book

Arduino Robotics

Name: Arduino Robotics
ISBN: 9781430231837

by John-David Warren, Josh Adams, Harald Molle

July 2011

Intermediate to advanced

628 pages

14h 53m

English

Apress

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Copyright
About the Authors
About the Technical Reviewers
Acknowledgments
Introduction
Prerequisites
1. The Basics
1.1. Electricity1.1.1. Electrical Analogy1.1.2. Electrical Basics1.1.3. Circuits1.1.4. Measuring Electricity1.1.5. Multi-Meters1.1.6. Measuring Voltage1.1.7. Measuring Amperage1.1.8. Measuring Capacitance1.1.9. Measuring Resistance1.1.10. Calculating Resistor Power Using Ohm's Law1.1.11. Oscilloscope1.1.12. Loads1.1.12.1. Inductive Loads1.1.12.2. Resistive Loads1.1.13. Electrical Connections1.1.13.1. Series Connections1.1.13.2. Parallel Connections1.1.13.3. Series and Parallel Connection1.2. Electronics1.2.1. Semi-Conductors1.2.2. Datasheets1.2.3. Integrated Circuits1.2.3.1. Packages1.2.4. Through-Hole Components1.2.4.1. IC Sockets1.2.4.2. Surface-Mount Components (SMT or SMD)1.3. Arduino Primer1.3.1. Arduino Variants1.3.1.1. Standard Arduino1.3.1.2. Arduino Mega1.3.1.3. Clones1.3.2. Arduino IDE1.3.3. The Sketch1.3.3.1. Variable Declaration1.3.3.2. The Setup Function1.3.3.3. The Loop Function1.3.4. Signals1.3.4.1. Digital Signals1.3.4.1.1. Digital Inputs1.3.4.1.2. Digital Outputs1.3.4.1.3. Special Case: External Interrupts1.3.4.2. Analog Signals1.3.4.2.1. Analog Inputs1.3.4.2.2. Analog Outputs (PWM)1.3.4.2.3. Duty-Cycle1.3.4.2.4. Frequency1.3.4.2.5. Homemade PWM Example1.4. Building Circuits1.4.1. Circuit Design1.4.2. Schematics1.4.3. Prototyping1.4.3.1. Breadboard1.4.3.2. Perforated Prototyping Board (Perf-Board)1.4.3.3. Printed Circuit Boards1.4.3.4. Soldering1.4.3.4.1. Soldering Shortcuts1.5. Building a Robot1.5.1. Hardware1.5.1.1. Basic Building Tools1.5.2. Materials1.5.3. Work Area1.6. Summary
2. Arduino for Robotics
2.1. Interfacing Arduino2.1.1. Relays2.1.1.1. Types of Relays2.1.1.2. Relay Configurations2.1.1.3. Uses2.1.1.4. Calculating Current Draw2.1.1.5. Back-EMF Considerations2.1.1.6. Solid-State switches2.1.2. Transistors2.1.2.1. Bipolar Junction Transistor (BJT)2.1.2.2. Mosfets2.1.2.2.1. Logic-Level vs. Standard2.1.2.2.2. Mosfet Capacitance2.1.2.2.3. On-State Resistance—Rds(On)2.1.2.2.4. Calculating heat using Rds(On) and amperage of DC motor:2.1.2.2.5. Parallel Mosfets2.1.2.3. Photo-Transistors2.1.3. Interfacing a Motor-Controller2.1.3.1. Motor-controller ICs2.1.3.1.1. Electronic Speed Controllers (ESCs)2.2. User Control2.2.1. Tethered (Wired) Control2.2.2. Infrared