics eecs berkeley edu UC Berkeley Robotics and Intelligent Machines Lab cwis usc edu dept robotics Univ of S CA Robotics Research Lab www ai mit edu Artifical Intelligence at MIT sfbox vt edu 1002 1 A afalck www research Controls 2 html Line Following by Arturo Falck www hut fi Misc Electronics opto html Tomi Engdahl s Optoelectronics IR Page turbine kuee kyoto u ac jp staff onat servobasics html RC Servo Motor Basics by Ahmet ONAT www engin umich edu research mrl OOMoRob_19 ht
52. office supply store E Flexible plastic molding from an auto parts store E Stick on reflectors from a motor cycle shop E Textured paint for special effects E Text using stick on letters or a permanent marker E Use large washers on the rear wheel axles as hub caps E Oh I almost forgot try using your imagination See some great examples of creative paint jobs on our web site at www robotics com arobot It may be necessary to clean out holes on the robot that have a build up of paint Simply use a pocket knife or Exact o knife to clean them out This is especially important on the whisker wire mounting holes since they must make electrical contact to the base for grounding Well deal with this later 13 Whiskers Two whisker wires are mounted on the front of the robot to detect obstacles Locate the 4 whisker mounting holes near the front center of the robot body Scratch off paint around the two smaller holes Next bend each whisker wire using the drawing as a full scale pattern Locate the body cable and find the ground lug Mount the 2 whisker spacers like the drawing and place the ground wire from the body cable under one of the whisker spacers and a 4 star washer under the other Next mount the whisker brackets which are wired to the body cable The bracket connected to the white wire is the robot s right side the black wire is the left side Pay special attention to the plastic insulating washers The brackets MUST NOT make
53. or Connector Connector POWER Feel Free to Celebrate 24 About the Controller Board The Controller board is the brains of ARobot It contains circuitry to control the steering and drive mo tors read the whiskers control LEDs speaker buttons etc The controller board has a socket that ac cepts a Basic Stamp II control computer chip designed by Parallax Inc www parallaxinc com The Basic Stamp II is programmed with a desktop PC through the serial port in the PBasic Language which is much like standard Basic but with some interesting additions Expansion Proto Area Body Steer Motor Drive Motor Powerful Connector Connec Connector Connector Output Battery Connector Power Switch Holes Reset Jumpers Buttons Serial Port Speaker H Bridge 5 Volt Button Motor Driver Regula Basic Stamp Il Installation The Basic Stamp II is the computer that controls the robot It plugs into the controller board When in stalling the Basic Stamp II remove the battery cable from the controller then insert the pins into the socket noticing the pin 1 indicator Make sure that no pins are bent Installing the Basic Stamp IT in correctly may damage it or the controller board To remove the Stamp remove the battery cable and use a small screw driver to pry it up without bending any pins NOTICE PIN 1 INDICATOR
54. or on the controller board Route the other end through a nearby hole in the robot body Place Velcro on the battery holder and on the robot body make sure the cable can reach Connect the cable and mount the battery holder Summary E Don t install batteries yet E Locate the battery cable E Plug the cable into the controller board E Route the cable through a nearby hole in the body E Place one side of the Velcro strip on to the battery holder E Place the other side of the Velcro strip on the bottom of the robot where the cable can reach it E Connect the cable to the battery holder E Mount the battery holder using the Velcro Note The power connector can be plugged in backwards Make sure the black wire matches up with the MI NUS on the controller board and the red wire matches up with the POSITIVE 2 pin MTA connector Controller Board DER Jig Mi Jil M2 Sie Mes Power Connector POWER D2 pi Wis rn LI a G TOR c2 C mn F R 22 Body Cable The body cable connects the controller to the encoder sensor whiskers and ground lug The body cable will already be attached to the robot because we have already installed the whiskers and ground lug Route the body cable up through the rectangular hole in the robot s body Plug the body cable into the controller s 10 pin body connector which is next to the expansio
55. ors RC DC DC direct current servo motors use encoder feedback to monitor speed and position such as ARobot s drive motor RC remote control servo motors are small servo systems that include motor gear train feedback device and controller in a small package intended for remote control airplanes and cars RC servos are used by ARobot to control the steering Software Instructions used to direct operations on a CPU Sonar See Ultrasonic Speech Synthesizer An electronic device that generates human speech and sounds Subsumption Architecture A programming method designed by Rodney Brooks of MIT that allows various functions to subsume other functions based on a predefined priority scheme Telepresence Control of a robotic system at a different location The operator may be provided feed back using various sensors Transistor A silicon based semiconductor device that can be used as an electrical switch or as an am plifier Ultrasonic Sound waves with a frequency greater then humans can detect Polaroid offers an ultra sonic ranging system that can be used to avoid obstacles Whiskers Hair like flexible wires used to detect walls and other objects ARobot has 2 such whiskers to aid in navigation Assembly Overview ARobot s assembly normally takes about 2 hours or less excluding time for painting Children as young as 10 can build ARobot with the help of an adult The controller board and cables are
56. owing list describes the most common problems and their remedies Check our FAQ Frequently Asked Questions at www robotics com arobot faq html Problem Remedy Problem Remedy Problem Remedy Problem Remedy Problem Remedy Problem Remedy Problem Remedy Problem Remedy Turning the power switch ON does not result in any activity ARobot is not getting power Insure that the batteries are good and installed correctly Insure that the batteries are touching the contacts on the battery holder Insure that the power connector is plugged into the controller card correctly Remove any expansion connector to eliminate the possibility of defective expansion circuitry Whiskers activate without being touched Make sure all whisker wires are resting in the center of the bracket s hole Make sure that the screw that holds the wire is tight Drive motor never stops when asked to go a certain distance The optical encoder system is not working Check the cabling and connectors Make sure that the encoder wheel is INSIDE the slot of the encoder sensor Make sure that the entire front wheel assembly is tight ARobot will not move even though the drive motor is turning Tighten all the nuts on the front drive axle Don t damage the threads of the axle If the rubber part of the wheel is turning against the plastic hub you ll probably have to squirt some glue between the rubber and the plastic to keep them togeth
