adtec kulim robocon workshop v2
TRANSCRIPT
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ROBOCON 2008
Workshop
Facilitator: Ober Choo Sui HongCytron Technologies Sdn Bhd
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Presentation Outline
Day 1
Preparation Connector
Power
Motor
Sensor
AR40B Introduction
Packing list
Board Layout
Power Supply
Driving Motors (tires)
Encoder
Driving Relays
Digital Inputs
Analog Inputs
General Purpose Output
Programmer
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Presentation Outline
Day 2
C Programming
C template Compile and download program
AR40B description
Using AR40B (programming) Brushless motor (Linix and Vexta)
Brush motor (MD10A and MD30A)
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Presentation Outline
Day 3 Using AR40B (programming)
Relays (MD10A and MD30A)
Rotary encoder
Digital Inputs (RGB, FX301, Limit switch) Analog Inputs (Distance sensor, Ultrasonic)
Constructing a Robocon robot Assembly robot base, body and mechanism Sensor position and calibration
Writing program for line following
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Presentation Outline
Day 4
Test Run
Line following
Extra Mechanism
Modes selecting
Improvements
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Presentation Outline
Day 5 ROBOCON discussion
Game rules and strategies discussion
Robot maintenance and troubleshooting
Test run and training
Motivation
Q & A
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ROBOCON Msia and ABU
ROBOCON is an annual robotic competition in Japan for many years ago, organized by NHK
Japan. Only few country is invited to participate, Indonesia and Thailand have joined beforeyear 2002.
In 2002, ABU decided to organize ROBOCON and invite all countries of ABU to participate.
There will be two level of competition, Domestic and Asia Pacific.
Host country may send two representative teams.
Every year have different theme and rules based on the country culture and organizingcommittee.
2002(Reach to Mount Fuji, MalaysiaMMU, ABUVietnam (at Japan).
2003(Takraw Space Conqueror), MalaysiaUTM, ABUThailand (at Thailand).
2004(Reunion of Separated Lover), MalaysiaUTM, ABUVietnam (at Korea).
2005(Climb the Great Wall, Light the Holy Fire), Malaysia - UTM, ABU - Japan (at China).
ROBOCON 2006(Building the worlds Tallest Twin Tower), MalaysiaMMU, ABUVietnam (at Malaysia).
ROBOCON 2007(Halong Bay Discovery), MalaysiaUTM, ABUChina (at Vietnam).
ROBOCON 2008 (Govinda), at India
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ROBOCON 2002
Theme: REACH FOR THE TOP OF MT FUJ I
Venue: Tokyo, J apanDat e: 31st August 2002
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ROBOCON 2003
Theme: TAKRAW- SPACE CONQUEROR
Venue: Bangkok, Thai l andDat e: 24t h August 2003
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ROBOCON 2004
Theme: THE REUNI ON OF SEPERATED LOVER
Venue: Seoul , Kor ea
Dat e: 11t h Sept ember 2004
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ROBOCON 2005
Theme: CLI MB THE GREAT WALL, LI GHTTHE HOLY FI RE
Venue: Bei j i ng, Chi naDat e: 27t h August 2005
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ROBOCON 2006
Theme: BUI LDI NG THE WORLD TALLEST TWI NTOWER
Venue: Kual a Lumpur , Mal aysi aDat e: 11t h Sept ember 2006
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ROBOCON 2007
Theme: HALONG BAY DI SCOVERY
Venue: Hanoi , Vi et nam
Dat e: 26t h August 2007
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ROBOCON 2008
Theme: Govi nda
Venue: Pune, I ndi a
Dat e: 31st August 2008
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Total Development
Process (ROBOCON)
Strategies
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Understand Rules, discuss strategies
Auto Machine (MCU) Manual Machine (MCU or logic)
Divide group
Weekly update, debugging,
target and meeting
Stabilizing and training
Register and form a team
Workshop (learn technical knowledge)
Construct Robots, Write Program
Preparation for Competition
Controller, Sensor, Mechanism,
Motor, Wheel, Battery
Funding
Team work
Motivation
Dedication
Strategies
Information
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Hardware Preparation
Collect and Prepare all
hardware
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Hardware and materials
AR40B + PIC PS40B + PIC
Vexta brushless motor + Connector
Brush motor + Connector
MDX0A
Battery + Connector + Charged Rotary Encoder + Connector
FX301 + Connector, Limit Switch + Connector
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Vexta control pin
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MDX0A control pin
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FX301 control pin
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Encoder control pin
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Auto and Manual
Robot
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Auto Robots
One operation to start. Need a controller to
operate automatically.
