pop-botxt_E120624

POP-BOT XT : The Arduino Compatible Mobile Robot kit 1

Arduino compatible robot kitactivity manual

(c) Innovative Experiment Co. ,Ltd.

www.inex.co.th

www.inexglobal.com

2POP-BOT XT : The Arduino Compatible Mobile Robot kit

Credits

POP-XT ; the robot controller board are trademarks of Innovative Experiment Co., Ltd.

POP-BOT XT, POP-BOT XT logo, INEX, and INEX logo are trademarks of Innovative Experiment

Co., Ltd.

AVR, Atmel, Atmel logo, AVR Studio are registered trademarks of Atmel Corporation.

WinAVR is trademark of SourceForge, Inc.

AVR-GCC is copyright of Free Software Foundation, Inc.

Arduino and Arduino Leonardo is an open source project supported by many. The Team

is composed of Massimo Banzi, David Cuartielles, Tom Igoe, Gianluca Martino, and David

Mellis. Nicholas Zambetti has contributed since the beginning. Yaniv Steiner and Giorgio

Olivero have been supporting the project and are working at using it with the Instant

Soup platform. The Arduino platform used to include the avr-gcc tool chain, uisp, and

the Procyon AVR-LIB by Pascal Stang. The Arduino language syntax is based on Wiring

by Hernando Barragan. The Arduino environment is based on Processing by Ben Fry and

Casey Reas. Thanks to all the people who are supporting arduino.

I2C is a registered trademark of NXP Semiconductors.

Microsoft, Windows are registered trademarks of the Microsoft Corporation.

Windows 2K, Windows XP, Windows Vista and Windows7 are registered trademarks of

the Microsoft Corporation.

Macintosh, MAC OSX are registered trademarks of the Apple computer.

All product and service names mentioned herein are the trademarks of their respective

owners.


1 : POP-BOT XT robot kit introduction and part list...........................................................................5

2 : Building the POP-BOT XT mobile robot.......................................................................................17

3 : Arduino 1.0 installation.............................................................................................................25

4 : Arduino programming.............................................................................................................55

5 : POP-BOT XT program development by Arduino 1.0................................................................87

6 : POP-BOT XT controller board hardware experiment......................................................93

7 : POP-BOT XT library file...........................................................................................................109

8 : POP-BOT XT movement control ...............................................................................................139

9 : POP-BOT XT object avoidance by contact.........................................................................153

10 : POP-BOT XT line tracking mission.............................................................................................161

11 : POP-BOT XT touchless object avoiding.............................................................................183

12 : POP-BOT XT with Servo motor...........................................................................................191

Contents



Chapter 1

POP-BOT XT robot kitintroduction and part list

POP-BOT XT is an Arduino compatible, mobile robotic platform. It comes complete

with wheels, motors, sensors, software, documentation, etc. The POP-BOT XT controller

board is preloaded with the Arduino Leonardo bootloader. The Arduino 1.0 or higher

software is recommended.

For students and teachers; this kit comes with a comprehensive set of activities

and introducing sensors and microcontrollers using the well-popular Arduino platform. No

soldering is required so the kit is perfectly safe for the classroom. The POP-BOT XT robot kit

comes with 2 versions :

1 . POP-BOT XT Lite kit. It includes the POP-XT controller board that uses the

ATmega32U4 microcontroller and on-board color graphic LCD. It also includes simple sensors

(touch sensors and infrared reflector sensors), DC motor gearboxes and many mechanical

parts that allow you to make an autonomous robot suitable for learning of the C/C++

programming language. This version is most affordable for beginners in robotics.

2. POP-BOT XT Standard kit . It also includes all components that are in the Lite kit

with additional sensors and other extra part such as the Infrared ranger, 2 extra pieces of

the Infrared reflector sensor (total are 4 sets), a standard servo motor and extra quantities

of the mechanical part. With the standard kit version, it allows users to learn more about

robotics in education as well as competition.

