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Transcript
Handy Board Why the Handy Board • Designed to be the controller of small, mobil robots • Has many features that make it ideal for robotics projects – – – – – – – Integrated motor drivers 32K bytes of memory LCD screen Integrated battery pack Interactive C Small size Sensor connectors for digital and analog sensors Handy Board Specifications • Motorola 6811 microprocessor with system clock at 2 MHz. • 32K of battery-backed CMOS static RAM. • Two L293D chips capable of driving four DC motors. • 16 x 2 character LCD screen. • Two user programmable buttons, one knob and one piezo beeper. • Powered header inputs for 7 analog sensors and 9 digital sensors. Handy Board Specifications • Internal 9.6v nicad battery with built in recharging circuit. • Hardware 38 kHz oscillator and drive transistor for IR output and on-board 38 kHz IR receiver. • 8-pin powered connector to 6811 SPI circuit. • Expansion bus with chip selects. • 4.25 x 3.15 inches. Handy Board Expansion Board Specifications • 10 additional analog sensor inputs; • 4 inputs for active LEGO sensors (reflectance sensor and shaft encoder). • 9 digital outputs. • 6 servo motor control signals with power supply from the Handy Board's internal battery. • optional external power for servo motors. Expansion Board Specifications • connector mount for Polaroid 6500 ultrasonic ranging system. • pass-through connector for the Handy Board's LCD screen. Expansion Board Charging • Adapter plugged directly into board. tricklecharge • Adapter plugged into the Serial Interface/Battery Charger board with “NORMAL CHARGE” selected. Trickle-charge • Adapter plugged into the Serial Interface/Batter Charger board with “ZAP CHARGE” selected. Zap Charge mode Downloaders • Two primary components to Interactive C – 6811 downloader program – Interactive C application • “pcode_hb.s19” must be present in the handy board to use Interactive C. • Bootstrap Mode – Turn off the board ant then turn it on while holding down the stop button. When the two power LEDs go out it is in bootstrap mode. Interactive C • A subset of C • Includes control structures, local and global variables, arrays, pointers integers and floating point numbers • Data types – – – – Int 16-bit integers Long 32-bit integers Float 32-bit floating point Char 8-bit characters • No switch statements Using IC • IC will perform any valid C statement – 2+2; – (beep(), sleep(2.0);beep()}; • Main function – If main function is present it will be run when the Handy Board is reset Using IC • IC commands – load <filename> compiles and loads “filename” to the Handy Board – unload <filename> unloads “filename” and re-loads remaining files – list files, list functions, list globals lists files, functions or globals presently on the Handy Board – kill_all kills all currently running processes – Ps prints the status of currently running processes – Help displays a help screen of IC commands – Quit exits IC Library functions • DC Motors – – – – – – void fd(int m) turns on motor m in forward direction void bk(int m) turns on motor m in backward direction void off(int m) turns off motor m void alloff() turns off all motors void ao() turns off all motors void motor(int m, int p) turns on motor m to power level p (p ranges from 100 to -100 or full forward to full backwards) Library functions • Sensor input – int digital(int p) returns true false value of sensor in sensor port p – int analog(int p) returns value of sensor in sensor port p (value between 0 and 255) • User Buttons and knobs – int stop_button() returns value of STOP button (1=pressed,0=relesed) – int start_button() returns value of START button (1=pressed,0=relesed) – void stop_press() waits for STOP button to be pressed, then relesed and then issues a short beep and returns – void start_press() waits for START button to be pressed, then relesed and then issues a short beep and returns – int knob() returns the position of the knob as a value from 0 to 255 Library functions • Time Commands – void reset_system_time() sets system time to zero – long mseconds() returns system time in milliseconds – float seconds() returns system time in seconds – void sleep(float sec) sleeps for sec seconds – void msleep (long msec) sleeps for msec milliseconds Library functions • Tone Functions – void beep() produces a 500 Hertz tone for .3 seconds – void tone(float frequency, float length) produces a tone at frequency Hertz for length seconds – void set_beeper_pitch(float frequency) sets the beeper tone to frequency Hertz – void beeper_on() turns on the beeper – void beeper_off() turns off the beeper Analog and Digital Sensor Inputs • Two banks sensor inputs – nine digital sensor inputs – seven analog sensor inputs Sensor Circuitry • Each port is a 3-wire sensor (power, ground, signal) • 47K resistor provides half of a common voltage divider circuit • Default 5 volts when no signal is present Sensor Inputs • Digital Inputs – True/False (Vsens>2.5/Vsens<2.5) • Analog Inputs – Range from 0 to 5 volts – Converted to 8-bit number – 0 to 255 decimal Switch • Simple switch circuit -contact switch Voltage Divider • Simple voltage divider circuit – Light sensors – Reflectance sensors Reflectance Sensor • Emitter led • Current limiting resistor • Detector/photoresistor • Concept directly applies to Break beam sensors Optical Distance Sensor GP2D12 • Modulated IR emitter – Projects a spot of modulated light onto target surface • Detector assembly – Light from the spot is focused by the detector lens – The focused light hits a special linear positionsensitive detector element Optical Distance Sensor • The angle of incidence changes depending on the distance the light spot on target surface is from the Detector Lens/Position Sensitive Detector Gears • Uses – – – – To reverse the direction of rotation To increase or decrease the speed of rotation To move rotational motion to a different axis To keep the rotation of two axis synchronized • Tradeoffs of increasing/decreasing speed – Gearing for high speed reduces torque – Gearing for high torque reduces speed Gears • Gear Ratios – Representation of the size difference between the two gears 2:1 (two to one) – The smaller gear has to spin two times for the larger gear to spin a single time • Gear Trains – – – – Combination of multiple gears Produce larger gear ratios Change axis of rotation Synchronize gears Lab • Ferguson room 18 • Equipment – – – – – – – Computers Voltage Supplies Voltage Meters Oscilloscopes Soldering equipment Wave Generators Manuals located in workbench drawers References • Robotic Explorations A Hands-On Introduction to Engineering by Fred G. Martin • http://handyboard.com/ • http://www.cse.unl.edu/~bradleyk/lego.htm Questions