1/24/2008Physics 880:185:06 Lesson 11 MiniSumo Robotics Camp June 21 – July 2, 2010 Instructor:...
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Transcript of 1/24/2008Physics 880:185:06 Lesson 11 MiniSumo Robotics Camp June 21 – July 2, 2010 Instructor:...
1/24/2008 Physics 880:185:06 Lesson 1 1
MiniSumo Robotics Camp June 21 – July 2, 2010
Instructor: Dr. Dale Olson, PhDFull Professor
UNI Physics
Course co-author:
Mr. Randy DumseNew Micros, Inc., and
Adjunct instructor,
UNI Physics
1/24/2008 Physics 880:185:06 Lesson 1 2
MiniSumo Robotics Camp
Introduction to camp
• Line following demonstrated
• Mini-sumo demonstrated
1/24/2008 Physics 880:185:06 Lesson 1 3
Laboratory Projects in Robotics
This camp >tada<
So what will you do?
1/24/2008 Physics 880:185:06 Lesson 1 4
MiniSumo Robotics Camp
You will learn…
…perhaps…
1/24/2008 Physics 880:185:06 Lesson 1 5
Intro to (Mobile) Robotics
Not really _all_ of robotics
Mobile Robotics
With a Digital Electronics focus
…or…
1/24/2008 Physics 880:185:06 Lesson 1 6
Intro to Mobile Robotics
With a Digital Electronics focus
And Microprocessor fundamentals
…or…
1/24/2008 Physics 880:185:06 Lesson 1 7
Intro to Mobile Robotics
With a Digital Electronics focus
And Microprocessor fundamentals
And Real Time Programming concepts
…or…
1/24/2008 Physics 880:185:06 Lesson 1 8
Intro to Mobile Robotics
With a Digital Electronics focus
And Microprocessor fundamentals
And Real Time Programming concepts
And FSM Automata
…or…
1/24/2008 Physics 880:185:06 Lesson 1 9
Intro to Mobile Robotics
With a Digital Electronics focus
And Microprocessor fundamentals
And Real Time Programming concepts
And FSM Automata
Behavior Based Programming
…or…
1/24/2008 Physics 880:185:06 Lesson 1 10
Intro to Mobile Robotics
With a Digital Electronics focus
And Microprocessor fundamentals
And Real Time Programming concepts
And FSM Automata
Behavior Based Programming
With labs
…or…
1/24/2008 Physics 880:185:06 Lesson 1 11
Intro to Mobile Robotics
With a Digital Electronics focus
And Microprocessor fundamentals
And Real Time Programming concepts
And FSM Automata
Behavior Based Programming
And Mini Sumo assembly
…or…
1/24/2008 Physics 880:185:06 Lesson 1 12
Intro to Mobile Robotics
With a Digital Electronics focusAnd Microprocessor fundamentalsAnd Real Time Programming conceptsAnd FSM Automata Behavior Based ProgrammingWith labsAnd Mini Sumo assemblyWith final Competition
YES!
1/24/2008 Physics 880:185:06 Lesson 1 13
MiniSumo Robotics Camp
• Schedule
• M-F Mornings: 9:00 am – noon
• M-F Afternoons: 1:30 pm – 3:00 pm
Starting: June 21st 2010.
Ending: July 2, 2010, With Mini Sumo Contest
Two weeks
1/24/2008 Physics 880:185:06 Lesson 1 14
MiniSumo Robotics Camp
Useful references:• Robot Sumo The Official Guide
– Author: Pete Miles– Publisher: Osborne, 2002
• Starting FORTH, by Leo Brodie:– Electronic; on-line copy
• Other reading:URL links will be provided.
1/24/2008 Physics 880:185:06 Lesson 1 15
MiniSumo Robotics Camp
• Students will have many occasions to use computers in this course.
• UNI Information Technology Students has provided students in this class with the following temporary password:
Temp$123• Log, then you will be required to change
your password.
1/24/2008 Physics 880:185:06 Lesson 1 16
Some goals:
• Level 1– Make robot compete– Keep a brief journal of progress, making an entry
every one or two hours. (For benefit of future camps and campers.)
