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ENGR 50
Robotics
Woody Knapp
Monterey Peninsula
College
Robots in the News
air surveillance drone
Eldercare robot
Robots at MPC
MPC Team competes in National ROV Competition
2013 Team forming soon
ENGL 38 More or Less Than Human?
Online class studies sci-fi implications of tech
ENGR50 Robotics
Rachel, Tom and
Ross, MPC ROV
Team Members
From Metropolis to The Matrix,
this MPC class investigates classic,
historical, popular, and
contemporary films, TV, and
associated literary works which
ask, “What is a human being . . .
and what isn’t?” Considerations
include representations of utopias
and dystopias, computer
technologies and networks,
artificial intelligence, reproductive
technologies, virtual reality, and
genetic engineering. The emphasis
will be on how formal qualities
affect/effect meaning and
interpretation.
In this class we use a kit from
Parallax, Inc.
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Build circuits
Write programs
Draw pictures with bots
Respond to whiskers
Respond to light levels
Use IR LEDs in navigation
Maze competition or [other?]
NO PURCHASE NECESSARY
But if you want:
(optional) Parallax Boe-Bot Full Kit, cost $149
Group discount rates may be available—let me know if
you plan to buy one
Order online: http://www.parallaxinc.com/
Or call:
1-888-512-1024
You do need:
A thumb drive (or DropBox acct)
for shuttling programs
Robotics Tool Kit
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PC for writing and downloading programs
"Brain" or Microcontroller
(BASIC Stamp, Lego Mindstorms, PIC, Arduino)
Programming interface (serial cable, infrared (LEGO),
wireless)
"Skeleton" or chassis, arms
"Muscles" or wheels, motors, relays
Energy source—batteries
Sensors:
– Speaker, Bumper switch, Photoresistor, Infrared headlights
What's a Microcontroller?
• An ultra minimal computer chip that normally
performs a single set of tasks in an embedded
system (automatic doors, airplane avionics)
• Unlike PCs, microcontrollers have special ports to
enable simple interfaces with the outside world
(input/output)
• For every PC there are 12-18 microcontrollers in the
world
Microcontroller vs. Microprocessor
Progrm Space
PC (Intel Duo)
BASIC Stamp
Arduino Uno
Lego RCX
Clock
3 GHz
20MHz
16 MHz
16 MHz
Long term
"RAM"
Storage
1GB
Hard Drive
2 KB
2 KB
32 KB
32 KB
1.2K per prog (up to 5)
PIC16F84
An excellent source of detailed information:
The Robot Builders Bonanza, Gordon McComb (RBB)
Cost
$350
$50
$30
$100
Microcontrollers Can Teach You
About:
• Digital circuits
• Use of: resistors, capacitors, LEDs, diodes,
transistors
• Cook book circuits are readily available (RBB)
• Control theory -- feedback, proportional control
• Computer architectures
• Test & calibration
• Software -- compact notation for expressing
solutions to problems
• Learning by Osmosis
Many Academic Fields Related to Robotics
Computer
Science
Electrical
Mechanical
Engineering Engineering
Perception
Motion
Planning
Sensors
Control
Mechanisms
Mechanics
Lab 0 -- Music Programming
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You can hear your program running!
Variables
If statement
For next loops
• Explore the structure of music and software
Lab 1 Navigation and Drawing
Lab 3 Navigating with Photo
Resistors
Lab 4 Infra Red Detectors
Final Design Project
Along the way you’ll also learn
about…
Light Emitting Diodes
• A type of diode designed to
emit light
• Can be visible or IR
• 2 V voltage drop
• Typically draws 20 mA (0.020 A)
• Schematic Symbol…
How to Read a Circuit Schematic
IT
3W
i1
6V
i2
6W
6W
How to build Circuits on Breadboard
Vin (6 V)
Vss (Ground)
Today, a brief trip to Mars
• We check out kits
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Grab a kit
Run Stamp software on PC
Plug in serial cable
Power up bot
Download MarsRover.bs2 program
• Modify this line to make bot move in a
pattern
– data "FFFBBLFFRFFQ"
A Simulated Mars Rover
Mars Sequencing Team (You)
• Develop sequences to take Rover to visit a rock (or
three) over several Martian days (called “sols”)
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Five tries (1 per “Sol”)
5 points for hitting a rock
-1 point for each Sol
-3 points for rolling off table!
Your Command Sequence is made of Letters:
FFrBbRFfLlFLFQ
Sequence Key:
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f = 2 inches forward
b = 2 inches backward
l = 20 – 30 degrees left
r = 20 – 30 degress right
F = 10 – 12 inches forward
B = 10 – 12 inches backward
L = 80 – 100 degrees left
R = 80 – 100 degrees right
• All measurements are approximate!
The Rules
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Table is “Mars”
Measure rock distances
Design your sequence
Test at your work area (Earth)
(no testing on the table!)
Carry bot to “Mars”
Start in the landing zone
Wherever bot stops, place your team’s
postit note. Report score to instructor.
Take bot back to earth
Plan next day’s sequence
Resume bot at postit note from last sol
etc
Happy Driving!