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Construction Manual
Robot is imagination symbol of human. From only Smart person can make the robot. Now with the modern learning development tools can help anybody to make the robots and develop by themselves.
Welcome to Robotics !!
Class Workshop
Many students and children who are interested in robot knowledge require consturction & programming skills. Robotic Workshop is required to teach these students. However, Robo-BOX 3.0 has its own unique robotic curriculum that is included in the CDROM that allows students to learn their own without a teacher. This self-learn system makes it easier for teachers to teach and deliver the workshops easily as well.
Class challenges
The nature of challenges are to assess and evaluate students thinking, analysis, development, programming and implementation skills. This is very evident in Robotics Challenges and Competitions as well. Students are very engaged and very enthusiastic about Robotics Competitions and put everything on the line just to have the satisfaction of achieving and winning. ROBOBOX 3.0 can deliver great challenges as its multi functional features allow many varieties of challenges for students. This provides and inexpensive way for learning about technology, programming, pre-engineering, and engineering skills. Such Competitions also guide students through a variety of electronics, programming and physics based activities as they prepare their robots for the competition.
Family relationship
Robo-BOX3.0 encourages family bonding. Many parents are using robotics to develop their childs thinking process. There are also many parents who are not well versed in Robotics but still would like to use such a technology to teach their children. Robo-BOX3.0 delivers such. It is an easy platform to understand and program. Parents and children can think, build, program and have an enjoyable family time learning and exploring about robotics together. The kit provides everything a parent needs to teach and advice their children about robotics.
Entry to
Contents
Part List_____________________________________________________________________________2 Getting started with the i-BOX ________________________________________________________3 System Requirement_________________________________________________________________4 Cables in Robo-BOX3.0 kit____________________________________________________________4 Software installation and Interfacing with Computer___________________________________5 Command block summary of LogoBlocks_____________________________________________6 How to develop Robot programming_________________________________________________7 Building O2 robot_____________________________________________________________________8 Basic Moving ________________________________________________________________________9 Bumper : Object detection robot___________________________________________________13 Light Bot : Light controlled robot_____________________________________________________15 Line Tracker : Simple Tracking Line robot _____________________________________________17 Building NanaTank robot____________________________________________________________18 NanaTank with simple movement___________________________________________________20 NanoTank moves in area - never fall from table ! ________________________________________22 NanoTank moves along the line______________________________________________________23 NanoTank with Touchless object detection____________________________________________26 NanoTank finds object______________________________________________________________27 NanoTank with Sound detection____________________________________________________29 NanoTank with Tilt detection - Robot will not over ! ____________________________________30 RF remote controlled NanoTank robot_________________________________________________31
Partlist
Controller board and Interface part Base
UCON-232S
CX-4 cable
Sensor
SWITCH
LIGHT
IR Reflector
GP2D120
Acts Touch sensor x2 Light detector x2 Line Tracking and Floor detector sensor x2
Machanical parts
Distance sensor
Circle Wheels and Rubber band tires with 2mm. self-tapping screw x 4
Main Sprocket x2
Hub x 12
5-Hole Strip joiner x4 48:1 x2 12-Hole Strip joiner x4 3-Hole Strip joiner x4 3/10/15/25mm. Spacer 8 pcs./size
3x10mm. machine screw x 30 3x25mm. machine screw x 4 3mm. Nut x 30
Entry to
Getting start i-BOX
Install Batteries USB cable CX-4 cable Notebook computer USB Interface USB to Serial port converter
1. Flip the i-BOX around and open the battery cover to place 4 AA batteries into the battery holder. Please ensure that the polarity of the placement of your batteries are correct in order for the i-BOX to function.
CX-4 cable
AA size Battery
i-BOX III supports simple Alcaline batteries and Rechargeable batteries. Use 4 AA (not included).
