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Leveraging the HiTechnic Prototype Board for FTC

What You Will Learn. You can build many types of sensors that don't come in the Lego kits. For example:Rotation sensors for robot armsExtra switches and knobs to control your robotProximity sensorsThis presentation describesHow the HiTechnic protoboard worksHow to build sensors with the prot

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Leveraging the HiTechnic Prototype Board for FTC

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    1. Leveraging the HiTechnic Prototype Board for FTC Team 2875 - MITiBot CT Robot Rally 07 November 2009

    2. What You Will Learn You can build many types of sensors that don’t come in the Lego kits. For example: Rotation sensors for robot arms Extra switches and knobs to control your robot Proximity sensors This presentation describes How the HiTechnic protoboard works How to build sensors with the protoboard How to program with protoboard sensors

    3. Motivation Last year was rookie season Interested in Electrical Engineering Mentors with EE backgrounds Interested in basic sensor design Sponsored by MIT Lincoln Laboratory One of two teams to utilize HiTechnic prototype board Within MA, CT and Atlanta competitions

    6. Motivation ROBOTC drivers were not well supported Found on Xander Soldaat’s blog Not official sponsored by Lego, FIRST, or HiTechnic Attempted to become driver developer Contacted Xander Contacted HiTechnic HiTechnic already officially sponsoring Xander’s driver Now available on HiTechnic website!

    7. Outline The prototype board Designs with the prototype board Programming the prototype board FTC rules for the prototype board

    8. HiTechnic Prototype Board Options Three possible options to purchase Solderless Solderable Experimenters Kit

    9. Breadboard vs Solderable Bread boarding is great for experiments Rapidly design and test circuits Traces are built into the bread board Soldering components allows for permanent installation Components will not fall off Usually looks nicer Traces do not exist

    10. HiTechnic Prototype Board Features 1 sensor port NXT voltages (3.3v, 4.3v, 9v, 5v) 6 digital lines Configure as input or output 5 analog to digital converts 10 bit, 0v – 3.3v Allows NXT to understand sensor readings

    11. Power 3.3v Most important Full scale of A/D converters

    12. Digital Lines Six digital lines Can be only on “On” or “Off”, like a switch Configured for input or output Each line is configured independently Internal pull-up resistors no connection = logic HIGH

    13. Analog to Digital Converters Five analog to digital converter lines Can read a range of values 0v – 3.3v operation makes 3.3v very important Circuits feeding A/D should use 3.3v for full A/D resolution 10 bit resolution Counts range from 0 – 1023 0 counts = 0v input 1023 counts = 3.3v input

    14. Magnetic Proximity Sensor Use a magnet as a sensor Magnet mounted on an arm comes in close proximity to Hall-effect sensor Hall-effect sensor switches on

    15. DIP Switch Robot Control Toggle input of a digital line Flip a switch of “on” or “off” Reading input with software Can enable or disable features

    16. Rotation Sensor Provides one-to-one positioning Position remains after power reset Allows for software limits

    17. Trim Potentiometer for shooting power Tune shooting power in real time Allows power adjustment without changing code Scaling issue A/D scale is 0 – 1023 Motor power scale is 0 – 100 Find scaling factor 1023 / 100 = 10.23 is scale divisor Samples 1023 counts / 10.23 = 100.0 767 counts / 10.23 = 75.0 1 count / 10.23 = .097 What happens with 0 counts?

    18. Programming with NXT-G NXT-G 1. sensor port number 2. action (read analog, read or write digital) 3. analog channel number 4. six bit value to output on digital lines 5. six bit control for writing digital lines Setup for output or input 6. output of read analog action 7. output of read digital action

    19. Programming with LabView

    20. Programming with ROBOTC HTPBreadIO() Read digital input lines defined by the given bit mask HTPBwriteIO() Write the value of digital lines defined by the given bit mask HTPBsetupIO() Configure the lines or input or output 0 = input 1 = output HTPBreadADC() Read the value of the specified analog channel HTPBreadAllADC() Read the value of all the analog channels HTPBsetSamplingTime() Set the time between samples 4ms – 100ms range

    21. Programming Concepts

    22. FTC Rules Regarding Prototype Board No external power Any design is restricted to power on the prototype board Can only connect circuits to the labeled connections Communication must be through NXT connection Sensors can be physically separated from proto-board Additional circuit boards are allowed Prototype board processor cannot be reprogrammed Sensors created cannot cause interference with other sensors or robots Only visible light LED’s may be connected Soldering circuit components is allowed

    23. Thank you Team 2875 MITiBot Programming and assembling demos HiTechnic Provided many images and concepts Brian Shucker for help assembling ideas for this talk Xander Soldaat Creator of ROBOTC drivers for HiTechnic parts The Kingswood-Oxford School Hosting a great event

    24. Questions Please feel free to ask any questions Please feel free to share any experiences

    25. ROBOTC IR Seeker HTDIRsetDSPMode() Set the DSP mode of AC carrier wave detector For FTC we want 1200 Hz (carrier of the IR beacon) Write a 1 to DSP_MODE register HTDIRreadACDir() Read the value of the AC direction register HTDIRreadACStrength() Read the value of one AC sensors HTDIRreadAllACStrength() Read the value of all 5 AC sensors

    26. Protoboard Sensors for IR Beacon The IR Beacon works at 1200 Hz The IR spectrum used is 940nm Need a Photodiode to detect IR signal Turn IR light into voltage or current Possibly have greater range over IR Seeker V2 We apologize for not having a demo for this

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