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Intel Design and Discovery Robotics Module

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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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slide1
Intel Design and Discovery

Robotics Module

Padraig O Murchu

Education and Research Manager

Corporate Affairs Group

Intel Ireland

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
slide4
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

slide5

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

xxx all motors stop

LxR the front-left and back-right legs move forward

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

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

LRx the 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.

slide12
1. Set motor position

2. Create motor command

slide13
4. Create Delay command

3. Set Delay value

slide14
5. Set motor position

6. Create motor command

slide15
9. Run Program

8. Create Delay command

7. Set Delay value

slide25
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)

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.

slide36

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

LeftObs Left obstacle sensor

RightObs Right obstacle sensor

LeftLight Left light-level sensor

RightLight Right light-level sensor

FrontMotor Front motor sensor

BackMidMotorsMid/Back motor sensor

Timer timer

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.

slide55
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

slide57
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)

slide58
Beep(106)

Gait(gRev)

Beep(100)

Gait(gRev)

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