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Intel Design and Discovery Robotics Module. Padraig O Murchu Education and Research Manager Corporate Affairs Group Intel Ireland. Welcome to Quadrabotz. Objective of Robotics Session. Have Fun Discover the hardware components that make up a robot Discover the functions of Quadrabotz

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Intel Design and Discovery Robotics Module

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Intel design and discovery robotics module

Intel Design and Discovery

Robotics Module

Padraig O Murchu

Education and Research Manager

Corporate Affairs Group

Intel Ireland


Welcome to quadrabotz

Welcome to Quadrabotz


Objective of robotics session

Objective of Robotics Session

  • Have Fun

  • Discover the hardware components that make up a robot

  • Discover the functions of Quadrabotz

  • Program Quadrabotz to move forward

  • Program Quadrabotz to move backward

  • Program Quadrabotz to change gait

  • Program Quadrabotz to beep

  • Program Quadrabotz to detect light

  • Program Quadrabotz to detect objects and take evasive action


Intel design and discovery robotics module

Hardware Components of Quadrabotz

Chassis

3 motors-front middle back

4 Legs

Left and right LED ( emit light )

Left and Right photodetector ( detect visible and infra red light )

Micro-controller

Power source - battery packs

on/off switch

Piezo sounder

Comms socket for PC/programming


Intel design and discovery robotics module

h

Sensors

Infra Red LED

LightSensor


Quadrabotz programming

Quadrabotz Programming

Introduction to Software Programming

The Quadrabotz can be programmed in Basic. The programs are written on a PC running Windows and downloaded into the Quadrabotz through an RS232 port.

When the Quadrabotz is switched on and the programming cableis plugged inthen the Quadrabotz waits for communications from the PC.

If the programming cable is unplugged then the Quadrabotz starts to execute its current program.


Quadrabotz

Quadrabotz

If Quadrabotz is turned on, it will beep once a minute.

ZZH


Plugging in the programming cable

Plugging in the programming cable

Connect comms cable to comms. port on computer (The COM port should have 9 pins) and to the earphone jack port (RS 232) on Quadrabotz.

If necessary connect comms cable to USB adapter cable and load USB to serial minidiskette

To check for connectivity; Click on Options Comms. A message box appears, as follows:

If necessary change the comms port number and try again until you get a successful connection.

Turn Quadrabotz on.


Quadrabotz motors

Quadrabotz Motors

There are 3 motors, - front , middle and back

A Delay command must be inserted after each motor command. (measured in jiffies: 1 jiffy = 50ms)


Examples of motor constants

Examples of Motor constants

xxxall motors stop

LxRthe front-left and back-right legs move forward

LLxthe front-left leg moves forward; the front section twists to the left

LLLthe front-left and back-left legs move forward; the front section twists to the left

LRxthe front-left leg moves forward; the front section twists to the right

Note: The middle and back motors cannot move in opposite directions at the same time.


Creating your first program for quadrabotz

Creating your first program for Quadrabotz


Intel design and discovery robotics module

1. Set motor position

2. Create motor command


Intel design and discovery robotics module

4. Create Delay command

3. Set Delay value


Intel design and discovery robotics module

5. Set motor position

6. Create motor command


Intel design and discovery robotics module

9. Run Program

8. Create Delay command

7. Set Delay value


Intel design and discovery robotics module

10. Say Yes!


Intel design and discovery robotics module

11. Program is downloaded


Program execution

Program execution


Intel design and discovery robotics module

1. Front left leg moves forward


Intel design and discovery robotics module

2. Do nothing for 14 jiffies (0.7 secs.)


Intel design and discovery robotics module

3. Front right leg moves forward


Intel design and discovery robotics module

4. Do nothing for 14 jiffies (0.7 secs.)


Intel design and discovery robotics module

5. Go back to the first instruction and do it all again!


Programming quadrabotz to walk

Programming Quadrabotz to walk


Intel design and discovery robotics module

Motor(LxR)

Delay(15)

Motor(xLx)

Delay(10)

Motor(RxL)

Delay(15)

Motor(xRx)

Delay(10)

Programming Quadrobotz to walk.


Quadrabotz walking on the floor

Quadrabotz walking on the floor.

Click the Download button to download the program into the robot.

Switch the robot off.

Unplug the cable.

Switch the robot on again.

The program in the robot will start to run and will be executed repeatedly.

Switch the robot off, plug the cable in, and switch the robot on again to await next program.


Gaits

Gaits

A gait is a way of walking – a sequence of motor commands.

Quadrabotz is capable of over 2000 different gaits!


Gaits1

Gaits

The Quadrabotz has six built-in gaits:

Gait(gFwd) :execute one step forwards

Gait(gLeft) :execute one step turning to the left

Gait(gRight): execute one step turning to the right

Gait(gRev) :execute one step backwards

Gait(gRevL) :execute one step backwards to the left

Gait(gRevR) :execute one step backwards to the right


Gaits2

Gaits

Type-in, download and run this program:

Gait(gFwd)

The robot will walk forwards.