1.1 Part list

1. POP-XT ; the Arduino Leonardo compatible robot controller board with the color

graphic LCD includes 4-AA battery holder

2. LED output board with JST cable (2 sets)

3. Switch/Touch sensor with JST cable (2 sets)

4. Infrared reflector board with JST cable (2 sets)*

5. GP2D120 Infrared distance sensor with JST cable**

6. 48:1 ratio 4.5 to 6Vdc motor gearbox with IDC cable (2 sets)

7. Standard servo motor (Operating voltage is 4.8 to 7.2Vdc)**

8. Circle wheel and Threaded rubber wheel set with 2mm. tapped-screw. (2 sets)


9. 80 x 60 cm. and 80 x 80 cm. Plastic Grid plate set (2 sets)

10. Circle base with idle ball wheels

11. Plastic joiner and Strip joiner set ***

12. Right-angled metal shaft set (4 pieces of each 1x 2, 2 x 2 and 2 x 5 holes)

13. Nuts and Screws set

14. Line tracking demo paper sheet

15. The standard USB-miniB cable for downloading and communication

16. CD-ROM contains software tools, source code and documentation

* Increase to 4 sets for Infrared reflector sensor for the Standard kit version

** Only available in the Standard kit version

*** There is 30 pieces of 3-type mix colored plastic joiner and 4 pieces of each 3/5/

12 holes of Strip joiner for Lite kit and 6 0 pieces of 3-type mix colored plastic joiner for

Standard kit

1.2 Microcontroller components information

1.2.1 The POP-XT controller board

POP-XT is a controller board using the Atmel AVR microcontroller ATmega32U4

(www.atmel.com). It is connected to the USB port directly for communication and

download the running code. It is easy to use and very convenient . POP-XT is a hardware

that is Arduino Leonardo compatible (www.arduino.cc). The board can be used with

Arduino1.0 development software. The POP-XT controller board is a complete, low-cost

development platform designed for those interested in learning and using Arduino in robotic

applications. Its compact size, convenient features, and low price make it an ideal tool

for the student and educator. Figure 1-1 shows the layout of POP-XT board and complete

schematic diagram of its is shown in the figure 1-2.

The summarized technical feature of the POP-XT board is as follows :

The main microcontroller is 8-bit microcontroller from ATmel; ATmega32U4. It

includes 10-bit A/D converter with 12-channel, 32KB of flash program memory, 1KB of

EEPROM, 2.5KB of RAM and 16MHz clock frequency.

25-I/O port and assign to 12 of 3-pin JST connectors for interfacing with sensors

and peripherals

Screw terminal block for battery connections. It supports +4.8 to +12Vdc and has

an on-board power switch.

+5Vdc switching regulator power supply circuit. Its regulates the supply voltage

for microcontroller devices and all sensor ports.


128x160 pixels color graphic LCD stack board. includes KNOB, OK and RESET

button. This display board onlu supports line-art graphic, vector graphic, color background

and text (no support the image file).

8-Universal port support Analog input functions and Digital input/output function;

A0 to A7 (18 to 23, 4 and 6 digital pin)

I2C bus port; SDA (2) and SCL (3)

UART port; RxD (0) and TxD (1)

2-ch. DC motor driver with indicators. Supports motor voltage of 2.5 to 13.5Vdc.

3-Servo motor output; connect with the digital port 30 (SV1), 12 (SV2) and 13 (SV3).

Piezo speaker connections. It is connected with digital port 11.

