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

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Laboratory Projects in Robotics

This camp >tada<

So what will you do?

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You will learn…

…perhaps…

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Intro to (Mobile) Robotics

Not really _all_ of robotics

Mobile Robotics

With a Digital Electronics focus

…or…

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Intro to Mobile Robotics


And Microprocessor fundamentals

…or…

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And Real Time Programming concepts

…or…

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And FSM Automata

…or…

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And FSM Automata

Behavior Based Programming

…or…

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And FSM Automata


With labs

…or…

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And FSM Automata


And Mini Sumo assembly

…or…

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With a Digital Electronics focusAnd Microprocessor fundamentalsAnd Real Time Programming conceptsAnd FSM Automata Behavior Based ProgrammingWith labsAnd Mini Sumo assemblyWith final Competition

YES!

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• 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

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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.

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• 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.

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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

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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)

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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.

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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

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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!

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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.

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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

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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

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• 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

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• 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

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•Compete to win

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Related theory

• Electronic Theory• Semiconductor Theory• Photoelectric (Quantum) Theory• Digital Theory• Sensor Theory• Mechanical/Kinematics Theory• Behavior/Subsumption Theory• Gaming Strategy

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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

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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

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Microprocessor Board

• PlugaPod™– DSP56F803– LEDs– Digital I/O– A/D– Timers– PWM– Internal Flash Storage

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Microprocessor Board

• DSP56F803– Freescale (Motorola)– Modern Design (~2000)– Digital Signal Processor– 80 MHz (40MIPs)– Motion Control Hardware– General Purpose Controller

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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

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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

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Use of Computres

• Source code will be downloaded to robots

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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

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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

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The Kit

• Mark III Mini Sumo hardware kit

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RC Servos

• The RC Servos are the power train for the robot

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Line Sensors

• The Line sensors detect edges for the robot

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Sharp Rangers

• The Sharp Rangers detect the “enemy” for the robot

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Open eLearning

• More later. This is still being set up for the camp.

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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

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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

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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

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Mini Sumo Video Viewing (1)

• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1331.mpg










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Mini Sumo Video Viewing (2)








• http://www.solarbotics.net/albums/RoboMaxx_Video/MVI_1375a.mpg


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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

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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

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