57. puters This manual assumes the user has full understanding of how to use their computer and operating system Refer to the documentation for the computer for additional information ARobot is designed for the beginning robot hobbyist but if it looks beyond your skill level please return the unit before going any further Parents If you re buying ARobot for a young person be prepared to help them About ARobot The ARobot pronounced A robot is a computer controlled mobile robot designed for hobbyists and educators Ages 16 and up younger if helped by an adult can enjoy unlimited experimentation by programming the on board Basic Stamp II control computer Learn and use concepts such as computer programming motion control sensor reading path planning object avoidance and more Easily assembled in a few hours using common hand tools no soldering required Connect ARobot to your personal computer for programming and begin your adventure Basic Stamp II Control Computer The Basic Stamp II is a small self contained computer controller manufactured by Parallax Inc This easy to use system is programmed using a Basic like language called PBasic Programs are written on an IBM style PC then downloaded to the Basic Stamp II for execution Large libraries of programs can be created and saved ARobot s controller board accepts the Basic Stamp II purchased separately which controls motors LEDs buzzer and other devices The Parallax We
58. r lasers E Never connect the robot s controller to inappropriate equipment E Never use the robot in situations where a programming error or other malfunctions could cause damage to property or life E Never exceed the specifications such as payload incline current drain etc Failure to observe these precautions may result in loss of life damage to property and or damage to the robot Component Locator Use the following diagrams to familiarize yourself with ARobot s various components Encoder Wheel Front Drive Whiskers Right Side Motor Controller Battery Pack Steering Steering Steering Motor Arm Linkage Controller Expansion Body RC Servo Drive motor Powerful Connector Proto Area Connector Motors Connector Output Battery Basic Stamp Connector dares Green LED Red LED D SP dee An E Power Coprocessor TOF FOF OPP Pi MAAR ERAS Sg Switch Serial Port Speaker H bridge 5V Voltage Regulator Reset Jumpers Buttons Glossary of Terms Analog Signals Signals that have values between on and off 1 and 0 Android A robot that has a human like form Artificial Intelligence AD A computer program that simulates intelligence like that found in biological systems Artificial Life Behavior that is simulated by a computer program or other machine that mimics some or all aspects of biological life Baud Rate The number of bits per second In a serial signal from
59. that can be written and read and will retain data even after power is turned off Used by the Basic Stamp to store programs and parameters EPROM Erasable Programmable Read Only Memory A type of memory that can be read only and retains its data after power is turned off Emergent Behavior Unexpected behavior in a robot that was not explicitly programmed Expert System An intelligent system based on a database of rules Feedback A signal produced by a sensor such as an encoder that is used to adjust motor position and or speed Finite State Machine FSM A machine or program that has a limited number of states can examine its own state can change its own state according to a set of rules and can receive input from external sources Firmware Programs that are stored on EPROM such as the Basic Stamps PBasic interpreter Glossary of Terms continued Fractals A geometric pattern in which an object looks the same regardless of the viewing scale Fractal concepts can be used in AI programming Fuzzy Logic Logic in which boundaries between sets are not crisp This concept is often used to control systems that would be too complex to model with traditional sequential programs Genetic Algorithm A set of instructions that mimic biological life by simulating genes mutation and other aspects of living systems Gripper A device that allows a robot to grasp objects Hardware Physical circuitry including
60. the Parallax web site which has an entire section dedicated to application notes for the Basic Stamp Il www parallaxinc com 41 Coprocessor Network Expansion The complete application note for coprocessor expansion can be found on our website at www robotics com arobot projects html A coprocessor is one of the most powerful expansions that can be added to ARobot A coprocessor can remove time consuming tasks from the master processor leaving it for higher level routines The coprocessor could be used to add a ring of sonar range finders read a time consuming compass proc ess video images control motors etc Any microprocessor embedded PC or computer can be used as a coprocessor A Basic Stamp II is an excellent choice because it doesn t need any external circuitry to communicate with ARobot s controller The Basic Stamp II can also be programmed by plugging it into ARobot s controller which eliminates the need for a programmer Communications ARobot s controller can communicate in a serial fashion with the coprocessor using the dedicated co processor network pin P8 on the Basic Stamp or by using any other unused pin s A program on the coprocessor will receive commands from the master ARobot s controller and respond accordingly Review the coprocessor command summary to see how commands must be constructed to prevent communication conflicts Basic Stamp II Coprocessor
61. urn the controller board off and remove the battery pack from the battery cable Install the 8 batteries observing polarity which is indicated on the holder Snap the cable back onto the pack and stick the pack to the body with Velcro When the batteries get low you will notice that the drive motor will be slow and erratic operation or re sets may occur This will not harm the robot Power On Off Switch The power switch is located next to the power connector on the controller board The ON position is shown by a green dot The OFF position is shown by a red dot Make sure to turn power off when at taching cables installing batteries or installing the Basic Stamp or other parts Power Switch N Green Dot FF Red Dot Fi J f Z Reset Button The Reset button is located on the edge of the controller board near the Basic Stamp II It s used to re start the Basic Stamp II and the coprocessor which controls the motors Reset can also be performed by turning off the power and back on again EXPANSION D LE RN2 pe E Ee Or DS1 UI BSII E Reset Button MS Ci cio RESET SW3 aa CE SU1 29 Whiskers Whisker wires are used to detect objects while the robot is moving There is a left and right whisker which can be read separately to determine the location of the object The left whisker is con

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