ENGR 50 Robotics Tom Rebold, CSIS/ENGR Instructor ENGR 50 Robotics Tom Rebold Monterey Peninsula College CSIS/ENGR Instructor trebold@mpc. edu 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? ENGR 50 Robotics http: //www. mpcfaculty. net/tom_rebold/ENGR 50. 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. • • 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, Basic. X-24, Lego mindstorms RCX, PIC 16 F 84) • 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 Basic. X-24 Lego RCX Clock 3 GHz 20 MHz 16 MHz Long term "RAM" Storage 1 GB Hard Drive 2 KB 32 KB 1. 2 K per prog (up to 5) PIC 16 F 84 An excellent source of detailed information: The Robot Builders Bonanza, Second Edition, Gordon Mc. Comb (RBB) Cost $350 $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 Perception Motion Planning Sensors Control Mechanisms Mechanics
Music Programming • • 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
o b o t P r o j e c t s S p r i n g ' 0 3 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 m. A (0. 020 A) • Schematic Symbol…
How to Read a Circuit Schematic IT 3 W i 1 6 V i 2 6 W 6 W
How to build Circuits on Breadboard Vin (6 V) Vss (Ground)
Today • We check out kits (one may need a new chip) – 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"
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