Piezo speaker
POWER switch
Analog input
Infrared ranger LDR Light sensor Infrared reflector
2. Turn on POWER switch. The Red LED light will blink a few times followed by a Beeping sound from its speaker.
3 Beeping sound from speaker 2 POWER LED light will blink 1 Turn on POWER switch
Motor output
Microcontroller
The brain of Robot, contains Logo interpreter firmware
RUN/STOP switch
Stop program
Run program
System Requirement
Hardware
You will need either a PC or laptop computer to run the Robo-BOX software. Getting started with Robo-BOX is easiest if your PC or laptop has the following features: Harddisk space 15MB 800 x 600 Resolution Color Monitor. 1024 x 768 recommended. A serial or USB port A CD-ROM drive, World Wide Web access, or both.
RS-232 Serial port may be called COM port normally installed at the back of computer. It provides 9-pin Male D-type connector (called DB-9 Female connector) Most Notebook and Labtop available only USB port. Thus, USB to RS-232 Serial port Converter is required. In Robo-BOX3.0 kit provides UCON-232S ready.
Pin 2 RxD Receive data Pin 3 TxD Transmit data Pin 4 DTR Ready signal Pin 5 GND System Ground
PCB3AA-8 cable :
COM port USB port The cable that connects between i-BOX controller with any sensor and application module. Sometime calls Sensor cable. The length is 8-Inches.
Ground (GND) Signal or Data
Software
Install Windows ME or newer operating system. Windows XP Service-pack 2 recommended.
USB Interface
USB converter
Desktop PC
Serial port Interface 2. You will see the Installation Welcome page. Click on the NEXT button to Continue installation. If do not need to change any specifications, click on the NEXT button continue.
3. Click on the INSTALL button to finish the installation. Wait until the installation is complete.
After connect UCON-232S converter, at right corner of monitor will be show Detect New Hardware. Select the source of the driver for installation. There will be 2 drivers installed. One is the Serial device driver and the other is the Virtual COM port driver After installation, you can check the new COM port for UCON-232S. Open the Control panel > System > Device manager and see under Ports. You will see the USB serial port.
4. Run the program by clicking on the START >Program >i-BOX III > LogoBlocks
Logo Blocks
Declare variable
This is to define variable that can be used in any part of the program. Usually this is a constant value.
Procedure icon
Procedure Icon allows you to define your own procedure according to a specified name as well as a set of commands under it. You can call it anywhere in the code after it has been created. You can compress many command blocks in each procudure to only one block for using easier in the future wih Compress Procedure Blocks command. Select at menu bar.
nop : No operation
A spacer command to space your command apart from each other.
Sensor block
Used to specify the sensor port used. Output data from this block is 0 to 1,023 in decimal number. Support 4 sensor ports ; SENSOR0 to SENSOR3. Especially SENSOR4 is used to read status of 4 digital inputs. Outs data 0, 1,2,4, 8 and 15.
Set number
This is used as a numerical value that you can define. Support 0 to 65,535.
Drive motor
This command allows you to on your motors. You can select from 4 different motors on your i-BOX to turn on. These action buttons are mainly used for loops, conditions, allowing your robot to decide based on situations and the data that it has taken in.
Random numerical
This is used to allow the computer to select a random number from the specified range. Support range is 0 to 255
Stop motor
This command allows you to off your motors. You can select from 4 different motors on your i-BOX to turn off.
Interrupt
This command is used to tell your robot in an event when a digital input is O, then do the following. This can happen at anytime in the code.
Numerical comparison
This is a less than statement, that a variable is less than a number or vice versa. This is an equal statement, that a variable is equal to a number or another variable. This is a greater than statement, that a variable is greater than a number or vice versa
Brake motor
This allows you to brake your motors immediately
Beep
A beeping command fo your i-BOX. You can define the number of beep.
Forward direction
Allows you to set a specific forward direction to the motors you have selected.
Stop Interrupt
This command makes you repeat through the series of commands under this for a specific number of times.
Backward direction
Allows you to set a specific forward direction to the motors you have selected.
Repeat loop
Loop does an endless looping of commands under this. Set from 1 to 65,535.
Reverse direction
This command reverses the current running direction of your motors.
Loop operation
Loop does an endless looping of commands under this.
Wait condition
This command will wait until a specified event happens before continuing the command under it.
