Download Encoder Pair for Tamiya Twin Motor Gearbox

ENGR 3392 -- ROBOTICS II
ROBOTICS CONSTRUCTION KIT
ArbotiX-M Robocontroller





 16MHz AVR microcontroller (ATMEGA644p).
2 serial ports, 1 dedicated to Bioloid servo controller,
the other to the XBEE radio/FTDI programming
3 TTL DYNAMIXEL 3-pin style ports onboard, plug your
TTL AX/MX DYNAMIXEL servos directly in!
28 Digital I/O, 8 of which can also function as analog
inputs
Servo style 3-pin headers (gnd, vcc, signal) on all 28
I/O pins
Click here for more details and documetnation on the
ArbotiX Robocontroller.
[2x] XBee 1mW
Communication Module
This is the very popular
2.4GHz XBee module from
Digi (formally
Maxstream). These
modules take the
802.15.4 stack (the basis
for Zigbee) and wrap it
into a simple to use serial
command set. These
modules allow a very
reliable and simple
communication between
microcontrollers,
computers, systems,
really anything with a
serial port! Point to point
and multi-point networks
are supported.
Features:


3.3V @ 50mA
250kbps Max
data rate
 1mW output
(+0dBm)
 300ft (100m)
range
 Built-in antenna
 Fully FCC
certified

6 10-bit ADC
input pins
 8 digital IO
pins
 128-bit
encryption
 Local or overair
configuration
 AT or API
command set
UartSBee
This is a simple to use, USB to serial base unit for the XBee
line. This unit works with all XBee modules including the Series
1 and Series 2.5. Plug the unit into the UartSBee, attach a mini
USB cable, and you will have direct access to the serial and
programming pins on the XBee unit.
The UartSBee also doubles as a FTDI programmer! Just plug
the included FTDI cable from your ArbotiX to the UartSBee and
you can program the Arbotix, as well as read from the Arbotix's
serial port.
USB AVR Programmer
This compact programmer can program the ArbotiX
robocontroller through a USB connection. See here for more
information on setting up an ISP programmer.
Tamiya Track & Wheel Set
The Tamiya 70100 Track and Wheel Set is designed to be used in conjunction with multiple
Tamiya products. You can use a Tamiya gearbox to drive the sprockets. The varying track
length, sprocket, and wheel sizes allow for flexibility when designing your own robot.
Included Parts






Two 30-link tracks
Four ten-link tracks
Four eight-link tracks
Two large drive sprockets
Two small drive sprockets
Two idler wheels