Control (IR)2.2.3. Radio Control Systems2.2.3.1. Amplitude Modulation (AM)2.2.3.2. Frequency Modulation (FM)2.2.3.3. Spread Spectrum 2.4gHz2.2.3.4. Xbee2.3. Sensor Navigation2.3.1. Contact Sensing2.3.1.1. Bump Switch2.3.2. Distance and Reflection Sensing2.3.2.1. IR Sensor2.3.2.2. Ultrasonic Range Finder2.3.2.3. Laser Range Finder2.3.3. Orientation (Positioning)2.3.3.1. Accelerometer2.3.3.2. Gyroscope2.3.3.3. Inertial Measurement Unit (IMU)2.3.3.4. Global Positioning Satellite (GPS)2.3.3.4.1. Real Time Kinetic (RTK) GPS2.3.4. Non-Autonomous Sensors2.3.4.1. Camera2.3.4.2. Current Sensor2.4. Summary
3. Let's Get Moving
3.1. Electric Motors3.1.1. Brushed DC Motor (Permanent Magnet Type)3.1.2. Brushless Motors3.1.3. Stepper Motors3.1.4. Gear Motors3.1.5. Servo Motors3.1.5.1. Continuous Rotation3.1.6. Linear Actuators3.1.7. Calculating Power3.1.8. Driving3.1.9. Finding the Right Motor3.2. The H-Bridge3.2.1. Generating a Brake3.2.2. Implementation3.2.2.1. Method 1: Simple Switches3.2.2.2. Method 2: DPDT Relay with Simple3.2.2.3. Method 3: P-Channel and N-Channel Mosfets3.2.2.4. Method 4: N-Channel H-Bridge3.2.3. H-Bridge ICs3.2.4. Changing PWM Frequencies3.2.5. Back EMF3.2.6. Current Sensing3.2.7. Commercial H-Bridges (Motor-Controllers)3.2.7.1. Small (Up to 3amps)3.2.7.2. Medium (Up to 10amps)3.2.7.3. Large (Over 10amps)3.2.7.3.1. The Open Source Motor Controller (OSMC)3.3. Batteries3.3.1. Nickel Cadmium (NiCad)3.3.2. Nickel Metal Hydride (NiMH)3.3.3. Lithium Polymer (LiPo)3.3.4. Lead-Acid3.3.5. Charging3.4. Materials3.4.1. Wood3.4.2. Metals3.4.3. Nuts and Bolts3.4.4. Plastics3.4.5. Chain and Sprockets3.4.6. Wheels3.5. Summary
4. Linus the Line-Bot
4.1. Parts List for Linus4.2. How Linus Works4.2.1. The Track4.3. Building the IR Sensor Board4.4. Modifying a Servo for Continuous Rotation4.4.1. Method 1: Direct DC Drive with External Speed Controller4.4.2. Method 2: Servo Pulse Drive with Internal Motor Driving Circuitry4.5. Fitting the Drive wheels4.6. Making a Frame4.7. Making Connections4.8. Installing Batteries4.8.1. Install Power Switch4.9. Loading the Code4.10. Making the Track4.11. Testing4.12. Add-ons4.12.1. LED Lights4.12.2. Painting4.12.3. Adding Speed Regulator (Potentiometer)4.13. Summary
5. Wally the Wall-Bot
5.1. How Wally Works5.2. Parts List for Wally5.3. The Motor-Controller5.3.1. The High-Side Switches5.3.2. The Low-Side Switches5.3.3. Building the Circuit5.4. Building the Frame5.5. Installing the Sensors5.6. Installing the Battery and Power Switch5.6.1. Installing a Power Switch5.7. The Code5.7.1. Code Objectives5.8. Summary