Check conditions
This is used in a conditional statement. To check if the input value satisfies the condition and if so, to do a specified task under it.
Beep generation
To produce a small Beep out of the piezo speaker on the i-BOX
Musical generation
To produce a musical note based on your specified frequency and duration
C = Do F = Fa B = Te
D = Re G = Sol
E = Me A = La
Robo-BOX development has 3 parts. Part-1 : Prepare and make the Robot chasis, Motor, Wheel and Mechnical parts
Build robot
Part-2 : Learn about i-BOX controller and Sensors Part-3 : Controlled program Development steps show with flowchart that describe as : 1. Construct the robot base and install all sensors that relate in any activity. Such as install Infrared Reflector seansor for detect and tracking the line in Line Tracking robot activity. 2. Connect the robot with computer and apply the supply voltage to the robot. 3. Make the suitable program for controlling the robot with LogoBlocks or Cricket Logo. 4. Download the program into the robot 5. Press RUN switch to activate the robot, Test its operation and orserve the result. 6. If the operation not complete, check the error and find out the missing in program. Edit and download to testing again. Do until the operation complete and satisfy.
COM por t
Download program
Test operation
Edit program
No
m progra Edit
Building
Part List
O2 Robot
3. Insert the 3 x 40mm. machine screws through the hole at the corner of the Box holder with 25mm. and 2 of 3 mm. spacers
Screw position
3mm. spacer (4) Box holder i-BOX3.0 Wheels & Tires 25mm. spacer (2) 3mm. nut (2)
3 x 40mm. machine screws (2)
3mm. spacer 25mm. spacer 3mm. spacer 3x40mm. screws Screw position
4. Place the Box holder on the top of the Circle base plate and attach them with 3mm. nuts at the specific positions.
Construction
1. Fix on the 2 wheels with rubber tires and attach them to the DC Gearbox with the 2 of 2mm. self-tapping screws provided in the kit.
2. Install both DC Gearboxes on the circle base plate at the specific positions shown in the picture with 3 x 6mm. machine screws.
Screw positions
3mm. nut
5. Place i-BOX into the holder. Connect Motor A cable to the Black connector of ch-A and Motor B to the white connector of ch-B. Your Robot is ready to GO!
Motor A
Motor B
Direction
Forward Backward Turn Left Turn Right Rotate Left Rotate Right
Motor A
CCW CW Stop CCW CCW CW
Motor B
CW CCW CW Stop CCW CW
next. It will change to . The number that follows is time operation value of Motor A and B. Double-click at this number block to change to 2000. It is equal 2 seconds.
block to connect to block. It change to 5. Drag means both motor spin backward. After that drag onfor block to connect next and chnage the time value to 2000. The testing code-1 is finished. Turn-on i-BOX on the O2 robot. Click button to download code to the robot.
Code-1 Listing-1
Click button to download
For LogoBlocks
1. Connect the O2 robot with computer. 2. Open LogoBlocks. 3. Select block group. 6. Test with press RUN switch on i-BOX. The O2 robot will move forward 2 seconds following backward 2 seconds and stop. If the movement direction not correct, may be change the motor connection and test until correct. After that must remember this motor connection for another activities in this manual.
Button will subside in downloading.
For LogoBlocks
1. Connect the O2 robot with computer. Open LogoBlocks software. 2. Select 3. The block group. Drag block will change to to connect with block.
to 1 for slowest speed testing. block drop to connect with block. Double-click at 4. Drag number block to change value to 200 for setting time to 2 second. The Code-2 is finished.
Code-2
Listing-2
5. Download the program to the O2 robot. Unplug downlaod cable. 6. Press RUN switch to activate the O2 robot. Measure the distance that robot move to. 7. Back to program, change setpower value as 2 to 8 and test same method. See the different result of each speed. Note : Default value of setpower command is 4 or Normal.
10
Motor B
By changing the individual power of each of the motors to different levels, this will cause the speed of the individual motors to move at a different speed. In this way, the Robot will be traveling round in circles.