LED power and Low battery indicator

Direct USB port connection for communication and upload the running code

ISP pad for upgrading and firmware recovery by using the external In-System

Programming (AVR-ISP mark II from Atmel is recommended)

Figure 1-1 The layout of POP-XT controller board


PE6

IC1ATMega32U4

(TQFP44)

UVccD-D+

UGnd

UCap

VBusPB0PB1PB2PB3

PB

7RST

Vcc

GN

DXTA

L2

XTA

L1

PD

0PD

1PD

2PD

3PD

5

AVcc

GN

DA

REF

PF0

PF1

PF4

PF5

PF6

PF7

GN

DV

cc

SCL3 RXD0 A76

SDA2 TXD1 4

CR116MHz

SW2RESET

R34k7

ISP

C11F

+5V

A0 18

A1 19A3 21A5 23

A2 20A4 22

R44k7

LED1BLUE

+5V

+5V

+5V

R127D-

D+IDGND

VUSB

K1mini B-USBUSB port

+USB

K3BATT

4.8-7.2V

+5V

PF7

PF6PF4PF0

PF5PF1

PD0 PD2 PD7

PD1 PD3 PD4

G

A6

SP1PIEZO

Speaker

SV1

SV2

13

+VmGND

SV3

IC2TB6612FNG

A1

A1

PG

PG

A2

A2

B2

B2

PG

PG

B1

B1

R71k

R81k

A B

BDIR

BPWM10

7

9

5ADIR

APWM

DC. MOTOROUTPUT

+V

m

PW

MA

+V

m

+V

m

PW

MB

BIN

2

BIN

1

GN

D

STB

Vcc

AIN

1

AIN

2

+Vm+Vm

+- +-

PB5 PB6

PE6PC6

R54k7

+5V

R64k7

+5V

+5V

Q1KRC102

+Vm

SWITCHON

+Vm

IC3KIA278R05

1 2

3

D1MBRS340

IC4NCP1450

- 5.0

215,6,7,8

4

1,2,3

Q3FDS6680A

5

4

+5V

11

3

R227

C2

0.01F

C310F16V

C40.1F

C50.1F

C6100F10V

C70.1F

C80.1F

Q2KRC102

C90.1F

C10470F16V

C11470F16V

L110H

C120.1F

C13220F10V

11

10

9

8

7

6

5

4

3

2

144 43 42 41 40 39 38 37 36 35 34

33

32

31

30

29

28

27

26

25

24

232221201918171615141312

PE2PC7PC6PB6PB5PB4PD7PD6PD4AVccGND

1 2 3 4 5 6 7 8 9 10 11 12

24 23 22 21 20 19 18 17 16 15 14 13

4

RST

17

15

16

14

31

8

xx Arduino Leonardo pin name

Pxx Atmel pin name

+

7

REF

23

22

21

20

19

18

31

PE2

13511

1098

1

4

30

12

6

16

14

3

2

0

RST

+

17

15

Port assignment iscompatible with

Arduino Leonardo

PB

4A

8

SP

IE

xt.

GND

GND

GND

+

12

GND+Vm

30

GND+Vm

N/C

GN

DCS

Vcc

Vcc

CLK

MIS

OD

/C/R

ST

GN

DLED

ALED

KG

ND

N/C

1 2 3 4 5 6 7 8 9 10 11 12 13 14

SW3RESET

+3.3V

R104.7k

D11N4148

+3.3V

+3.3V

R94.7

R114.7k

R134.7k

R124.7k

R144.7k

R164.7k

R154.7k

R174.7k

R184.7k

31 PE2

16 PB2

15 PB1

17 PB0

RST

GLCD128x160 pixel

21-character16-line

IC5LM1117-3.3V

+5V +3.3V

C1410F16V

C150.1F

C1610F16V

R111k

VR1KNOB

R111k

SW5OK

+5V

8 PB4C18

0.1F

C170.1F

Figure 1-2 The completely schematic diagram of POP-XT controller board


1.3.1 DC motor gearbox

This robot kit provides 48:1 ratio DC motor gearbox; model BO-2 with IDC connector

cable. Features include :

Operating voltage is +3 to +9Vdc

Current consumption 130mA @ +6Vdc and no load)

Average speed 170 to 250 round per minute (RPM) @ +6V and no load

Weight is 30 grams

Minimum torque is 0.5 kg.cm.