6. Making PCBs
6.1. PCB Basics6.2. What You Need to Get Started6.3. Circuit Design6.3.1. Searching for Open-Source Designs6.3.2. Making Your Own Designs6.3.2.1. Schematics6.3.2.2. Board Layouts6.3.3. Working with the Schematic Editor6.3.4. Working with the Board Editor6.4. Transferring the Design6.4.1. Let's Make an Arduino Clone: the Jduino6.4.2. Making the Transfer6.5. Etching6.5.1. Measuring the Solution6.5.2. Etching: Method 16.5.3. Etching: Method 26.5.4. Removing the Toner6.6. Drilling6.7. Soldering6.7.1. Building the Arduino Clone6.7.2. Building the BJT H-Bridge6.8. Testing6.9. Summary
7. The Bug-Bot
7.1. Reading a Switch with Arduino7.2. How the Bug-bot Works7.2.1. Antennae Sensors7.2.2. Bumper Sensors7.3. Parts List for the Bug-bot7.4. The Motors7.4.1. Modifying the Servo Motors7.4.2. Controlling the Servo Motors7.4.3. Converting the Pulse Value to Degrees7.4.4. Mounting the Wheels to the Servos7.5. Building the Frame7.5.1. Marking the PlexiGlass7.5.2. Cutting the PlexiGlass7.5.3. Mounting the Motors7.5.4. Mounting the Caster Wheels7.5.5. Mounting the Arduino7.5.6. Installing the Battery7.6. Making the Sensors7.6.1. The Front Antennae Sensors7.6.2. The Rear Bump Sensors7.7. Making Wire Connections7.8. Loading the Code7.8.1. Creating a Delay7.8.2. Variables7.8.3. The Code7.9. Making a Top Hat7.10. Summary
8. Explorer-Bot
8.1. How the Explorer-Bot Works8.1.1. R/C Control8.1.2. Powerful Motors8.1.3. Current Sensing8.1.4. Video-Enabled8.1.5. Xbee-Enabled8.2. Parts List for the Explorer-Bot8.3. Building the Frame8.3.1. Specs8.3.2. Adding Battery Bracket8.3.3. Cut Top Frame Brackets8.3.4. Cut Top Frame Braces8.3.5. Cut and Bend Main Frame Piece8.3.6. Add Crossbar and Mount Caster Wheel8.3.6.1. Plexiglass Deck (Optional)8.4. Building the Motor Controller8.4.1. Current Sensing and Limiting8.4.2. H-bridge Design8.5. Setting Up the Arduino8.5.1. Connecting the H-Bridges8.6. Setting Up Xbee8.6.1. Testing the Xbees8.7. Adding a Camera8.7.1. Pan and Tilt8.7.2. Make First Bracket8.7.3. Make Second Bracket8.8. Loading the Code8.9. Summary
9. RoboBoat
9.1. Some Words in Advance9.2. Parts List for the RoboBoat9.2.1. Polystyrene Foam9.2.2. Epoxy Resin9.2.3. Gloves9.2.4. Fiberglass Fabric9.2.5. Glue9.2.6. Styrofoam Cutter and Razor Knife9.2.7. Miscellaneous9.3. The RoboBoat Design9.4. Assembling the Boat9.4.1. The Templates9.4.2. Gluing the Templates on the EPS/XPS Board9.4.3. Cutting Out the Segments9.4.4. Gluing the Segments Together9.4.5. Inserting the Foam Anchors9.4.6. The Coating9.4.7. Applying the Finish9.4.8. The Fins9.4.9. Painting9.4.10. The Deck9.4.11. Completing the Assembly9.5. The Propulsion Assembly9.5.1. The Baseplate9.5.2. The Pivot9.5.3. The Tube9.5.4. The Rudder Horns9.5.5. The Motor9.5.6. The Servo9.5.7. The Pushrods9.6. Electronics9.6.1. The Heart of the System: The ArduPilot PCB9.6.2. The GPS Module9.6.3. The Electronic Speed Controller (ESC)9.6.4. The Motor9.6.5. The Rudder Servo9.6.6. The Battery Pack9.6.7. Assembling the Electronics9.6.7.1. The Programming Adapter9.7. Software and Mission Planning9.7.1. GPS Receivers9.7.2. The Software9.7.2.1. AP_RoboBoat Module9.7.2.2. Debug Module9.7.2.3. Init Module9.7.2.4. Navigation Module9.7.2.5. PID_control Module9.7.2.6. Servo_control Module9.7.2.7. Header Files9.7.3. Installing the Software9.7.3.1. Installing the Arduino IDE9.7.3.2. Configuring the Arduino IDE9.7.3.3. Compiling and Uploading the Code9.7.3.4. Customizing the Code9.7.3.4.1. Customizing the Rudder Control9.7.3.4.2. Customizing the PID Constants9.7.3.4.3. Customizing the Motor Speed9.7.3.4.4. Customizing the Waypoint Timeout9.7.3.4.5. Customizing the Waypoint Radius9.7.3.4.6. Customizing the Rudder Extents9.7.4. Mission Planning9.7.4.1. Employing Google Earth for the Coordinates9.8. Putting It All Together9.8.1. Integrating the System9.8.2. Ships Ahoy!9.9. Troubleshooting9.9.1. The Thrust of the Motor/Propeller Is Not Sufficient9.9.2. The Motor Does Not Start9.10. Summary
10. Lawn-Bot 400