Motor B backward Motor A forward
Turning point
For LogoBlocks
Code-3
Motor A only Motor B only
For LogoBlocks
1. Connect the O2 robot with computer. Open LogoBlocks software. 2. Select Action block group. Drag and drop command blocks to make the program in Code-3 above. 3. Turn-On the O2 robot and download code. 4. Press RUN switch and see the robot operation.
1. Connect the O2 robot with computer. and Open Cricket Logo software. 2. Type in Listing-3 into Cricket Logo editor and type start word into Run This box. 3. Turn-On the O2 robot and download program. 4. Press RUN switch and see the robot operation.
For Cricket
LogoBlockss Code-4 and Code-4 Cricket Logos Turn Left Listing-4 are sample proTurn Right gram that demonstrates this turning Logo technique.
LogoBlockss Code-5 and Cricket Logos Listing-5 are sample program that demonstrates this turning technique.
Listing-5
Turning speed = 2 times of normal speed and friction less. Turning point is center point of the robot between both wheels.
11
The Touch / Switch Sensor module acts as a digital sensor. Connect the sensors to IN0 to IN3 respectively. 1. Connect Switch module to IN3 of i-BOX. 2. Make Code-6 in LogoBlocks or Listing-6 for Cricket Logo and download the code to i-BOX. 3. Press RUN switch. Press the Switch module and observe the operation of Motor indicators.
Switch
Indicator Output
Listing-6
Drag blocks
Switchs operation
When the Switch is pressed, it sends an ON Signal through the wire, back to the i-BOX and LED is lit. When the Switch is released, an OFF Signal is recognized by the i-BOX.
Drag blocks
LED off
LED is lit
Select group
Drag blocks
Double click
Select group
Select IN3
Not press
Press
Code-6
When the switch is not pressed, a When the switch is pressed, a logic logic 1 is being sent to the output. 0 is being sent to the output. This This condition is False. condition is True.
1 False
0 True
12
When the switch is pressed, the condition will be true. i-BOX will drive a signal to the motor output. The Motor indicator LED will be lighted all time that switch still pressed. If the switch is released, the condition will be false. Motor indicator LED will be turned off.
Obtuse joiner
This is a code of a Bumper robot to allow both of its touch sensors to detect obstacles in front of them if encountered. Download the program to your Bumper robot.
3mm. nut
Code-8
3x10mm. screw Right angle joiner
Listing-8
Prepare the test area by placing obstacles wherever you want. Then put the robot on the floor and turn on the power switch and press the RUN switch. Observe its movements.
Bumper robot will move forward until it encounters with any obstacle. If any obstacles are encountered on the left, the robot will move backwards , rotate right and move forward to continue its movement. If any obstacles are encountered on the right, the robot will move backwards , rotate left and move forward to continue its movement.
Straight joiners
Write the Code-7 to test the switch operation. Press the switch on the left or right. i-BOX will generate sounds with different frequencies.
Code-7
13
Calculation
Please refer to the Light sensor schematic, it is a voltage divider circuit. You can calculate to find relation between LDR resistance and Output voltage. The supply voltage or +V is +5V. The formula can shown below :
Output voltage = R1 resistance LDR resistance + R1 resistance x 5Vdc
LDR configuration
LDR symbol
Light sensor
The Light Sensor has 2 main components, the Wire output and LDR. This module senses LIGHT densities and returns values to the i-BOX. This can be plugged into SENSOR0 to SENSOR3 of the i-BOX. If there are more lights, output will be high in value and vise versa for low levels of lights.
Example-2 If sensor voltage is equal 2.5Vdc, i-BOX reading value is : Output connector
1023 x 2.5 i-BOX value = 5 = 512 Integer number
LDR : photoresistor
Light sensor is an analog sensor type. Interface with i-BOX can connect to any SENSOR0 to SENSOR3 ports.
14
LightBot :
You will learn how to construct and program the LightBot. It is similar to the BUMPER BOT, but with different front sensors. This robot requires 2 sensors and will react according to light.
From the value read, you will know which give a higher and lower light density.