Attached with the plastic mounting with 5 of insert nuts

42 x 45 x 22.7 mm. (WxLxH) dimension

1.3.2 ZX-LED : the simple output board

This module use 8mm. diameter LED. It requires logic “1” or “high” for driving LED.

The schematic diagram is shown in trhge figure 1-3.

Q1KRC102

(DTC114)

R1(Default = 510)

LED1

+

S

Figure 1-3 The ZX-LED completely schematic diagram


1.3.3 Standard RC servo motor (available only in Standard kit)

The standard servo is ideal for robotics and basic movement projects. These servos

will allow a movement range of 0 to 180 degrees. The servo output gear shaft is a standard

Futaba configuration. Technical specifications are :

Operating voltage is 6Vdc max.

Speed 0 deg to 180 deg in 1.5 seconds on average.

Weight 45.0 grams/1.59oz

Torque 3.40 kg-cm/47oz-in

Size mm (L x W x H) 40.5x20.0x38.0

1.4 Sensor module features

1.4.1 Switch module/Touch sensor

DATAR3220

R210k

R1510

LED1

S1Switch

Indicator

Signal output

GND

+V

The switch input is used to detect collision at logic “0”. Two sets along with the

connecting cable are provided.


1.4.2 ZX-03 : Infrared reflector sensor

The heart of this sensor is TCRT5000 reflective object sensor. It is designed for close

proximity infrared (IR) detection. There’s an infrared diode behind its transparent blue window

and an infrared transistor behind its black window. When the infrared emitted by the diode

reflects off a surface and returns to the black window, it strikes the infrared transistor’s base,

causing it to conduct current. The more infrared incident on the transistor’s base, the more

current it conducts. When used as an analog sensor, the ZX-03 can detect shades of gray on

paper and distances over a short range if the light in the room remains constant.

10k

TCRT5000

510

+V

GND

OUT

Infrared Reflector

Signal connector

The suitable distance from sensor to line or floor is during 3 to 8 mm. The output

voltage is during 0.1 to 4.8V and digital value from10-bit A/D converter is 20 to 1,000. Thus,

ZX-03 will suitable to apply to line tracking sensor.

1.4.3 GP2D120 Infrared distance sensor (available only in Standard kit)

One of the special sensors in robotics is the GP2D120. It is an Infrared Distance

sensor. Some people call it the IR Ranger. With the GP2D120 module, it adds the distance

measuring and Obstacle detection using infrared light feature to your robot. POP-BOT XT

robot can avoid obstacles without having to make any physical contact.

Infrared LED transmitter Infrared Receiver

GNDVout Vcc

GP2D120

Features of the GP2D120 module

Uses Infrared light reflection to measure range

Can measure a range from 4 to 30cm.

4. 5 to 5 V power supply and 33mA electric current

The output voltage range is 0.4 to 2.4V when supplied by +5V


GP2D120 Infrared Ranger module has 3 terminals: Power input (Vcc), Ground (GND)

and Voltage output (Vout). To read the voltage values from the GP2D120, you must wait

till after the acknowledgement period which is around 32 to 52.9 ms.

The output voltage of GP2D120 is at a range of 30cm. and +5V power supply is

between 0.25 to 0.55V, with the mean being 0.4V. At the range of 4cm., the output voltage

will change at 2.25V± 0.3V.

1.5 POP-BOT XT cable information

The POP-BOT XT mobile robot kit includes some signal cables for the interfacing

between the controller board, sensor module and the computer. They includes the JST3AA-

8 cables for interconnection to the sensor module and the standard USB-miniB cable for

interfacing with the computer.

1.5.1 JST3AA-8 cable

This is an INEX standard cable, 3-wires combined with 2mm. The JST connector is at

each end. 8 inches (20cm.) in length. Used for connecting between microcontroller board

and all the sensor modules in the POP-BOT robot kit. The wire assignment is shown in the

diagram below.