Must fit in 1000mm x1000mm zone.
Combination of
controller, software and
mechanism.
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Manual Robot
Operated by human. Controller box is either
logic or microcontroller.
Must fit in 1000mm x1000mm zone.
Operator and mechanism
are the most important
element.
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Robots Basic Elements
ControllerSensor
Motor
BatteryMechanism
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Line Following RobotMotors and wheels (Leg)
Sensors (Eye)
Controller(Brain)
Mechanism
Battery
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Controller
Control a robot. Mostly automatic robot, manual robot mayhave controller to control simple routine work.
Controller boards: (not limited to) Handy Board
Basic Stamp Cytrons AR40B
ComputerEmbedded PC, PC or Laptop
Microcontroller: (not limited to)
PIC from Microchip 6811 from Motorola
AVR, AT89C2051 from Atmel
Must be light weight, low powered, easy to develop, easyto learn and easy to get (availability).
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Controller
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Simple factors A system will need at least a minimum hardware to work.
In this case, it involved electronics interface. There are 4 important points to take care:
Voltage
Maximum or Minimum of operating
Analog or Digital
Current
Maximum or Minimum of operating (motor)
Polarity Positive and Negative
Short circuit
Clearance of your circuit
It seem simple, but these are the famous factors for those circuit that cannot
works
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PIC Microcontroller
The Brain of AR40B
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Why PIC MCU?
Peripheral Interface Controller
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Why PIC MCU? Low cost, from RM15-RM60.
Easy to get, you can order from Cytron, Farnell, RS and evenelectronics store.
Less instructions.
PDIP Packaging. MPLAB, WinPIC, C compiler, Assembler and many software
is distributed as freeware.
Plenty of free project and sources code from Internet.
Easy to load program. large program memory space.
Low cost programmer, Bootloader and Startup Kit areavailable in market.
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PIC16F877A
40 pins package (PDIP).
35 instructions. External clock is required, maximum crystal speed is 20MHz,
Time for 1 instruction = 200ns (Crystal=20MHz)
8,092 14bit FLASHprogram memory, can be reprogrammed formore than 1,000 times. You can write 8092 lines of assembly codes.
368 8bit data memory or registers (File registers).
Interrupt capability. 33 GPIO.
Other peripherals: 8 channel 10bit ADC, USART/I2C/SPI, 16bits & 8 bits timers/counter, PWM, Compare and Capture.
Features: ICSP-In Circuit Serial Programming.
Note: Refer to Data Sheet
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PIC16F877A
PIC16F87XA datasheet pg.5
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PIC16F877As Peripherals
Different PICs have different on-boardperipherals
PIC16F877A common peripherals are: Digital I/O pins.
Analog to Digital Converters (ADC) (10bit).
Serial communications: UART (RS-232), SPI, I2C.
Pulse Width Modulation (PWM) (10bit). Timers and counters (8 and 16bit).
Watchdog timers, Brown out detect.
16 8 A i
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16F877A Pins
Diagram
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Ports (Digital I/O)
40 pins 16F877A has 5 Ports with 33 digital I/O pins.
Every port has 2 control registers TRISx sets whether each pin is an input or output.
PORTx sets their output bit levels or hold input status.
Most pins have 25mA source/sink (directly drives LEDs) What is source/sink?