Obtuse joiner
Light sensor
LightBot Programming The program below (Code-9 and Listing-9) allows the LightBot to read both sensors data and store the for comparision. LightBot will move following the higher value from the sensor.
Code-9
Listing-9
Write the Code-8 or Listing-8 program to read values from the Light sensor to show at Cricket monitor on computer screen.
Code-8 Listing-8
Shows how to open Cricket Monitor. Shows the Cricket Monitor on Cricket Logo software
Testing...
Try out your robot by moving it nearer to a light bulb. Do you see a difference in its reaction?
15
Construction
The Infrared Reflector can act Analog sensor and Digital sensor. The suitable range detection is during 2 to 10mm. The best point is 3mm. (See the performance graph). The heart of this sensor is TCRT5000 Infrared reflector device. Output of this sensor can define 2 types. One is analog in DC voltage term. Range is 0 to 5V. If the photo-transistor within TCRT5000 can detect more infrared light density, it can conduct more. Output voltage go high. In the other hand, it can detect low light density. Output voltage will be low. Another type is Digital signal output. If sensor can detect more light density, It can send logic 1 to output and send logic 0 in case detect low light density.
Collector current (mA)
1. Clean the PP board. 3. Stick the black tape follow the line that draw from step 2.
2. Draw the line that create by your own. 4. The demo field ready to use !!!
16
Line Tracker :
You will learn how to construct 2 Infrared Reflector sensors onto your robot to allow detection and following of a black line.
Place the robot over the white area and black line . Observe the value that Cricket Monitor shows and record this on a piece of paper. We will take this for an example. White data being 541 and Black data being 128. Find the average of these 2 values in which case, it will be 335.
Insert a 3x10mm. machine screw through the Infrared Reflector sensor, followed by a 3mm. spacer and a suitable hole at front of O2 robot base. Tighten with 3mm. nut.
3mm. nut O2 Robot base 3mm. spacer 3x10mm. screw Infrared Reflector Distance 5 to 10 mm.
Attach both Infrared Reflectors at bottom front of robot base. Connect the Left sensor to SENSOR0 of the i-BOX and connect the Right sensor to the SENSOR1 port.
Write the Code-11 or Listing-11 and download it to your robot. This will allow your robot to follow a black line.
Code-11 Listing-11
Write this code and download it to the robot. Open Cricket Monitor to observe the results.
Code-10
Listing-10
Place the LineTracker robot over the black line. Run it and see how it operates.
See the result at Cricket Monitor on Cricket Logo software
17
i-BOX3.0 controller
Box holder
3 x 6mm. screw 3 x 6mm. screw Top side 3 x 40mm. screw (via Holder) 3 x 6mm. screw 3 x 6mm. screw
Screws attach position
3-Hole Strip joiner (2) Straight angle joiner (2) 12-Hole Strip joiner (2) Right angle joiner (4) 5-Hole Strip joiner (2) 25mm. spacer (2) Medium Track Support Wheel (6) Axel (3) Hub (6) 3mm. spacer (4)
Bottom side 2. Insert 3 x 40mm. machine screws through 25mm. & 2 of 3mm. spacers. After which, place these screws through the holes at the corner of the Box Holder. Attach this with the aluminum base as shown in the diagram. (See red letters)
3mm. spacer 25mm. spacer 3mm. spacer 3 x 40mm. screw screw position screw position
Philips-head Screwdriver
18
3 x 6 mm. screw
4. Attach 2 Right angle joiners at the edge of aluminum base with 3 x 6mm. machine screws. Insert 2 Straight joiners at the end of each Right angle joiner. Attach 2 Right angle joiners at both corner of base with 3 x 6mm. machine screws Right angle joiner Straight joiner Right angle joiner Right angle joiner 3 x 6 mm. screw
7. Construct 2 of the Track wheels. Connect 2 of 8-links and 30-links track together. Attach both tracks with wheels. Place the i-BOX on the holder by the motor output side at front. Connect the Left Motor cables to A output and the Right motor cable to B output according to the photo below. 7.1 Insert the end to inside
3 x 6 mm. screw 5. Construct the track support structure 3 sets. Connect 3, 5 and 12-Holes Strip joiners. Make two of such sets. Insert 3 Axles via Strip joiners at hole 1, 11 of 12- Holes Strip joiner (count from right side) and hole 2 of 5-Holes Strip joiner (count from left side). See the figure. Insert the medium wheels at both ends of the Axles. Secure these with Hubs. Make this part 2 sets. Hub Hub Track support structure Axel
Hole 2
Hole 11
Hole 1
7.2 Medium support wheel Attach the tracks round the wheels
19
Square movement
Next step from 90-degree turning is controlling the robot to move in square shape. This is simple procedure. Go strength and turn 90-degree and go straight, turn again, go straight, turn again and go back to the start point. In programming, will use Looping technique to help. With loop command will help to make the program shortly and easy to understand. Make the code in Code-13 or Listing-13. Download into the NanoTank robot. Run it and see its operation. Possible the robot moves not precise and not back to start point correctly. Because have many factors relate such as floor friction, motor cannot spin simultaneously and robots battery level. This activitys target is introducing the moving method in different conditions and understand about limitation of each movement.