2mm. pitch

GNDS

+5V

2mm. pitchGND

S/Data

+5V

1.5.2 Standard USB-miniB cable

This is used to connect between the computer’s USB port and the POP-XT controller

board. Its length is 1.5 metres approximation.


1.6 Mechnical prt features

1.6.1 Circle wheel and Tire set

Includes 2 pairs of the suittable circle wheel for BO-2 DC motor gearbox and tread

rubber tire. Fix the wheel with gearbox shaft by 2mm. self-tapping screws

1.6.2 Plastic grid plate set

Includes each of the universal plastic grid palte 2 sizes; 80x60mm. and 80x80mm.

Each plate provides 3mm. diameter holes with 5mm. pitch.

1.6.3 Circle base

This base is injected from high quality ABS plastic. Diameter is 250mm. It has 2 free

ball wheels at both side. This base has many 3mm. holes for fixing the controller board,

sensors and more mechanical parts.


1.6.4 Plastic joiners

30 pieces (60 pieces in Standard kit version) of varied color joiners made from PVC

plastic. They can be connected together or by using screws and 3 mm nuts in installation.

There are 3 types; Right angle, Obtuse and Straight joiner.

1.6.5 Strip joiners

They are made from plastic. Each joiner has 3mm. hole 5mm. pitch. Each joiner

can connect for lenght expansion. They are 4 pieces of 3 sizes; 3, 5 and 12 holes type.

Total 12 pieces.

1.6.6 Box holder

It is injected plastic box for supporting the POP-XT controller board. It has some of

3mm. hole for fixing with any platform.


1.6.7 Right-angle metal shaft

It is 7.5mm. width right-angle metal shaft. Each shaft has 3mm. hole for inserting the

screw to fix with another structures. The set includes 4 pieces of 1x2, 2x2 and 2x5 holes

metal shaft.

1.6.8 Screw and Nut set

Includes 2 of 2mm. self-tapping screws, 4 of 3x8mm. M3 screws, 30 of 3x10mm. M3

screws, 4 of 3x15 mm. M3 screws, 4 of 3x40mm. M3 screws, 10 of 3x8mm. flat-head screws

and 30 of 3mm. M3 nuts.

1.6.9 Metal spacer

They are metal parts for supporting the plate and sensor board. They are made

from nikle plating metal. Includes 6 of 32mm. metal hexagonal spacers. Each standoff has

3mm. thread through-hole.

1.6.10 Plastic spacer

They are some mechanical parts for supporting the plate and sensor board. This kit

includes 4 pieces set of plastic spacer (3mm., 10mm., 15mm. and 25mm.) 4 sets



The POP-BOT XT robot is a small autonomous robot controlled by ATmega32U4

microcontroller. Although it is built with minimum components and parts, the user will

many learning oppotunities. Learn how DC motor are controlled. Learn about how to

read data from various sensors both digital and analog types. Learn how to write

conditional statements for a given task. Learn how to interface with the Graphical Color

Display and much more…

This chapter presents how to build the POP-BOT XT robot with the standard platform.

We will use this platform to learn and try out all the activities.

POP-BOT XTArduino Leonardo compatible robot

Movement with DC motor gearboxes and wheels.

Controlled by POP-XT controller board

Programmable via direct USB port

Support a variety of sensors such as

Infrared refelctor for line tacking,

Touch sensor for object avoiding,

Infrared ranger or Distance sensor

for touchless object avoiding.

Supports wired remote control which

includes the PlayStation controller and

the Wii Nunchuk controller.

Supports wireless serial data

communication module such as Xbee and Bluetooth.

Includes the 128x160 pixels color graphic LCD for monitoring and display status.

3 servo motor driver ports. Support small RC servo motor 4.8 to 6V.

