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SRS Labs SRS Robot Level 1 Kit manual

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Table of contents for the manual

  • Page 1

    SRS Robot Level 1 Kit Table of Contents Getting St arted ................................................................................................................ ... 2 Computer Requ irements..................................................................................................... 2 Recommended Equipm ent .........................[...]

  • Page 2

    Getting Started Getting S t arted Congratulations on your purchase of a Seattle Robotics Society Level 1 Robo t Kit! Here are suggested steps for getting you r robot assembled and runn ing. Read through t he “Computer Requireme nts” and “Recommende d Equipm ent” sections t o be sure y ou have the materials you need. Compare your kit’s par[...]

  • Page 3

    Kit Contents Kit Content s Level 1 Kit Anti-Static Bag Item Qty Vendor Part Fairchild QRB 1134 lig ht sensor 2 Digi-Key QRB1134 ARC 1.1 PCB 1 Barello.net ARC-01 ATMEGA16-16PC microcontroller 1 Digi-Key ATMEGA16-16PC-ND TI 754410 H-bridge 1 Digi-K ey 296-9911-5-ND RS232 driver 1 Future Electronics SP232ACP LM2940CT-5. 0 voltage re gulator 1 Future E[...]

  • Page 4

    Kit Contents 2-56 x 1" machine screw 4 McMaster-Carr 917 72A086 small wood scr ew (in motor i f not here) 2 4-40 nut 5 McMast er-Carr 90480A00 5 2-56 nut 4 McMast er-Carr 90480A00 3 #4 flat washer 8 McMaster-C arr 92141A005 #4 lock washer 2 McMaster-C arr 91113A005 #2 lock washer 8 McMaster-C arr 91113A003 Loose Item Qty Vendor Part chassis 1 [...]

  • Page 5

    AVR Robot C ontroll er 1.1 Assem bly Instru ctions A VR Robot Controller 1.1 Assembly Instructions Preparation Identify the parts used in the AVR R obot Cont roller ( ARC). Refer to the Kit Contents section for a list of parts in each bag. • Anti-Static Bag: everything ex cept the QRB1134 light sensors. • Electro-Mecha nical Bag: ever ything ex[...]

  • Page 6

    AVR Robot C ontroll er 1.1 Assem bly Instru ctions Prepare Boards The PCB comes with a serial adapte r an d a programming adapter that need to be detached . First break the long lin e of holes. You might find it easier to break if you run a ra zor knife along the top and botto m of the line of holes. Then snap the tw o smaller boa rds apart. Finall[...]

  • Page 7

    AVR Robot C ontroll er 1.1 Assem bly Instru ctions  Small capacitors and LEDs The picture on the right s hows the locat ions for:  8 - 0.1uF capa citors  1 - red LED  1 - green LED Orientation of the small capacitors is not important. Note that one of the capacitors (second from the top) will be under the m icrocontroll er. Be sure that[...]

  • Page 8

    AVR Robot C ontroll er 1.1 Assem bly Instru ctions  Sockets, headers, and jumper The picture on the right s hows the locat ions for:  2 - 1x3 boardmou nt sockets  3 - 1x4 boardmou nt sockets  3 - 1x3 male headers  2 - 2x3 male headers  1 - 2x5 male header  1 - shorting ju mper Install the sockets along on the front of the board[...]

  • Page 9

    AVR Robot C ontroll er 1.1 Assem bly Instru ctions Install Chips Be sure to inspect the boar d before applying pow er. Connec t the battery pack to the 3-pin header next to the switch (JP13). With the switch in the on position (toward the near edge of the board) the red power LED should light. Now you can install the various chips. (Turn off power [...]

  • Page 10

    AVR Robot Cont roller 1.1 S oftware Tools Programming Cable The kit is supplied with material to make a programming cable that works with the BASCOM Basic Compiler or the AVRDUDE program (included in the WinAVR suite f or C/C++ programming). BASCOM and AVRDUDE work with any third party pr ogrammer that has an Atmel 10-pin programmi ng socket, so yo[...]

  • Page 11

    AVR Robot Cont roller 1.1 S oftware Tools Tool Options Free, high-qual ity tool s are availabl e for the Atmel AVR se ries of microc ontrollers. On Windows systems, two popular options are the BASCOM ( BASIC) compiler and the WinAVR suite of too ls for C/C++ programming. Mac OS X supports the avr-gcc C/ C++ compiler (which should work equally well [...]

  • Page 12

    AVR Robot Cont roller 1.1 S oftware Tools Double-click on “ LaunchPN.bat ” in the “C Samples” folder. This will launch Programmers Notepad with the path changes needed by the com piler and down loader. (If you installed WinAVR in a non-default location , you’ll need to edit this batch file.) While power to the A RC board is off, plug the [...]

  • Page 13

    AVR Robot Cont roller 1.1 S oftware Tools to 8 MHz; (2) enable brow n-out detectio n; (3) disa ble JTAG; and (4) disable erasi ng EEPROM when downloa ding a new program. Please refer to the chip data sheet ( www.atmel.com ) for a complete list of the fuse bits. The following steps set the microcontroller to the sugg ested state. If you are using BA[...]

