The Handy Board Bryan Valentini General Robotics 2003.
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Transcript of The Handy Board Bryan Valentini General Robotics 2003.
![Page 1: The Handy Board Bryan Valentini General Robotics 2003.](https://reader035.fdocuments.us/reader035/viewer/2022062803/56649f1f5503460f94c36aa3/html5/thumbnails/1.jpg)
The Handy Board
Bryan Valentini
General Robotics 2003
![Page 2: The Handy Board Bryan Valentini General Robotics 2003.](https://reader035.fdocuments.us/reader035/viewer/2022062803/56649f1f5503460f94c36aa3/html5/thumbnails/2.jpg)
Overview
• What is the Handy Board?• The Anatomy of the Handy Board• The HB and Interactive C• Care and Tips
Mantra: Charge your batteries before Demo
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What is the Handy Board?
• Battery powered microcontroller• Capable of handling up to 4 DC motors
(output)• Can read several sensors (input)• Re-chargeable• Re-programmable• Static Memory• Serial comm./IC allows for real-time
interaction (USAR)
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HB Features
• 16x2 char LCD• Beating Heart
• Two methods for Charging (important!)
• Analog/Digital Input
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HB Features
• SerialComm.
• DC MotorOutputs
• Feedback LEDs
• Power• Bootstrap
• User Buttons
• User Knob
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Battery Charging
• Trickle-charge (normal mode) – Adapter plugged directly to HB, charge light ON
– Takes 12-14 hours– Can leave indefinitely
• Via Serial Interface (normal mode) – like trickle charge mode
• Zap Charge – must set to ZAP mode– Charge in 3 hours– Charge light OFF– Be careful, remove after charging.– NOT YOUR FRIEND! EMERGENCY USE ONLY!
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Interactive C
• Powerful, interpreted, very similar to C
• Free IDE provided on website
• Require Reg. Number• Serial communication
through Adapter to HB via Telephone wire
• Read manual for details• Load .c files through IDE to
HB, restart HB and code will immediately start executing
• Additional libraries may be needed for sensors: fencdrX.asm
From Newton Labs:
•Complete type safety. Interactive C verifies correct arguments for all function calls and types across separate ".c" files.
•Array bounds checking. Array bounds are verified, preventing writing off the ends of arrays and corrupting memory.
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Interactive C
Free IDE available on Website
License: Howie Choset, 24-userKey : 58471-53648-17580-18
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Bootstrap to Get Started
• Used to reset board in case of serious malfunction.1 - While board is off, hold stop button down. 2 - Turn board power on3 - Both LEDs should turn
on, and the off.4 - Only mode where board is on, but power light is off.
• With IDE, load pcode_hb.s19
• Pcode initializes the HB
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Some Useful Library Functions
• See page 20 –24
• void motor(int m, int p)– Turns on motor m at power level p. Power
levels range from 100 for full on forward to -100 for full on backward.
• void ao()– Turns off all motors. ao is a short form for
alloff.
• int analog(int p)– Returns value of sensor port numbered p.
Result is integer between 0 and 255.
• void stop press()– Waits for STOP button to be pressed, then
released. Then issues a short beep and returns.
• int knob()– Returns the position of a knob as a value from
0 to 255.
• void sleep(float sec)– Waits for an amount of time equal to or
slightly greater than sec seconds. sec is a floating point number.
• void printf(char*)– Print to LCD
• void beep()– Produces a tone of 500 Hertz for a period of
0.3 seconds.
• Much Much more!
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Care and Tips
• BE CAREFUL!!!!
• Trickle charge overnight.• Avoid Zap charge
• Not all engines are equal.
• Do not solder or glue anything directly to HB.
• Build solid bases for HB in your robots.
• There is limited memory, program wisely.
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Final
• Charge your batteries before Demo!
• Everyone should have a base-level familiarity with the HB.
• Look to website for reference material. Read some of this before you code.
• Ask TAs for help before you get frustrated.