Gaits3

Gaits

Try different combinations of gaits, for instance three paces forwards then two backwards and to the left:

Type-in, download and run this program:

Gait(gFwd)

Gait(gFwd)

Gait(gFwd)

Gait(gRevL)

Gait(gRevL)


Programming quadrabotz to sing

Programming Quadrabotz to Sing


Making sounds

Making Sounds

Ensure that the robot is plugged in and switched on.

Click the beep button to select the Beep Programming page.

Click in the squared area of the dialog box

Each square corresponds to a different type of beep

Click on the test button to hear the type of beep

The robot will play the beep.

Select a beep and then press the Beep button

Beep statement is now added to the program.


Sounds

Sounds

Type-in, download and run this program

Beep(184)

Beep(131)

Beep(109)

Beep(91)


Sounds1

Sounds

Type-in, download and run this program

Beep(184)

Delay(14)

Beep(131)

Delay(14)

Beep(109)

Delay(14)

Beep(91)

Delay(14)


Testing the obstacle sensors

Testing the obstacle sensors

Quadrabotz has 2 light sensors

The robot’s chip measures the light level seen by the light sensor and assigns it a base value

Quadrabotz has 2 light emitting diodes

When these are turned on and

If there is an obstacle nearby, then infra red light will be reflected off it back to the light sensors.

The difference between the two readings is what is shown on the Measure dialog chart.

The sensitivity of the light sensors depends on how much infra red light the obstacle reflects and on the background light level.


Intel design and discovery robotics module

h

Sensors

Infra Red LED

LightSensor


Testing the obstacle sensors1

Testing the obstacle sensors

Switch the robot off, make sure the cable is plugged in and switch the robot on again.

Click the measure button to display the Measure dialog.

Watch the Obstacle Left and Obstacle Right charts. Wave your hand in front of the robot’s sensors – the white lines on the chart move up and down.


Testing the light sensors

Testing the light sensors

Switch the robot off, make sure the cable is plugged in and switch the robot on again.

Click the measure button to display the Measure dialog.

The light sensors on each corner of quadrabotz are sensitive to white and red light

Watch the Light Left and Light Right charts as you point the robot towards and away from a window or light source

The white lines on the chart move up or down due to the differing light intensity.


Threshold level

Threshold Level

The red line shows the threshold level above which an Event will be triggered.

Click and drag the mouse over the Light charts to alter the threshold value.


Sensors in basic

Sensors in basic

You can test the value measured by the obstacle detectors and light sensors in If,While and Repeat statements.


Sensors in basic1

Sensors in basic

The Quadrabotz has the following sensors

LeftObsLeft obstacle sensor

RightObsRight obstacle sensor

LeftLightLeft light-level sensor

RightLightRight light-level sensor

FrontMotorFront motor sensor

BackMidMotorsMid/Back motor sensor

Timertimer


Sensors in basic2

Sensors in Basic

Type in and download the following program

If LeftLight > 20 then

Beep(189)

end

The robot measures the light level seen by the left light sensor

It beeps if the level is greater than 20.


Sensors in basic3

Sensors in basic

If you click the if Left Bright button on the Ifprogramming page, the editor inserts:

If LeftLight > 20 then

else

end


Sensors in basic4

You could compare 2 sensor values as follows:

Type-in, download and run this program

If LeftLight > RightLight then

Beep(240)

else

Beep(87)

end

Sensors in basic


Sensors in basic5

Sensors in Basic

Timer is a variable that is incremented 4 times a second.

Type-in, download and run this program

If Timer > 20 then

Timer=0

Beep(240)

end

This program beeps every 5 seconds


Events

Events

An event (something happening in the outside world) allows a program to respond quickly to a sensor.


Intel design and discovery robotics module

1. Select event dialogue

Gait(gFwd)


Intel design and discovery robotics module

2. Select Left Obstacle event


Intel design and discovery robotics module

3. Select motor dialogue


Intel design and discovery robotics module

4. Tilt middle motor to the left and create the command


Intel design and discovery robotics module

6. Tilt middle motor to the right and create the command


Intel design and discovery robotics module

7. Just one more delay…


Intel design and discovery robotics module

8. Select beep dialogue and choose a beep type and create the command


Intel design and discovery robotics module

5. Now do a 6 jiffy delay (0.3 secs.)

6. Tilt middle motor to the right and create the command

7. Just one more delay…

8. Select beep dialogue and choose a beep type and create the command

9. Now run the program and observes what happens when you put your finger in front of the left sensor


Motor xlx delay 6 motor xrx delay 6 beep 169

Motor (xLx)Delay(6)Motor(xRx)Delay(6)Beep(169)

Gait(gFwd)

10. The robot continuously executes the ‘Main’ program. When it detects a left obstacle it stops whatever it is doing in the ‘Main’ program, jumps to the ‘Event LetObs’ program, executes all of the commands and returns to where it left off in the ‘Main’ program


Intel design and discovery robotics module

Gait(gFwd)

Beep(168)

Beep(189)

Gait(gRev)

Gait(gRev)

Gait(gRevL)

Gait(gRevL)

Gait(gRevL

Beep(187)

Gait(gRev)

Gait(gRev)

Gait(gRevR)

Gait(gRevR)

Gait(gRevR)


Intel design and discovery robotics module

Beep(106)

Gait(gRev)

Beep(100)

Gait(gRev)


Advanced programming

Advanced Programming


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