  • Page 14

    Chassis Assembly Chassis Assembly Preparation Identify the parts used in the chassis. Refer to the Kit Contents section for a list of parts in each bag. • Anti-Static Bag: QRB1134 light sensors. • Electro-Mecha nical Bag: velcro, mounti ng squares, shrink tubi ng, and r ubber bands. • Hardware Bag: everyth ing except the four 1” standoff s [...]

  • Page 15

    Chassis Assembly Light Sensors Find the two c opies of the “light senso r plate” pictured o n the right. Hardware: 1 4-40 x 1” screw 1 4-40 nu t 2 4-40 lock washers 4 4-40 flat washers Stack items onto the screw as follows: lock washer, plate, 2 flat washers, both light sensors ( orient them the same way), 2 flat wash ers, the other plate (or[...]

  • Page 16

    Chassis Assembly Strip about 2” from one end of eac h 7” length of 18 AWG insulated wire. Hardware (for one side): 1 4-40 x 1/4” round standoff 1 4-40 x 1/4” screw 2 4-40 x 1/2” screws 2 4-40 w ashers 2 4-40 nu ts Mount the standoff in hole C, on the same side of the plate as the caster, using the 1/4” screw. A B C For holes A a nd B, p[...]

  • Page 17

    Chassis Assembly Flip the top plate over. The screws will b e visible, and the standoffs will be underneath (and you shou ld have a hole in the lower right corner). Find this piece (the battery spacer), and hold it like this: You will mount this to what is the underside of the top plate (which is now face up since you flipped it over!) Stick the tw[...]

  • Page 18

    Wiring Connections Leftover Parts At this point, your robot is togeth er and you’re probab ly wonde ring about t hose extra parts. They are used for Level s 2 and 3 of the SRS Robot. Here’s a summary. The hardware bag should still contain four 1” standoffs and eight 1/4” machine screws. They are explained below. There will be five plastic c[...]

  • Page 19

    ATmega16 Programm ing A Tmega16 Programming Part 1 11-3-2005 19[...]

  • Page 20

    ATmega16 Programm ing 20 11-3-20 05[...]

  • Page 21

    ATmega16 Programm ing Part 2 11-3-2005 21[...]

  • Page 22

    ATmega16 Programm ing 22 11-3-20 05[...]

  • Page 23

    ATmega16 Programm ing Part 3 11-3-2005 23[...]

  • Page 24

    ATmega16 Programm ing 24 11-3-20 05[...]

  • Page 25

    ATmega16 Programm ing 11-3-2005 25[...]

  • Page 26

    ATmega16 Programm ing Part 4 26 11-3-20 05[...]

  • Page 27

    Sample Programs Sample Programs There are sample programs available from http://www.seattlerobotics.or g/ WorkshopRobot/Level1/ (or the Workshop CD’s “Samples” folder). There are versions for BASCOM (B ASIC) and C. The program files contain descriptive co mments to ex plain what the code is doing. The programming concepts are explaine d in th[...]

  • Page 28

    Sample Programs A good way t o get started with a new program is to make a copy of a folde r for an exi sting program , then renam e the new folder and its .bas or .c file. (For C programs, you will also need to edit the makefile to reflect the name change for the .c file. Look for the SRC= line. You may also change the PRG= line for consistency.) [...]

  • Page 29

    Sample Programs Challenges : o Make a bum per touch cause t he robot to bac k up, turn away from the obstacle , and t hen resume exploring. (The BumpNGo program shows one possible solution, including waiting for a bump at the beginning of the program bef ore starting.) o Teach the robot how to navi gate a (specific) obstacle course. o “Bounce” [...]

  • Page 30

    Sample Programs Program 8 Purpose : Lear n to use the Ti mer/Counte r for timi ng. This pro gram flashes a LE D at a specific rate while readi ng sensors. Program : Timer Extensions : o Change the flash rate. o Add more code to the loop, e.g. showing sens or values. Notice that the flashing still maintains its rate, with no changes necessary. Chall[...]

  • Page 31

    AVR Robot C ontroll er 1.1 Ha rdware Descri ption A VR Robot Controller 1.1 Hardware Description The Level 1 Robot Kit ships with an ATmega16 microcontroller. The Atmel AVR microcontrollers are designed to be pin- and code-compatible where possible. In this cas e, for example, you could substitute an ATmega8 535 or ATmega32. These chips will all fu[...]

  • Page 32

    AVR Robot C ontroll er 1.1 Ha rdware Descri ption Expansion Headers JP3 and JP10 Refer to the schem atic for the connections to these hea der s. All CPU I/O, +5v, ground, +/- 10v and battery v oltages are supplied. JP3 supplie s +5v and g round from the analog section. JP10 supplies +5v, ground, +10v and –10v from the digital section. The +/-10v [...]

  • Page 33

    AVR Robot C ontroll er 1.1 Ha rdware Descri ption R/C servo output When driving an R/C servo, use the pins nearest to the e dge of the board. They are marked with letters indicating polarity: “W R B” for White, Red, and Black. Some servo brands substitute yellow for white. When driving servos, th e board has the op tion of selecting regulated +[...]

  • Page 34

    AVR Robot Controll er 1.1 S chemat ic A VR Robot Controller 1.1 Schematic 34 11-3-20 05[...]