WARNING: Other peripherals SHARE pins! Example: Port A share digital I/O with Analog input
Applications: Inputs: Digital sensor, push button (keyboard)
Outputs: LED, Buzzer, motor driver, LCD.
Note: Refer to Data Sheet
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TRISx and PORTx
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16F877As ADCs
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ADCs Analog Digital Converter (ADC).
Store Analog voltage in digital value.
ADC can operate during sleep mode. (internal RC clock)
10bit What does 10bit means?
Can generate an interrupt on ADC conversion done.
Page 126.
Applications: Audio volume control, temperature sensor, position sensor, ECG signal
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16F877As CCP
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CCP Modules
Capture/Compare/PWM (CCP). 10bit PWM (Pulse Width Modulation) width within 8bit PWM
period (frequency).
Some time PWM is used to give external speed for DC
brushless motor.
Normally is used to control speed of DC motor.
Applications: DAC (Digital to Analog Converter) Control speed of motor using PWM
Generate frequency pulse for stepper motor.
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PWM on PIC Registers involved:
PR2 register: PWM period
CCPR1L and CCP1CON:
10-bit duty cycle
Basic operation: Start of period
Timer TMR2 cleared
CCP1 pin set to high
10-bit duty cycle latched toCCPR1H
When TMR2 = CCPR1H
Clear CCP1 (duty cycle over)
When TMR2 = PR2
New period starts
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CCP1CON Register
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16F877As Timer
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Timers
Available in all PICs.
May generate interrupts on timer overflow.
Some 8bit, some 16bit, some have prescalers.
Can use external pins as clock in/clock out(Counting encoder motor feedback).
Warning: some peripherals share Timer resources
PWM share Timer 2 in 16F877A. Applications:
Encoder feedback from motor.
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PIC16F877A Interrupt
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Batteries
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Batteries
There are various type of battery available in the
market.
Depending on the application, we try to balance
up the weight and current needed.
The higher current capacities, the heavier battery.
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Sealed Lead Acid Following are some examples of SLA:
12V 12Ah 12V 7Ah
6V 4Ah
We can simply charge SLA with ordinary power supply
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Lithium ion Polymer (LiPo)
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Lithium ion Polymer (LiPo) Each pack is 11.1V.
Come with different capacity (800mAh, 1800mAh) No memory effect.
Advantages:
Lighter than NiMH higher current capacities
Higher discharging rate
Drawbacks: require special charger
Hazardous (will exploded if in-correct charging)
Suitable for high current application.
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Precautions
Never connect both terminal of battery together. It
will spoil the battery.
Be careful when using or charging LiPo battery.
Lets see video of Lipo overcharge.
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Q & A
Batteries
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Programming
MPLABPICC Lite
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MICROCHIP MPLAB IDE
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Installation of MPLAB IDE
PICC Lite
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How to use MPLAB IDE?1. Install and run the MPLAB IDE, you can see the
screen as below.
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How to use MPLAB IDE?1. Since we are using PICC Lite, please refer to
another file for PICC Lite
PICC Lite
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MPLAB IDE & PICC Lite
Any Question???
If no, we will proceed with
Assembly Language and realprogramming
AR40B
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AR40B
Autonomous Robot
Controller
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AR40B Enhanced version of AR40A.
Utilize all 33 I/O pins of PIC. Industrial grade PCB with heavy copper material.
On board USB programmer.
ZIF (Zero Insert Force) socket for ease of changing PIC.
Fully compatible for 40 pins PIC such as PIC16F877A or PIC18F452. 8 relays output with maximum current allowed up to 10 Amp to control
4 motors in 2 directions.
External port for 30 Amp motor driver (MD30A).
Able to drive Oriental AXH series and LINIX series of brushless motor.
Up to 8 digital inputs and 3 analog inputs which can be connected tovarious kinds of sensors and switches.
3 input push button.
15mm x 25mm expandable zone is prepared for additional circuit and
advance application.