Requires 4 of AA batteries. The Alcaline, Evolta and Rechargeable Ni-MH are

recommendded.

Chapter 2

Building the POP-BOT XT robot


Strip joiner 3, 5 and 12 holes(4 pieces each)

POP-XT controller board x1Circle base x 1 Box holder x 1

Circle wheel and tire x 2 DC motor gearbox x 2 32mm. metal spacer x 4

2.1 Part list

Infared reflector x 2

Plastic joiners

Right angledmetal shaft 2x2 x 2

2mm. self-tapping screw x 2

Plastic spacer set Screw and Nut set

Switch input board(Touch sensor) x 2


(1) Attach both the DC motor gearboxes with the Box holder by using 3 x 8mm. flat screws.

(2) Attach 2 of 33mm. metal spacers with the Box holder by 3 x 8mm. flat screws at the

following positions as shown in the pictures below.

(3) Insert the wheel with tire to DC motor gearbox’s shaft and fix with 2mm. self-tapping

screws.

2.2 Building procedure

3x8mm. flat screws

3x8mm. flat screws

3x8mm.flat screws

3x8mm. flat screws

3x8mm. flat screws

32mm. metal spacer

32mm.metal spacer

2mm. self-tappingscrew x 2

Circle wheel and tire x 2


(4) Attach the gearbox structure as shown in step (3) with the circular base by using 3 x

8mm. flat screws at the following positions shown in the pictures below. See the wheel’s

position is the center of the base.

(5) Attace the ZX-03 sensor with 5-hole strip joiner by using 3 x 15mm. screws and 3mm.

nuts at the first hole of strip joiner. Make 2 sets for the left and right sensors of robot.

(6) Attach the strip joiner and ZX-03 from step (5) at front left side and right side by using

3 x 10mm. screws and 3mm. nuts.

5-hole strip joiner

screw fixing position

screw fixing position

ZX-03

ZX-03


(7) Attach 2 pieces of 5-hole strip joiner with the front side of the robot chasis following

the picture below by using 3 x 10mm. screws and 3mm. nuts also.

(8) Attach the ZX-01 switch/touch sensor with the right angle joiner by using 3 x 10mm.

screw and 3mm. nut. Next, insert an obtuse joiner at the end of the right angle joiner

following the picture below. Make 2 sets.

Obtuse joiner

3 x 10mm.screw

Right anglejoiner

3mm. nut


(9) Connect the switch arms from step (8) to the end of both of the strip joiners.

(10) Place the POP-XT controller board into the box holder on the top of robot chasis.Turn

the sensor port side (red connectors) to the front as shown in the picture below.

Sensor port side


(11) Connect the motor cable to the Motor output. Check the polarity by turning the

wheel, if pole connection is correct - LED at motor output will be green and change to

red if turn back. If not, please change the connection to opposite.

(12) Connect the left ZX-03 cable to port A1/19, right ZX-03 cable to port A0/18, left switch

to A5/23 and right switch to A4/22.

Motor A - left wheel

right ZX-03 : A0/18

left ZX-03 : A1/19

left ZX-01 : A5/23

right ZX-01 : A4/22

Motor B - right wheel

Motor B cable (right side)

Motor A cable (left side)


(13) This is the POP-BOT XT that is ready to be programed and run.


This chapter describes the details of the Arduino1.0 software used in POP-BOT XT

programming development. It is used for creating, compiling and uploading the code to

the POP-BOT XT robot. It also supports Windows XP or higher, MAC OS and Linux.

3.1 Software installation for Windows 7

3.1.1 Software and USB driver installation

The software that comes with the POP-BOT XT robot kit includes Arduino 1.0 software

that containing the driver and interfacing information of POP-XT controller with Arduino

IDE, a library file of the POP-BOT XT robot named popxt.h and some example codes. The

installation procedure is as follows.