90-Degree Turning
Turning technique is driving both motors in different direction in same power interval. It is called Pivot Turn technique. The important parameter is interval value of applying power to both motors. Make the code in Code-12 or Listing-12. Download into the NanoTank robot. Run it and see its operation.
Listing-13 Code-13
If the robot still not move or turn at 90-degree correctly, you can change the interval parameter at onfor command in the program. Edit, download and test again and again until correct. However the suitable interval will depend on the power supply level at that time. You may adjust the more suitable value if necessary.
Listing-12
Adjust this value for precise 90 degree
Code-12
Adjust this value for precise 90 degree
20
Construction
3mm. nut
3. Connect 2 Infrared Reflector structures from step 1 with the Right angle joiner from step 2. Connect the Left sensor cable to SENSOR0 of the i-BOX and connect the Right sensor to the SENSOR1 port.
1. Insert a 3 x 10mm. machine screw through the Infrared Reflector sensor, followed by a 3mm. spacer attach with a Right angled joiner. Tighten with 3mm. nut. Make 2 sets.
2. Attach 2-pieces of Right angle joiners at in front of the robot base with 3 x 6mm. machine screws.
3 x 6 mm. screws
3 x 6 mm. screws
21
Code-14
Listing-14
Non-reflect
Infrared Reflects from the floor
White surface
Programming
From the previous activity, the Infrared Reflectors are installed at the front of robot. NanoTank robot can detect the front area before move pass. If found WHITE space, robot still move forward to pass. If found BLACK or BLANK space (out of area in case robot move on the table), robot must move backward and turn left to change the moving direction. White surface
Testing
1. Write the Code-14 or Listing-14 and download it to your robot. 2. Turn-off power and unplug the download cable. 3. Place the NanoTank robot on the table and turn-on Power switch 4. Press RUN switch on the robot to see its operation. 3. Robot turns left
22
Programming procedure
1. Make the code to check the sensor operation. See similar example in O2 Robot activities : Line Tracker. 2. Make Code-15 or Listing-15 download it to your robot. 3. Turn-off power and unplug the download cable. 4. Place the NanoTank robot over the line. Turn-on Power switch. 5. Press RUN switch on the robot to see its operation. The NanoTank robot should moves along the line. When found the crossing, the NanoTank robot turns left 90-degrees and moves forward continue.
Code-15
Yes
Listing-15
No Only SENSOR1 detects WHITE area or line Yes
23
Code-17
double-click From the example field above, the robot must check every the crossing line and turn left or right swap. The programming must control the robot moves along the line, checks and counts the crossing line to collect number of the crossing line. It will be use that number to selects the moving direction later. > from >
How to use
The Global variable is temporarily buffer. It collects the result of operation. This code example below (Code-16 or Listing-16) will be show how to use Global variable. The result increase the variable value 1 point per second and shows at Cricket monitor.