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AR40B
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AR40B
Going through AR40B Instruction Manual
Power
Driving motors
Relays
Rotary Encoder
Digital Inputs Analog Inputs
Programmer
AR40Bs
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Pin Assignments
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Practical +
Assignments
Using AR40B
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Assignments
Before we can operate AR40B, we mustensure it is properly connected andpowered up.
Connect necessary components tooperate AR40B.
Try to connect power for motor, connect
a brushed motor, try to operate motorwith relay.
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Loading Program
On Board Programmer
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Programming of Robots
components
Controlling Brushless Motor
Controlling Brush Motor
Assignments
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Motors
Main driver for robot
mechanism
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AR40B - Two methods (Tires)
Either Brush motor + MDX0A
Or Brushless Motor (Vexta or Linix)
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Motors DC brush, DC brushless, Servo, Stepper.
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Using Brushless Motor
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Vexta Brushless Motor Simple interface (logic 0V or 5V), speed output,
driver protection, variable speedand variable gearratio.
Each set included motor, gear, driver and manual.
3 types of power, 50W, 30W and 15W.
Around RM1+++.00 each set.
Weight: 50W=1.8kg, 30W=1.0kg, 15W=0.5kg
Maximum speed of motor = 3000 rpm
24V
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Oriental DC Brushless Motor
Motor Driver
Motor
Gear Head
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DC brushless Control
START, RUN, CW and INT.VRare the 4 driver
inputs that we normally control.
It can be control with direct connection to PIC
output pins (logic-5V or 0V) or switches (manualmachine).
Note:No pull-up resistoris required.
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DC Brushless with Switches
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DC Brushless with uC
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DC Brushless Outputs
There are 2 outputs from DC Brushless Driver
which can be connected to PIC for feedback(close loop control).
Alarm Output (Pin 1) and Speed Output (Pin 2). Output drainPull-up resistoris required.
Note: Be careful with pull-up resistor, it should
be > 5K.
DC Brushless
O C i
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Outputs Connection5V
5K-10K
Alarm Output
Speed Output
Motor Driver
Counter or
Digital Inputs
Microcontroller
DC Brushless
M S d (I l)
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Motor Speed (Internal) There are 2 options for motor speed, internal variable
resistor voltage or external voltage. If internal speed is required, the INT.VR (Pin 8) must be
pulled low.
DC Brushless
M t S d (E t l)
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Motor Speed (External)
External speed maybe applied if the INT. VR
is high (5V).
The are 2 ways, either by connecting a external
variable resistoror connect an external DCpower supply.
DC Brushless
M t S d (E t l)
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Motor Speed (External)
DC Brushless
M t S d (E t l)
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Motor Speed (External)
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DC Brushless
G d T
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Gear and Torque
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DC Brushed Motor
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DC Brushed Motor
Using MDX0A
with Brush motor
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with Brush motor
MD10A
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MD10A
GndPWMCWRUN12V
battery
Motor
MD30A
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MD30A
MD30A
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MD30A
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AR40B
Controlling Driving Motors
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Controlling Driving Motors
Group 1Switch 1 to activate left motor, switch 2 toactivate right motor, switch 3 to stop both motor.
Group 2Switch 1 to activate left motor withminimum speed, switch 2 to increase speed, switch 3
to decrease speed Group 3Switch 1 to activate 2 motors, switch 2 to
change direction (forward), switch 3 to changedirection (backward)
Group 4Switch 1 to activate 2 motors, switch 2 tochange direction (turn left), switch 3 to changedirection (turn right).
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Day 2 - Completed
We continue tomorrow morning
sharp at 9.00 am
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Day 3
Relays
Rotary Encoder
Digital Inputs
Analog Inputs
Driving brush
motors for mechanism
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motors for mechanism
Relays
MD10A
MD30A
Relays
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Relays Allow high current application, can be a switch.
Various combination (poles and throws), various
activation voltage (5V, 6V, 9V, 12V, 24V),
various size, various price.. Can be applied on logic circuit (without uC,
manual controller box).
Control motor direction, but not speed.