10.1. How the Lawn-bot 400 Works10.1.1. Lawn Mower Deck10.1.2. High-Capacity Batteries10.1.3. Steel Frame10.1.4. Dump-Bucket10.1.5. Pneumatic Tires10.1.6. Headlights10.1.7. Failsafe10.2. Tools and Parts List10.2.1. Lawnmower10.2.2. Parts Lists10.3. The Wheels10.3.1. Front Caster Wheels10.3.2. Rear Drive Wheels10.3.3. Installing Sprockets10.4. The Frame10.5. The Drive-Train10.5.1. Motor Mount Brackets10.5.2. Installing the Chain10.6. The Motor Controller10.6.1. Buying a Motor Controller10.6.1.1. Sabertooth 2×2510.6.2. Cooling Fans10.6.3. Motor Controller feedback10.6.3.1. Current sensor IC10.7. The Arduino10.7.1. Securing Connections for a Bumpy Ride10.7.1.1. Building a Breakout Board10.8. The Failsafe10.8.1. R/C Toggle Switch10.8.2. Power Relays10.8.3. Avoiding an R/C Failsafe10.9. Making Connections10.10. The Code10.11. Adding Cosmetics and Accessories10.11.1. Painting10.11.2. Headlights10.11.3. Dump Bucket10.11.4. Lawnmower Kill-Switch10.12. Summary
11. The Seg-Bot
11.1. How the Seg-Bot Works11.1.1. Inertial Measurement Unit11.1.2. Steering and Gain11.1.3. Engage Switch11.2. Parts List for the Seg-Bot11.3. Selecting the Right Sensors11.3.1. 3.3v Power11.3.2. Accelerometer11.3.3. Gyroscope11.3.3.1. Cycle Time11.3.3.2. Gyro Starting Point11.3.3.3. Gyroscope Drift11.3.4. Gyroscope Versus Accelerometer Summary11.3.5. Filtering the Angle11.3.5.1. Weighted Average11.4. Making the IMU Adapter Board11.5. Selecting the Motors11.5.1. Electric Brake Removal11.5.2. Motor Mounting Position11.6. Selecting the Motor Controller11.6.1. SoftwareSerial Library11.6.2. Sabertooth Simplified Serial11.7. The Batteries11.7.1. Sealed Lead-Acid11.7.2. Charging11.7.3. 12v Supply11.8. The Frame11.8.1. Frame Design11.8.2. Building the Frame11.9. Inputs11.9.1. Steering11.9.2. Gain11.9.3. Engage Switch11.9.4. Level-Start11.9.5. Mounting the Inputs to the Frame11.10. Installing the Electronics11.10.1. Soldering the Inputs11.10.2. Wiring the Connections11.11. Reviewing the Code11.11.1. The sample_accel() Function11.11.2. The sample_gyro() Function11.11.3. Checking the Angle Readings11.11.4. The calculate_angle() Function11.11.5. The read_pots() Function11.11.6. The auto_level() Function11.11.7. The update_motor_speed() Function11.11.8. The time_stamp() Function11.11.9. The serial_print_stuff() Function11.11.10. The Full Code11.12. Testing11.13. Summary11.14. References
12. The Battle-Bot
12.1. Robotic Combat Is Born12.1.1. Battle-Bot Rules and Regulations12.1.2. No Price Limit!12.1.2.1. Is This Going to Be Expensive?12.2. Parts List for the Battle-Bot12.3. Input Control12.3.1. Fly Sky CT-6: The $32, 5-ch*, 2.4GHz Radio Alternative12.3.1.1. Attention Hackers12.4. The Electronics12.4.1. The Arduino12.4.2. The Motor Controllers12.5. The Frame12.5.1. To Buy or Build?12.5.2. Modifying the Wheels12.5.3. Building the Frame12.6. The Drive Train12.6.1. Gearing12.6.1.1. Calculating Gear Ratio12.6.1.2. Modifications12.6.2. Chain Tensioning Nut12.6.2.1. Threading Sequence12.6.2.2. Measuring the Chain12.6.2.3. Adding Spacers12.7. Batteries12.8. Securing Electronics12.8.1. Protecting Your Brains12.8.2. Making Connections12.9. The Code12.10. Armor12.11. Weapons12.12. Additional Information12.13. Summary
13. Alternate Control
13.1. Using Processing to Decode the Signals13.2. Parts List for Alternate Control13.3. Selecting the Input13.4. Processing Prerequisites13.5. Following Protocol13.6. Examining the Processing Sketch13.6.1. Explanation13.6.2. Testing Processing13.7. Examining the Arduino Sketch13.8. Summary

Content preview from Arduino Robotics

Acknowledgments

Co-authors:

I would like to thank my friend and fellow hacker, Josh Adams, for his assistance in several of my projects as well as his constant support and ideas, and for introducing me to the Arduino in the first place. He also wrote a chapter in this book on alternate control (Chapter 13), using your PC with a game-pad and wireless serial link to control a large robot (Arduino + Processing). Josh makes my projects more awesome with his mad coding skills and by keeping up with all the latest hacks. Thanks for all of your help—you are a true friend.

I would also like to thank a fellow Arduino hacker, Harald Molle, for contributing his time and the details of his complex project, the GPS-guided RoboBoat (Chapter 9). Harald graciously ...

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Arduino Robotics

by John-David Warren, Josh Adams, Harald Molle

Acknowledgments

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