Difference between revisions of "TourRobot"
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{{Project|primary=[[User:Chunky|Matt Little]]}} | {{Project|primary=[[User:Chunky|Matt Little]]}} | ||
| − | + | =Overview= | |
Giving tours around the hackspace takes time and effort. | Giving tours around the hackspace takes time and effort. | ||
So the obvious solution is to build a robot to do it. | So the obvious solution is to build a robot to do it. | ||
| + | =Build Log= | ||
Here are the details and build log. | Here are the details and build log. | ||
| − | + | ==Base Unit== | |
Basic base is the blue robot from [http://en.wikipedia.org/wiki/Real_Robots Real Robots Magazine]. I got this from a car boot sale and, at the first Arduino 101 day I fixed my arduino base to the robot. | Basic base is the blue robot from [http://en.wikipedia.org/wiki/Real_Robots Real Robots Magazine]. I got this from a car boot sale and, at the first Arduino 101 day I fixed my arduino base to the robot. | ||
There is loads of detail on the [http://lpilsley.co.uk/cybot/ Lpilsley Cybot here]. | There is loads of detail on the [http://lpilsley.co.uk/cybot/ Lpilsley Cybot here]. | ||
| − | |||
| + | ==Motor Control== | ||
The motor control unit has been left in to power the motors. Details on the circuit diagram are [http://lpilsley.co.uk/cybot/driver.htm here]. | The motor control unit has been left in to power the motors. Details on the circuit diagram are [http://lpilsley.co.uk/cybot/driver.htm here]. | ||
| + | ==Audio Output== | ||
An audio module [http://www.embeddedadventures.com/datasheets/MOD-1007_hw_v4.pdf MOD-1007 from Embedded Adventures] has been added for the tour audio. This uses 3v3, which is taken from the Arduino, although for high volumes this does not have enough current. A seperate regulator might be required. | An audio module [http://www.embeddedadventures.com/datasheets/MOD-1007_hw_v4.pdf MOD-1007 from Embedded Adventures] has been added for the tour audio. This uses 3v3, which is taken from the Arduino, although for high volumes this does not have enough current. A seperate regulator might be required. | ||
Follow the data sheet to see how to play different files using the serial data lines. | Follow the data sheet to see how to play different files using the serial data lines. | ||
| − | |||
| − | |||
| − | |||
| + | ==Line Following== | ||
There is also a line follower with a [http://lpilsley.co.uk/cybot/follower.htm circuit diagram here]. | There is also a line follower with a [http://lpilsley.co.uk/cybot/follower.htm circuit diagram here]. | ||
| + | ==Brains== | ||
| + | The Arduino is a Duemilanova with an ATMega328. I might upgrade to an Uno if needed. | ||
| + | ===Arduino I/O Pins=== | ||
| − | + | ===Digital== | |
| − | + | *0 -> Rx | |
| − | Digital | + | *1 -> Tx |
| − | + | *2 -> Motor 1 Forward | |
| − | 0 -> Rx | + | *3 -> Motor 1 Backward |
| − | + | *4 -> Motor 2 Forward | |
| − | 1 -> Tx | + | *5 -> Motor 2 Backward |
| − | + | *6 | |
| − | 2 -> Motor 1 Forward | + | *7 |
| − | |||
| − | 3 -> Motor 1 Backward | ||
| − | |||
| − | 4 -> Motor 2 Forward | ||
| − | |||
| − | 5 -> Motor 2 Backward | ||
| − | |||
| − | 6 | ||
| − | |||
| − | 7 | ||
| − | |||
8 | 8 | ||
| − | |||
9 | 9 | ||
| − | |||
10 | 10 | ||
| − | |||
11 -> RESET Sound Module | 11 -> RESET Sound Module | ||
| − | |||
12 -> CLOCK Sound Module | 12 -> CLOCK Sound Module | ||
| − | |||
13 -> SDATA Sound Module | 13 -> SDATA Sound Module | ||
| − | + | ===Analog=== | |
| − | |||
| − | Analog | ||
A0 -> LDR 1 | A0 -> LDR 1 | ||
| Line 72: | Line 57: | ||
A5 | A5 | ||
| − | Ultrasonic | + | =Collision Avoidance= |
| + | ==Ultrasonic Distance Detection== | ||
| − | + | To start with I thought about using the Cybot Sonar Board. | |
| + | Distance is found using ultrasonic sensors re-purposed from the original Real Robot. | ||