Relays
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Relays
Single Pole Double Throw Single Pole Single Throw
Relays
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Relays Bottom view
Double Pole Double ThrowSingle Pole, Double Throw
DPDTSPDT
How to control
motor with Relays
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motor with Relays
1 SPDT relay could only control 1 motor for ON
or OFF.
How aboutbi-directional control of motor? Must use at least 2 SPDT relays.
Schematic of
Relays Control Motor
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Relays Control Motor
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Q & A
Motors
Assignments
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Assignments Brushless motor activation with switch
Brushless motor activation from sensor
Brushless motor speed change with switch
Brushless motor direction with switch DC brush motor with switch
DC brush motor with sensor Using MDX0A
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Encoder
Rotary encoder
Rotary Encoder
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y
Rotary Encoder
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y Simple interface (3 pins), 5V to 24V, 500 pulse per
rotation, open drain output (must pull-up and can beany voltage).
5V to 24V
Gnd
Signal
Rotary Encoder
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y AR40B provide option to use internal encoder from
DC brushless driver or external rotary encoder. Connected to RA4 and RC0 of PIC.
Use counter (timer0 and timer1) to accumulate the
pulse.
Calculate robot distance.
Rotary Encoder
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y Connecting rotary encoder to AR40B.
Please move the jumper to EXx.
AR40B - Assignment
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g
Group 1 & 2Switch 1 to activate robot, stoprobot when encoder 2 reach 500 pulse (equal to1 rotation)
Group 3 & 4Switch 1 to activate robot,activate MOTOR1 if encoder 1 reach 750 pulse
ExtraUsing encoder from Vexta brushless
motor Making interrupt for encoder
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Digital Inputs
limit switch, photoelectric
sensor, fiber optic sensor, RGB
SensorU i f b d i f ll k
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Use to sense environment of robot and as input for controller to makedecision.
Switches Limit switch
Push button
Detect object with touch Example: wall, gift(2004), pole(2005), block (2006), island (2007)..
Proximity sensor CX-422 from SUNX
FX-301 from SUNX
Detect object with a distance without touching
Can be used to detect color, line tracking, and also object.
There are other type of sensor, for example: camera.
However we must consider the ease to operate, ease to interface andavailability.
Limit switch
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Normally Close
Normally Open
Common
Photoelectric and
fiber optic Sensors
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SUNX CX-422 Infrared Sensor
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Simple interface (3 pins), 12V to 24V, 80cm
distance, open drain output (must pull-up and can beany voltage).
Is only logic level, therefore no filterrequired.
SUNX CX-422
Photoelectric Sensor
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Can be changed to active high or active low operation.
Adjustable sensing distance.
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FX-301
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FX-301
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Calibration is very important if FX-301 is used
Basic calibration will involve mounting of sensor,threshold setting and testing
Lets see how can we calibrate it
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AR40B - Assignment
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Group 1Switch 1 to activate MOTOR1, SEN1 to
Change direction, SEN2 to stop MOTOR1. Group 2Switch 1 to activate MOTOR2, SEN3 to
stop MOTOR2, SEN4 to activate MOTOR3.
Group 3Switch 1 to activate MOTOR1 andMOTOR2, SEN5 to change direction of MOTOR1,SEN6 to activate MOTOR3.
Group 4
Switch 1 to activate ALL MOTOR, SEN7to stop MOTOR1 and 2, also change direction ofMOTOR3 and 4, SEN8 to stop all MOTOR.
How about ADC?ff l i
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AR40B offers 3 analog inputs
Where can it be used?
How to use it?
Using distance sensorSh ff h d d di
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Sharp offer cheap and good distance sensor
There are several models
Sharp GP2D120 (4cm to 30cm)
Analog output 4.5 to 5V operating voltage
Connecting to AR40BI t t i lt d t i
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Important is voltage and correct pin.
Since is 5V powered, just match the pin.