(3.1.1.1) Insert the CD-ROM that comes with the POP-BOT XT kit into the CD-ROM

drive of your computer. Find and double-click the file arduino1.0.1release_setup120531.exe

(or any similar name). The Welcome window will appear, click on the Next button to install.

Next, the windows installer will ask where to install the program, click on the Next button to

continue.

Chapter 3

Arduino 1.0 installation


(3.1.1.2) The installer will ask for a name to be created at Start Menu, click on the

Next button. The installer will show the installation summary, click on the Install button to

begin installation. Installation will take some time, be patient ti allow the installation to

finish.


(3.1.1.3) Next, the USB device drivers installer window will appear. It is the pre-driver

installer of the POP-XT controller board. Click on the Next button to continue.

(3.1.1.4) Click on the Install this driver software anyway box. The USB driver installation

will require you to click twice to continue. Make sure you click the Install this driver software

anyway box twice.


(3.1.1.5) The driver installation process takes place. Wait until the installation is

complete. It will appear that driver installation is complete and it will show the name of

the installed drivers at Arduino LLC. Click on the Finish button to finish the installation.

3.1.2 Upload testing

(3.1.2.1) Prepare the robot first. Open the batter holder cover and put 4 x AA

batteries. The alcaline or rechargeable 1800mAH type is recommended. After that, put

the POP-XT controller back into the robot chasis.


(3.1.2.2) Turn on power. Wait for a few seconds and then plug in the USB-miniB

cable to the robot. The other end of the USB cable plug into the USB port of your computer.

This step is very important.

YOU MUST TURN ON THE POWER SUPPLY FIRST and WAIT AFEW SECONDS before connecting the USB cable. It will not work if

these few steps are not done properly.

(3.1.2.3) After connecting the POP-XT controller board to the USB port, the system

will start to verify your hardware. After this is done, check the connection by going to My

Computer, click on the right mouse button select Properties. Enter to Control panel and

select Device Manager


(3.1.2.4) See the Ports listing, will find a list of Unicon & POP-XT (COMxx) by the

number of COM port could be changed on each computer. For eample is COM26

Remember this COM port number as its required for operation with Arduino1.0.

(3.1.2.5) Open the Arduino 1.0x software. The connection between the POP-XT

controller and computer via USB port still exist.

(3.1.2.6) Choose the example sketch file for upload testing. For example, choose

the Example_glcdFillCircle file from File > Example > POP-BOT XT > Example_glcdFillCircle


(3.1.2.7) Select the hardware by Tools > Board > POP-XT (Caterina).

(3.1.2.8) Select the COM port from Tools > Serial port > COMxxx . This example is

COM26.

(3.1.2.9) Upload the sketch file by clinking on the button or select menu File >

Upload


(3.1.2.10) Wait until the uploading finish. The status message; Done uploading is

appeared on the staus bar at the bottom of Arduino IDE window.

(3.1.2.11) After uploaded; the POP-XT controller board run immediately. The GLCD

screen displays the margenta solid rectangle.

(3.1.2.12) At the Device Manager window; the new hardware will be appeared. It

is Unicon Board & POP-XT (COMxx) . The number of COM port will be changed to COM27.

The next uploading requires the new port. User must check the port availibility before

uploading by using the Device Manager or check by menu Tools > Serial port of Arduino

IDE

Note : The USB driver installation of the POP-XT contoller boardwill generate 2 COM ports that have number is consequently.

If user meet the uploading problem :

(1) Check the current COM port again or

(2) Remove the USB cable and plug again. Check the currentCOM port before uploading from Device manager or menu Tools >Serial port of Arduino IDE.

3.1.3 Troubleshooting if system cannot be find the driver forPOP-XT board when change of USB port connection

After installing the USB drivers completed, user should continue to use the same

USB port. In case of any change to the USB port; there maybe a need to install new drivers

which may be different from the above explained normal steps.

If the system can not find drivers for the hardware interface. Follow the steps below.