| + | These have [http://lpilsley.co.uk/cybot/sonario.htm circuit diagrams here].There is a [http://www.cybench.co.uk/cybot/sonar.php load more information on how the Ultrasonic sensors (called the "sonar board") works here]. | ||
The microcontroller needs to output 8 pulses, each of 12.5uS length. Period is 25mS, which is an output frequency of 40kHz. Output is generated every 25mS. | The microcontroller needs to output 8 pulses, each of 12.5uS length. Period is 25mS, which is an output frequency of 40kHz. Output is generated every 25mS. | ||
| Line 96: | Line 84: | ||
*Listen for the echo reply. The time it takes is a direct indication of how far away the object is. Sound travels at 343.2m/s at sea-level and at 20C. | *Listen for the echo reply. The time it takes is a direct indication of how far away the object is. Sound travels at 343.2m/s at sea-level and at 20C. | ||
| − | + | This was all looking a bit too complex. I decided to look around for easier to use boards. | |
| − | + | I was told about the [http://users.ece.utexas.edu/~valvano/Datasheets/HCSR04b.pdf HC-SR04] and bought 2 on eBay for £6 delivered. | |
| − | |||
| − | |||
[[Category:Projects]] | [[Category:Projects]] | ||
[[Category:Projects (in progress)]] | [[Category:Projects (in progress)]] | ||
Revision as of 21:05, 22 January 2014
| TourRobot | |
|---|---|
| Primary Contact | Matt Little |
| QR code | |
Overview
Giving tours around the hackspace takes time and effort. So the obvious solution is to build a robot to do it.
Build Log
Here are the details and build log.
Base Unit
Basic base is the blue robot from Real Robots Magazine. I got this from a car boot sale and, at the first Arduino 101 day I fixed my arduino base to the robot. There is loads of detail on the Lpilsley Cybot here.
Motor Control
The motor control unit has been left in to power the motors. Details on the circuit diagram are here.
Audio Output
An audio module MOD-1007 from Embedded Adventures has been added for the tour audio. This uses 3v3, which is taken from the Arduino, although for high volumes this does not have enough current. A seperate regulator might be required. Follow the data sheet to see how to play different files using the serial data lines.
Line Following
There is also a line follower with a circuit diagram here.
Brains
The Arduino is a Duemilanova with an ATMega328. I might upgrade to an Uno if needed.
Arduino I/O Pins
=Digital
- 0 -> Rx
- 1 -> Tx
- 2 -> Motor 1 Forward
- 3 -> Motor 1 Backward
- 4 -> Motor 2 Forward
- 5 -> Motor 2 Backward
- 6
- 7
8 9 10 11 -> RESET Sound Module 12 -> CLOCK Sound Module 13 -> SDATA Sound Module
Analog
A0 -> LDR 1
A1 -> LDR 2
A2
A3
A4
A5
Collision Avoidance
Ultrasonic Distance Detection
To start with I thought about using the Cybot Sonar Board. Distance is found using ultrasonic sensors re-purposed from the original Real Robot. These have circuit diagrams here.There is a load more information on how the Ultrasonic sensors (called the "sonar board") works here.
The microcontroller needs to output 8 pulses, each of 12.5uS length. Period is 25mS, which is an output frequency of 40kHz. Output is generated every 25mS.
On the Sonar Board:
- Pins 5/6 are for the piezo outputs.
- Pins 2/3/4 requie 10k pull-ups.
- Pins 2/3 are left/right input gating.
- Pin 4 is the output
The concept is:
- Send a short blast of 40kHz output.
- Wait a short while (so we dont pick up the signal due to the Tx/Rx being very close to each other).
- Listen for the echo reply. The time it takes is a direct indication of how far away the object is. Sound travels at 343.2m/s at sea-level and at 20C.
This was all looking a bit too complex. I decided to look around for easier to use boards. I was told about the HC-SR04 and bought 2 on eBay for £6 delivered.