• Level 2– Add at least one strategy or sensor
• Level– Add multiple strategies or sensors
1/24/2008 Physics 880:185:06 Lesson 1 17
Special advantages of the camp
• Instructor– 40+ years Physics Instruction– Widely published in Physics– Experience in Optics, Electronics and Electro-optics
• Computers and robotics equipment supplied• We have an expert back-up person:• Mr. Randy Dumse
– 40+ Years electronics experience– Professionally recognized (awards)– Widely published in electronics– Contest winner (Mini Sumo and Line following)
1/24/2008 Physics 880:185:06 Lesson 1 18
Disadvantages of this class
• You will want to do even more than you will have time for.
• Now matter how much you learn about programming the microprocessor, at the end of the camp you will say: I wish I could have learned more about programming using the FORTH language.
1/24/2008 Physics 880:185:06 Lesson 1 19
What are challenges of this class
• The breadth of the topic, many fields
• The intensity of topic coverage
• (Non)Availability of printed material
• Computer language unusual
1/24/2008 Physics 880:185:06 Lesson 1 20
What are opportunities of this class
• Principles translate to many fields
• Exceptional skills, high demand
• Can participate in future UNI MiniSumo Invitational Contests.
• See: www.narobotics.org
FUN!
1/24/2008 Physics 880:185:06 Lesson 1 21
Power-up μP
• Microprocessor (PlugaPod) power-up– Slider switch turns provided microprocessor
on and off.– Connecting/disconnecting battery pack.– Removing and installing batteries in pack
• One four-battery pack
• One two-battery pack.
1/24/2008 Physics 880:185:06 Lesson 1 22
Power-up μP
– When you get home you will need to purchase rechargeable batteries and a charger.
• Instructor will provide a url where charger. can be ordered on-line. Charger and several batteries will cost $35 to $40 dollars. Then, additional batteries are about $2 to $3 each.
• You will need twelve batteries.
• A voltmeter would be another good tool.
– Measure battery-pack voltage with a voltmeter
1/24/2008 Physics 880:185:06 Lesson 1 23
What to expect to do (1)
• Learn how to enter code into the microprocessor
• Sense status of photodetector (digital)
• Display status of photodetector on uP
• Write a scan loop on uP
• Generate PWM from uP
• Control RC Servo position by PWM from uP
• Modify RC Servo for continuous rotation
• Control RC Servo for speed by PWM from uP
• Alter RC Servo speed based on photodetector input
• Build Mini Sumo robot chassis
• Combining skills, make robot line follow
1/24/2008 Physics 880:185:06 Lesson 1 24
What to expect to do (2)
• Read A/D converter, display results
• Read Sharp Ranging Sensor, display results
• Read Pulse Width Timer, display results
• Read Sonar Ranging Sensor, display results
• Diagram a Finite State Machine (FSM)
• Program a Finite State Machine
• Combine multiple Finite State Machines
• Add sensors to Mini Sumo robot chassis
• Combining skills, make a functional Mini Sumo robot
1/24/2008 Physics 880:185:06 Lesson 1 25
What to expect to do (2)
• Read A/D converter, display results
• Read Sharp Ranging Sensor, display results
• Read Pulse Width Timer, display results
• Read Sonar Ranging Sensor, display results
• Diagram a Finite State Machine (FSM)
• Program a Finite State Machine
• Combine multiple Finite State Machines
• Add sensors to Mini Sumo robot chassis
• Combining skills, make a functional Mini Sumo robot
1/24/2008 Physics 880:185:06 Lesson 1 26
What to expect to do (3)
•Compete to win
1/24/2008 Physics 880:185:06 Lesson 1 27
Related theory
• Electronic Theory• Semiconductor Theory• Photoelectric (Quantum) Theory• Digital Theory• Sensor Theory• Mechanical/Kinematics Theory• Behavior/Subsumption Theory• Gaming Strategy
1/24/2008 Physics 880:185:06 Lesson 1 28
Programming language / OS: IsoMax™
• Resident on uP
• Interactive, monitor while running
• Direct access to machine internals
• State Machine paradigm
• Excellent for Real Time
• Inherently multitasking
• Embedded, can be flashed, autostarted
1/24/2008 Physics 880:185:06 Lesson 1 29
Programming language: FORTH
• Forth procedural portion under IsoMax™
• Forth is archaic, but powerful, widely used in special applications such as space programs, controls, rapid prototyping
• Forth is stack-based, which can be difficult
• Forth is Interactive, which is very useful
• We will learn by use, and effort
1/24/2008 Physics 880:185:06 Lesson 1 30
Microprocessor Board
