ENGR 50 Robotics

Woody Knapp

Monterey Peninsula College

Robots in the News air surveillance drone

Eldercare robot

Robots at MPCMPC Team competes in National ROV Competition

2013 Team forming soon

ENGL 38 More or Less Than Human?

Online class studies sci-fi implications of tech

ENGR50 Robotics

Rachel, Tom and Ross, MPC ROV Team Members

From Metropolis to The Matrix, this MPC class investigates classic, historical, popular, and contemporary films, TV, and associated literary works which ask, “What is a human being . . . and what isn’t?”  Considerations include representations of utopias and dystopias, computer technologies and networks, artificial intelligence, reproductive technologies, virtual reality, and genetic engineering.  The emphasis will be on how formal qualities affect/effect meaning and interpretation.

In this class we use a kit from Parallax, Inc.

• Build circuits

• Write programs

• Draw pictures with bots

• Respond to whiskers

• Respond to light levels

• Use IR LEDs in navigation

• Maze competition or [other?]

NO PURCHASE NECESSARYBut if you want:(optional) Parallax Boe-Bot Full Kit, cost $149

Group discount rates may be available—let me know if you plan to buy one

Order online: http://www.parallaxinc.com/Or call: 1-888-512-1024

You do need: A thumb drive (or DropBox acct) for shuttling programs

Robotics Tool Kit• PC for writing and downloading programs• "Brain" or Microcontroller • (BASIC Stamp, Lego Mindstorms, PIC, Arduino)• Programming interface (serial cable, infrared (LEGO),

wireless)• "Skeleton" or chassis, arms• "Muscles" or wheels, motors, relays • Energy source—batteries• Sensors:

– Speaker, Bumper switch, Photoresistor, Infrared headlights

What's a Microcontroller?

• An ultra minimal computer chip that normally performs a single set of tasks in an embedded system (automatic doors, airplane avionics)

• Unlike PCs, microcontrollers have special ports to enable simple interfaces with the outside world (input/output)

• For every PC there are 12-18 microcontrollers in the world

Microcontroller vs. Microprocessor

Progrm Space Long term

Clock "RAM" Storage Cost

PC (Intel Duo) 3 GHz 1GB Hard Drive $350

BASIC Stamp 20MHz 2 KB 2 KB $50

Arduino Uno 16 MHz 32 KB 32 KB $30

Lego RCX 16 MHz 1.2K per prog (up to 5) $100

PIC16F84

An excellent source of detailed information:

The Robot Builders Bonanza, Gordon McComb (RBB)

Microcontrollers Can Teach You About:

• Digital circuits• Use of: resistors, capacitors, LEDs, diodes,

transistors• Cook book circuits are readily available (RBB)• Control theory -- feedback, proportional control• Computer architectures• Test & calibration• Software -- compact notation for expressing

solutions to problems• Learning by Osmosis

Many Academic Fields Related to Robotics

Control Mechanisms Mechanics

SensorsMotion

PlanningPerception

Computer Science

Electrical Engineering

Mechanical Engineering

Lab 0 -- Music Programming

• You can hear your program running!

• Variables

• If statement

• For next loops

• Explore the structure of music and software

Lab 1 Navigation and Drawing

Lab 3 Navigating with Photo Resistors

Lab 4 Infra Red Detectors

Final Design Project

Along the way you’ll also learn about…

Light Emitting Diodes• A type of diode designed to

emit light • Can be visible or IR• 2 V voltage drop• Typically draws 20 mA (0.020 A)• Schematic Symbol…

How to Read a Circuit Schematic

3

6V 6 6

i1 i2

IT

How to build Circuits on Breadboard

Vin (6 V)

Vss (Ground)

Today, a brief trip to Mars

• We check out kits– Grab a kit– Run Stamp software on PC– Plug in serial cable– Power up bot– Download MarsRover.bs2 program

• Modify this line to make bot move in a pattern– data "FFFBBLFFRFFQ"

A Simulated Mars Rover

Mars Sequencing Team (You)• Develop sequences to take Rover to visit a rock (or

three) over several Martian days (called “sols”)

• Five tries (1 per “Sol”)• 5 points for hitting a rock• -1 point for each Sol • -3 points for rolling off table!• Your Command Sequence is made of Letters:

FFrBbRFfLlFLFQ

Sequence Key:• f = 2 inches forward• b = 2 inches backward• l = 20 – 30 degrees left• r = 20 – 30 degress right• F = 10 – 12 inches forward• B = 10 – 12 inches backward• L = 80 – 100 degrees left• R = 80 – 100 degrees right

• All measurements are approximate!

The Rules

1. Table is “Mars”2. Measure rock distances3. Design your sequence4. Test at your work area (Earth)5. (no testing on the table!)6. Carry bot to “Mars”7. Start in the landing zone8. Wherever bot stops, place your team’s

postit note. Report score to instructor.9. Take bot back to earth 10. Plan next day’s sequence11. Resume bot at postit note from last sol12. etc

Happy Driving!