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ENGR 50 Robotics
Tom Rebold, CSIS/ENGR Instructor
ENGR 50 Robotics
Tom Rebold
Monterey Peninsula College
CSIS/ENGR Instructor
[email protected]
Monterey Peninsula College
Robots Constantly in the Press
History
-AI
-Engineering
Teleop
Case Studies
Programming
Summary
Review
www.sony.com
courtesy of MIT AI Lab
www.irobot.com
courtesy of Honda
Robots at MPC
MAST 55 Intro to Submersible Technology
MAST 205 Build and Design an ROV for
Competition
ENGL 38 More or Less Than Human?
ENGR50 Robotics
http://www.mpcfaculty.net/tom_rebold/ENGR50.htm
“Remus”
MPC’s 2004 ROV Competition Entry
“Sea Wolf” by Matt Hampton
MPC Lobos, Spring 04
Captain Matt Gardner and company
Penelope building probes
Using Robot kits to develop
audio sensors
Telephone Tone Bot Controller
By John Jenson
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 single 3.5" floppy disk
(or thumb drive) for
shuttling programs
Robotics Tool Kit
• PC for writing and downloading programs
• "Brain" or Microcontroller
• (BASIC Stamp, BasicX-24, Lego mindstorms RCX,
PIC16F84)
• 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
BasicX-24
Lego RCX
Clock
3 GHz
20MHz
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, Second Edition, Gordon McComb (RBB)
Cost
$350
$50
$50
$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
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
Navigation and Drawing
Navigating with Photo Resistors
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P
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j
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S
p
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Infra Red Detectors
Final Maze Competition
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
• We check out kits (one may need a new chip)
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Grab a kit
Run Stamp software on PC
Plug in serial cable
Power up bot
Download program 2.5
• Modify this line to make bot move in a
pattern
– data "FFFBBLFFRFFQ"