Code-16
Listing-17
Listing-16
24
2. Connect GP2D120 to i-BOX at SENSOR0 port. Download testing code from step 1. Press RUN switch on i-BOX. Move GP2D120 module slowly and see the result at Cricket Monitor.
Connect to computer
Signal Processing
Regulator Oscillator
LED driver
Output driver
The output voltage of GP2D120 at a range of 30 cm and +5V power supply is between 0.25 to 0.55V, with the mean being 0.4V. At the range of 4-30 cm, the output voltage will change at 2.25 0.3V. From testing table beside, at 26cm. length Vout is 0.5V. The conversion value is 102. Inrefacing with i-BOX must connect at SENSOR0 to SENSOR3 port and use SENSOR command block to read date from it. For example, if i-BOX reads 307 mean GP2D120 far from object 8cm.
3. Convert the data reading to distance value. Compare the result with GP2D120 table. 4. Change object to BLACK color and test operation again. Compare the result between both activities.
GP2D120 operation table
25
From step 4, after change to black color object GP2D120 module cannot work well. Because it use infrared reflection but blakc color absorb all infrared. It reflects very low density or sometime not reflect. Then using GP2D120 must becareful this limitation.
Construction
1. Attach 2 Right angle joiners with both sides of GP2D120 with 3 x 10mm. machine screws and 3mm. nuts. After that attach the 12-hole Strip joiners with both Right angle joiners with 3 x 10mm. machine screws and nuts at hole 3 of both end of Strip joiner.
Right angle joiners 3 x 10mm. screw 12-Hole Strip joiner
Code-19
Listing-19
2. Attach the structure from step 2 onwards to the front of NanoTank robot with 2 of 3x10mm. machine screws. See the suitable position from photo. Connect GP2D120s cable to SENSOR0 of i-BOX.
Connect SENSOR0
3 x 10mm. screw
3. Turn right
1. Detect object
2. Move backward
26
Programming
The code below (Code-20 and Listing-20) controls the robot movement and the reading of the GP2D120 value. If its value is lower than 50, this means there is no object in front of it. The value that the GP2D120 sensor will feedback with and object is found is more than 50. The first value that detect object will be store in memory. Robot will still move forward if value continues to increase. This means that the object is close. Until the value is over 400, the robot will stop before it touches the object. If the value decreases, the robot will turn back to anther direction and find for the next object.
Code-20
Listing-20
27
Programming
Before apply ZX-SOUND module with the robot, must educate its behavior before. Make the Code-21or Listing-21 and download to i-BOX. Still connect the serial cable and run this code. Open Cricket monitor for checking the result. Try to clap near microphone of ZX-SOUND module and see the result on Cricket monitor. Try to clap many times and see the different result. If sound pressure level that detected high, the value on Cricket Monitor will be high (reach to 1024). In other hand, output will less if detect low level.
Output voltage 0 to +5V varies from sound pressure level that microphone detected. If pressure more, the output voltage goes high and vice versa.
Installation
For the best performance of detection, must select the suitable position for installation the ZX-SOUND module. In this example should be install at back of the NanoTank robot. 1. Attach the 5-Hole Strip joiner with base of ZX-SOUND module by 3 x 10 mm. machine screw and 3mm. nut. 2. Connect the Right angle joiner at the end of the 5-Hole Strip joiner. You will receive a Sound detection structure. 3. Connect a Sound detection structure to the end of Strip joiner at back position of the NanoTank robot. See the photo. 4. Connect sensor cable to SENSOR0 port on i-BOX board. Now NanaTank is ready for detecting sound signal.
Connect to SENSOR0 ZX-SOUND module
Code-21
Listing-21
Robot operaration
Make the Code-22 for LogoBlocks or Listing-22 for Cricket Logo and download to the NanoTank robot which installed ZX-SOUND module. In starting, robot will check the sound value. If value is between 300 to 400, the robot will move forward. If value is between 401 to 500, the robot will turn left and over 500 robot will turn right.