• PlugaPod™– DSP56F803– LEDs– Digital I/O– A/D– Timers– PWM– Internal Flash Storage
1/24/2008 Physics 880:185:06 Lesson 1 31
Microprocessor Board
• DSP56F803– Freescale (Motorola)– Modern Design (~2000)– Digital Signal Processor– 80 MHz (40MIPs)– Motion Control Hardware– General Purpose Controller
1/24/2008 Physics 880:185:06 Lesson 1 32
Program Development
• Communicate interactively with uP• Develop source code in text editor on PC• Download source code to uP• Link from PC to uP
– by Bluetooth module or
– USB to RS-232 converter (wire)
• Interactively test results• Repeat as required
1/24/2008 Physics 880:185:06 Lesson 1 33
Use of Computers
• Are terminal for communications
• Are editor for source code
• Are storage for source code
• Used for eLearning material
• Used for reference material from web
• Not used for personal email, browsing
1/24/2008 Physics 880:185:06 Lesson 1 34
Use of Computres
• Source code will be downloaded to robots
1/24/2008 Physics 880:185:06 Lesson 1 35
Laptops are not…
• The robot’s brains
• Machines to play games on
• Browsers of unrelated web sites
• A place to check non-class email from
• For dorm room use,
• or any use outside class/lab
1/24/2008 Physics 880:185:06 Lesson 1 36
Building of Robots
• Each student will build his own robot
• Each student must compete with own robot
• Chassis will be assembled
• RC Servo’s will be modified, mounted
• Sensors will be mounted
• Microprocessor attached
• Program downloaded, tested, installed
1/24/2008 Physics 880:185:06 Lesson 1 37
The Kit
• Mark III Mini Sumo hardware kit
1/24/2008 Physics 880:185:06 Lesson 1 38
RC Servos
• The RC Servos are the power train for the robot
1/24/2008 Physics 880:185:06 Lesson 1 39
Line Sensors
• The Line sensors detect edges for the robot
1/24/2008 Physics 880:185:06 Lesson 1 40
Sharp Rangers
• The Sharp Rangers detect the “enemy” for the robot
1/24/2008 Physics 880:185:06 Lesson 1 41
Open eLearning
• More later. This is still being set up for the camp.
1/24/2008 Physics 880:185:06 Lesson 1 42
Do we keep the robots?
• Yes. You have paid for them.
• However:– They do not come with batteries.
• Compete in next time’s Open Contest
1/24/2008 Physics 880:185:06 Lesson 1 43
Student Introductions
• Students should introduce themselves by station, 1-8, clockwise from above view, starting at side away from door
• Please give name, class (soph, jr, senior), major, and any special experience with electronics or robotics
1/24/2008 Physics 880:185:06 Lesson 1 44
Intro to Mini Sumo & Rules
• http://www.robotroom.com/SumoRules.html
• http://www.robotics-society.org/mini-sumo.shtml
• http://www.dprg.org/competitions/minisumo.html
• http://www.chibots.org/contests/rules/minisumorules.html
1/24/2008 Physics 880:185:06 Lesson 1 45
Mini Sumo Video Viewing (1)
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1331.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1332.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1333.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1334.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1335.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1336.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1337.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1341.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1342.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1343.mpg
1/24/2008 Physics 880:185:06 Lesson 1 46
Mini Sumo Video Viewing (2)
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1344.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1345.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1346.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1347.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1348.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1349.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1374.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1375a.mpg
• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1376.mpg
1/24/2008 Physics 880:185:06 Lesson 1 47
Discussion of Mini Sumo
• Build Mark III Mini Sumo kits• Use PlugaPod™ uP• Modify RC Servos for continuous rotation• Install and test line sensors• Test as Line follower• Add Sharp rangers• Test as Mini Sumo• Students make own modifications
1/24/2008 Physics 880:185:06 Lesson 1 48
Get IM addresses from MSN
• We will conference together so instructor can send links through IM.
• Each station needs to apply for address
• Each station to add [email protected] to contacts in IM