AR40B Analog input
+
S
-
GP2D1200 4V at 30cm
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0.4V at 30cm
2.8V at 4cm
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Lets Try
Convert ADC to distance (cm)
Using Ultrasonic 42kHz Ultrasonic sensor
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42kHz Ultrasonic sensor
Operates from 2.5-5.5V Low 2mA supply current
20Hz reading rate
RS232 Serial Output - 9600bps
Analog Output - 10mV/inch
PWM Output - 147uS/inch
Small, light weight module
Connecting to AR40B
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AR40B Analog input
+S
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Lets Try
Convert ADC to distance (inch)
AR40B - Assignmenti h i b h h
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Group 1Switch 1 to activate robot, ADC1 to change the
speed. Group 2Switch 1 to activate MOTOR1,
If ADC2 > 2.6V, CW
If ADC2 < 2.4V, CCW
If 2.4V
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Q & A
Sensors
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Day 3 - Completed
We continue tomorrow morning
sharp at 9.00 am
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Day 4
Line Following Robot
Sensor calibration
Write program
Combining all components Use AR40B to write program:
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Use AR40B to write program:
Limit switch to start Brush motor Increased Brushless Motors speed slowly (time)
Increased Brushless Motors speed base on ADC
Change Brush Motor direction based on Limit switch
Infrared sensor to stop Brush motor
Encoder to stop Brushless motor
Counter to stop DC brushless motor
Extra: Pivot robot with limit switch status
Constructing a Robot1 Assembly robot base body and mechanism
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1. Assembly robot base, body and mechanism.
2. Sensor position and calibration
3. Robot testing and fine tuning
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Line following algorithm
Li f ll i i i t t i ROBOCON
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Line following is important in ROBOCON.
Try to write a program to simulate line
following.
Line Following RobotMotors and wheels (Leg)
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Sensors (Eye)
Controller(Brain)
Mechanism
BatteryHow to integrate all the componentstogether ; the controller, actuator and
sensors?
Line Following Robot
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Sensors
Left or Middle or Right
sensor triggered
Controller Algorithm process theInputs / sensors reading
Actuators Move direction based
on algorithm written
Line Following RobotFlow chart for 3 line sensors
Start E d
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Start
Middle
Sensors?
TurnLeft
YesRight
Sensors?
No
Left
Sensors?No
No
Error
End
Turn
RightYes
Moving
ForwardYes
Assignment!
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g
Write simple code for line
following!
Line Following Improvement Averaging sensor reading
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Averaging sensor reading
Counting cross
Apply PD control
Combining encoder
Mechanism Require mechanical design.
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You are free to design, be creative! Pneumatic
Motor actuators
Momentum
Spring and rubbers
Reliability Dont stop improving your design and testing.
Learn! Renovate! Improve! But dont copy from the othersdesign!
Modes You can write program for several modes
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You can write program for several modes
By using push button
Write program for team A and team B
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Improvements
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Day 4 - Completed
We continue tomorrow morningsharp at 9.00 am
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Day 5
ROBOCON 2 8 discussion
Robot Maintenance and Troubleshooting
Training
Motivation
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ROBOCON 2008 Discussion
ROBOCON 2008 Game Rulesmust be very familiar and understand
correctly
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correctly. Read and understand FAQ
Ask organizer if you have any doubt
Game strategies
Be creative and dare to try Example, Japan, China, Malaysia and Vietnam.
Task distribution and weekly meeting (short and serious).
Collect information (technical and strategies).
Plan budget wisely.
Training, Training and Training.
Robot Maintenance
and Troubleshooting
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Robot Maintenance
and Troubleshooting Take care your robot like your precious.
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Create a check list for your robot. Possible reasons for non working robot:
Power supply
Hardware Interfacing
Software Algorithm
Components failure (PIC, motor, relays, sensoretc)
Test Run and Training
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Motivation
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Objective and Mission Give your commitment to ROBOCON.
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Dont stop improving your robots. No excuses.
Show that we love Malaysia and do our best toshow other countries we are a strong country.
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Thank You
Q & A
Please!
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Problem/s cannot be solved?
Contact Cytron Technologies at:
Or
Log in to our forum at
www.cytron.com.my