Six large road wheels
Ten small road wheels
Twelve wheel caps
Five 3 x 100 mm round shafts
One 3 x 100 mm hexagonal shaft
Ten 3 x 21 mm tapping screws
Tamiya 70168 Double Gearbox
The Tamiya double gearbox is a compact unit with two independent motors and gear trains. The
kit includes two motors and all gears and parts to build any of the four possible gear ratio
configurations (12.7:1, 38:1, 115:1, and 344:1). Although it is not typical, it is possible to
assemble each side with different gear ratios. There are two possible output axle locations (for
any given gear ratio, only one output location is possible).
Brushed DC Motor: 130-Size, 6V, 11.5kRPM, 800mA Stall (quantity 2)
This is the 130-size DC motor from Pololu. It can be used in the Tamiya gearbox and puts out
much more torque. It has a recommended operating voltage of 3 – 12 V; at 6 V, the no-load
speed is about 11,500 RPM, the no-load current is approximately 70 mA, and the stall current is
around 800 mA. The output shaft has a diameter of 2 mm.
Encoder Pair for Tamiya Twin Motor Gearbox
Analog encoder pair for Tamiya Twin-Motor Gear Box (only config. C)
• Includes two encoder PCBs, two Encoders wheels and two cables
•16 counts per rotation
The Encoder Pair for the Tamiya Twin Motor Gearbox allows you to add a pair of encoders to the
popular Tamiya Twin-Motor Gear Box . Note that the encoders can only be used when the motors have
been assembled in configuration C. The encoder PCB needs to be glued (a dab of hot glue is ideal) to the
gearbox, and the white encoder disc is press-fitted onto the 3mm hexagonal output shaft.
Note that the wiring is OUTPUT -> GND -> 5V
Castle Creations CC-BEC 10
A battery eliminator circuit (BEC) is an electronic circuit designed to deliver electrical power to nonmotor circuitry without the need for a separate battery. It will provide steady DC power regardless of
the input power fluctuation.
Length 1.2" (30mm)
Max continuous current**
Width 0.6" (15mm)
<12 volts input = 7 amps
Height 0.4" (10mm)
<24 volts input = 5 amps
Weight 0.4 oz* (11g)*
Max Volts 5v to 25v (2s to 6s LiPo)
Max Amps 10 amps peak**
Adjustable Output Voltage 4.8V to 9 volts.
Sabertooth dual 5A motor driver
Sabertooth 2X5 R/C is a dual motor driver specifically optimized for use in radio controlled vehicles. It is
suitable for small robots, cars and boats. Out of the box, it can supply two DC brushed motors with up to
5A each. Peak currents of 10A are achievable for a few seconds. Overcurrent and thermal protection means
you'll never have to worry about killing the driver with accidental stalls or by hooking up too big a motor.
This R/C version comes with an invert channel and options for exponential control, autocalibration and builtin mixing. The operating mode is set with the onboard DIP switches so there are no jumpers to lose.
Sabertooth is a synchronous regenerative motor driver. The regenerative topology means that your
batteries get recharged whenever you command your robot to slow down or reverse. Sabertooth also allows
you to make very fast stops and reverses. It has a built in 5V BEC that can provide power to a
microcontroller or R/C receiver. The lithium cutoff mode allows Sabertooth to operate safely with lithium ion
and lithium polymer battery packs.
Sabertooth's transistors are switched at ultrasonic speeds (32kHz) for silent operation.
Specifications:
18g / 0.6oz
Input Voltage: 6V to 18V,
6-12 cell NiMH or NiCd,
2s-4s LiPo,
6V or 12V lead acid (not 18+V lead acid!)
5A continuous per channel, 10A peak
Synchronous regenerative drive
Ultra-sonic switching frequency
Thermal and overcurrent protection
Lithium protection mode
Size: 1.8” x 1.6 ” x .5”
45 x 40 x 13 mm
5" / 13cm servo pigtails
Sharp 2Y0A02 Sharp Analog Distance Sensor 20-150cm (Quantity 2)
See data sheet.
Sharp GP2Y0A21YK0F Analog Distance Sensor 10-80cm (Quantity 2)
With 8” cable
The Sharp distance sensors are a popular choice for many projects that require
accurate distance measurements. This IR sensor is more economical than sonar
rangefinders, yet it provides much better performance than other IR alternatives.
Interfacing to most microcontrollers is straightforward: the single analog output
can
be
connected
to
an
analog-to-digital
converter
for
taking
distance
measurements, or the output can be connected to a comparator for threshold
detection. The detection range of this version is approximately 10 cm to 80 cm (4″ to 32″); a plot of
distance versus output voltage is shown below.
The GP2Y0A21 uses a 3-pin JST connector. When looking at the back, the three connections from left to
right are power, ground, and the output signal.
Feature summary








operating voltage: 4.5 V to 5.5 V
average current consumption: 30 mA (typical)
distance measuring range: 10 cm to 80 cm (4″ to 32″)
output type: analog voltage
output voltage differential over distance range: 1.9 V (typical)
update period: 38 ± 10 ms
package size: 29.5 × 13.0 × 13.5 mm (1.16″ × 0.5″ × 0.53″)
weight: 3.5 g (0.12 oz)
MB1220 XL-MaxSonar®-EZ2™ High Performance Ultrasonic Rangefinder
With 1 foot Shielded Connector Wire
The XL‑MaxSonar‑EZ2 offers the best balance between wide or narrow beams
and provides a good balance between small and large target detection. The XLMaxSonar-EZ2 works for nearly all indoor applications including: people
detection, large-target detection, long-range detection, applications requiring
high noise tolerance.
The sensor is small in size, yet the high output acoustic power combined with
continuously variable gain, real-time background automatic calibration, realtime waveform signature analysis, and real-time noise rejection algorithms
results in virtually noise free distance readings for most users. This holds true even in the presence of many
of the various acoustic or electrical noise sources. The XL‑MaxSonar‑EZ sensor line is factory calibrated to
match the sensor beam patterns and provides a long range detection zone.
Component Overview
•Resolution of 1 cm
•10Hz reading rate
•42kHz Ultrasonic sensor measures distance to
objects
•RoHS Compliant
•Read from all 3 sensor outputs: Analog Voltage,
Serial, Pulse Width
•Virtually no dead zone, objects closer than 20
cm range as 20 cm
•Operates from 3.3-5.5V
•Low 3.4mA average current requirement
•Small, light weight module
•Designed for easy integration into your project
or product
•Operational Temperature from 0˚C to +65˚C
(32˚F to +149˚F)
•Real-time automatic calibration (voltage,
humidity, ambient noise)
•Firmware filtering for better noise tolerance and
clutter rejection
•200,000+ Hours Mean Time Between Failure
•Balanced design gives both high sensitivity and
noise tolerance
•Our most recommended sensor from the XLMaxSonar-EZ sensor line
•Maximum range of 765 cm (300 inches)
•Hardware gain of 1000
•Medium range, medium detection zone for small
targets
Great Planes ES80 Micro Servo (Quantity 2)
INCLUDES: ElectriFly ES80 Nano Servo with Radio Connector, Mounting Hardware and 1.02" (25.9mm)
diameter four point servo horn
SPECS:Speed: 0.17 sec @ 60°
Torque: 32 oz/in (2.3 kg/cm) speed and torque measured at 4.8V
Voltage: 4.8V-6.0V
Dimensions: 1.1" x 0.6" x 1.2" (29mm x 14mm x 30mm)
Weight: 0.6oz (16g)
Turnigy 1300mAh 3S 20C Lipo Pack
Minimum Capacity: 1300mAh
Configuration: 3S1P / 11.1v / 3Cell
Constant Discharge: 20C
Peak Discharge (10sec): 30C
Pack Weight: 115g
Pack Size: 81 x 36 x 21mm
Charge Plug: JST-XH
Discharge plug: XT60
AR400 4-Channel DSMX Aircraft Receiver, Spektrum SPMAR400
KEY FEATURES