Code-22
Listing-22
28
Installation
1. Attach 3-Hole Strip joiner to back of ZX-TILT module with 3x20 mm. machine screw and tighten by 3 mm. nut. After that connect the Straight joiner at end of Strip joiner.
tilt direction.
l l l l
Active with 2-bit logic 2 Status LED indicators. Detect 4 directions : 0, 90, 180 and 270 degree. Suitable supply voltage +5Vdc.
Output B Right angle joiner
IN0 port
3 x 20mm. screw
Range operation 0o range is 330 to 360 or 0o 90o range is 60 to 90o 180o range is 150 to 180o 270o range is 240 to 270o Schematic diagram of ZXTILT module
2. Attach the Right angle joiner with end of Straight joiner from step 1 with 3x10 mm. machine screw. Adjust the suitable angle following tighten by 3mm. nut. 3. At the NanoTank robot, attach a Right angle joiner at the back of Robots base with 3 x 10 mm. machine screw and tighten by 3 mm. nut. and connect 5-Hole Strip joiner at another end. 4. Connect structure from step 2 to the Strip joiner which attached the robots base from step 3 and connect Output B of ZX-TILT to IN0 port of i-BOX3.0.
Programming
Programming will control the robot movement as : Move robot forward until the robot is tilt from the step floor. In case robot tilts, program will control the robot move backward and turn left. After robot can stay in flat, robot will move forward again.
Listing-23 Code-23
180 degree Direction A Condition is true B Condition is true 270 degree Direction A Condition is false B Condition is true
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Make the Code-23 for LogoBlocks or Listing-23 for Cricket Logo and download to the robot. Place the robot on the floor and run its program. See the operation on flat area and slop or step area.
ZX-433RX RF Receiver
Features
l Operating supply +3 to +12V l Selectable 256 different code via DIP switch l 4 Outputs with LED indicators l 315 or 434MHz carrier frequency l Operating range 3 to 4 metres. can add antenna for range extension.
Operation diagram
315/433MHz Transmitter
Encoder
The heart of transmitter is UHF TX module. You can select 315 or 434MHz. Switchs data is encoded by Encoder IC. DIP switch is used to set the code of RF module. TX and RX must use same code in working together.
Operation diagram
315MHZ/ 433MHz Receiver module
Decoder
The heart of receiver is UHF RX module. You can select 315 or 434MHz. Switchs data is decoded by Decoder IC. DIP switch is used to set the code of RF module. TX and RX must use same code in working together.
DIP switch setting must set same between Transmitter and Receiver.
IN0-IN3
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Construction
1. Attach 2 Right angle joiners to the receiver with screws and nuts. Connect Straight joiners at end of each Right angle joiner.
3mm. nut
Listing-24
2. Connect the receiver structure with Straight joiner at robots backside. Connect 4 cables from Receiver output (OUT1 to OUT4) to IN0 to IN3 of i-BOX.
Code-24
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Output device
Battery
Switch
Inductor
Lamp/LED
Text books
Ultrasonic (Distance)
Active components
Go to...
Automatic Robot
Medicine Instruments
Flip-Flop
Memory
Invention
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This is an intellgence robot kit for beginner. The brain is a compact-size programmable microcontroller board. Users can program by Logo language in text and graphical based icons. Its a fully automatic robot which is suitable for lower and higher educational students as well as many people who are interested in microcontroller applications without much programming knowledge & skills. This kit is suitable for everyone who wants to learn robotics.
Robo-BOX3.0 allows you to constuct many different mobile robots for many different applications. There are many interesting and fun things to do with Robo-BOX3.0. Not only does it employ electronic circuits and systems, it also teaches on robotic technologies. The Construction od Robo-BOX3.0 delivers precious lessons and experience on motors, gears, motion control, sensory systems, microcontrollers, programming and technical problem solving skills. Only 3 easy steps to are required : (1) Construction and building of your robot. (2) Programming using LogoBlocks or Cricket Logo software. (3) Download to your robot and see it run.
Robo-BOX3.0 is a fully comprehensive kit that delivers loads of learning together with FUN in robotics. With such a wide variety of sensors and mechanical parts, you can build and modify your robot for any purpose, application and activity. This is a ROBOT for all seasons !!!