Full-range DSMX® receiver
Antenna is amplified for greater signal clarity
4-channel—throttle, elevator, aileron and rudder channels for
park flyers, trainers and most sport planes
 Flight log and telemetry compatible
 2048 resolution
Length: 1.2 in (31mm)
PRODUCT SPECIFICATIONS
Width: 0.7 in (17mm)
Type: Full-range DSMX® aircraft receiver
Height: 0.4 in (11mm)
# of Channels: 4
Weight: 0.2 oz (5.6 g)
Modulation: DSM2®/DSMX
Voltage Range: 3.5–9.6V
Band: 2.4GHz
Antenna Length: 190mm x 2
OVERVIEW
The full-range Spektrum™ AR400 receiver is easily one of the best receiver values in RC. It combines the
speed and precision of DSMX® control with the signal security of an active amplified antenna. This antenna
enables the AR400 receiver to "see around" reflective materials on a model and avoid antenna polarization
blind spots. It also allows the AR400 receiver to pick out its transmitter's sign al with remarkable clarity in the
noisiest 2.4GHz environments. All of this is complemented by SmartSafe™ failsafe protection and the
security of Spektrum QuickConnect™ technology that provides lightning -fast reconnection in the event of a
low-voltage brownout.
E-FLITE - MLP4DSM 4-Channel Transmitter 2.4GHz: BMCX/MSR
4 channel DSM transmitter. See documentation on server.
Terminal Block
Philmore 30-10007 : Mini Toggle Switch, SPST 5A @120V, ON-OFF
MINI TOGGLE, SPST 5A @120V, ON-OFF
Current
Initial
Rating:
Contact
Insulation
120V
Strength:
Material:
Terminal
AC/28V
Resistance:
Resistance:
Dielectric
Contact
5A@
Material:
2-4V
1000
1000V
Coin
DC,
DC
1A
Meg
250V
10m
ohm
RMS
@
Silver
Brass
2A@
-
Sea
Silver
Silver
AC
ohm
(Min.)
Level
Plate
Plate
Terminal Type: Solder
Lynxmotion BMP-01 Bumper Switch Assembly Kit
Can detect collision in the front /rear of your robot
• Switches are rated 5A @ 125VAC, 3A @ 230VAC
DFRobot Color Sensor TCS3200
Power: 2.7V to 5.5V
• Interface: Digital TTL
• Communicates directly to microcontroller
• Programmable Color and Full-Scale Output Frequency
The DFRobot Color Sensor TCS3200 is a complete color detector, including a TAOS TCS3200 RGB sensor
chip and 4 white LEDs.
Documentation is on the server.
Common Materials (shared by all teams)
Fiberglass
Epoxy
Sheet Aluminum (5086)
2” Pink Foam Sheet
Pop Rivets
Wire & heatshrink
Solder
Sandpaper
Cutting Mat
Overhead Camera/Nav Server
Tools
Soldering stations
Charging station
Pop Rivet Gun
Fiberglass Cutting Tools
Epoxy Mixing Tools
Safety Equipment
Masks
Eye Protection
Gloves
“Aprons” (trash bags)