(3.1.3.1) Open the Device Manager by clicking the right mouse button at the My

Computer and choose Property. After that select the Device Manager. At the Device

Manager; found the device that has ! symbol in front. Click the right mouse button at that

device name and select to Update Driver


(3.1.3.2) The update driver window will appear. Choose the Browse my computer

for driver software option to locate the drivers manually.

(3.1.3.3) Set the driver location to C:\Arduino\drivers\Unicon POP-XT Driver. Click

on the Next button to update the driver.


(3.1.3.4) System will warn about the safety of the drivers are installed. Select Install

this driver software anyway to confirm the installation.

(3.1.3.4) Windows will take a while to install the drivers. After which the Device

Manager window will display the device name; Unicon Board & POP-XT (COMxx) with the

COM port number based on the registration of each computer.

The driver installtion requires many steps. Therefore, proper following of instructions

is required to reduce errors in this installation.

After the driver has been installed, the POP-BOT XT robot is ready for programming.

When updating or installing the drivers is complete. The user should check

the port number is always before upload programs to the POP-XT controller board.

The Arduino 1.0x IDE has the ability to find the port to connect the entire system is

automated. And the driver of the Arduino Leonardo (Caterina) that is used in the

POP-XT controller board create the virtual COM port to connect to the computer

to alternate between two port numbers in each RESET and upload a new sketch.


3.2 Software installation for Windows XP

3.2.1 Software and USB driver installation

The software installation in Windows XP is also similar Windows 7.

(3.2.1.1) Insert the CD-ROM that comes with the POP-BOT XT kit into the CD-ROM drive

of your computer. Find and double-click the file arduino1.0.1release_setup120531.exe (or

any similar name). The Welcome window will appear, click on the Next button to install.

Next, the windows installer will ask where to install the program, click on the Next button to

continue.


(3.2.1.2) the installer will ask for a name to be created at Start Menu, click on the

Next button. The installer will show the installation summary, click on the Install button to

begin installation. Installation will take some time, be patient ti allow the installation to

finish.


(3.2.1.3) Next, the USB device drivers installer window will appear. It is the pre-driver

installer of the POP-XT controller board. Click on the Next button to continue.

(3.2.1.4), The driver installation process takes place. Wait until the installation is

complete. It will appear that driver installation is complete and it will show the name of

the installed drivers at Arduino LLC. Click on the Finish button to finish the installation.


3.2.2 Upload testing and install the USB driver

Only the POP-BOT XT USB driver installation process is different in Windows XP. The

procedures are as follows :

(3.2.2.1) Prepare the robot first. Open the batter holder cover and put 4 x AA

batteries. After that, put the POP-XT controller back into the robot chasis.

(3.2.2.2) Turn on power. Wait for a few seconds and then plug in the USB port of

your computer.

(3.2.2.3) After plugging the cable into the robot; the computer detects new hardware

a s a USB c om posite and ask for the loc a tion of the d river file to insta ll. Clic k on the Install

from a list or specific location (Advanced) and click on the Next button to next step.


(3.2.2.4) Choose the location as C:\Arduino\Drivers . Click on the Next button.

(3.2.2.5) The driver installation starts. Wait until the installation is completed. Click on

the Finish button.

(3.2.2.6) Check the COM port number of POP-XT that is created by the driver

installtion at Control Panel > System > Hardware > Device Manager > Ports > Unicon Board

& POP-XT (COM xx). An example would be COM179


The installation for the USB drivers for Windows XP

is not complete as yet. There is still another procedure

that has to be done. Please ensure you finish all

procedures follow this.

(3.2.2.7) Open the Arduino 1.0x software. The connection between the POP-XT

controller and computer via USB port still exist.

(3.2.2.8) Choose the example sketch file for upload testing. For example, choose

the Example_glcdRect file from File > Example > POP-BOT XT > Example_glcdRect

(3.2.2.9) Select the hardware by Tools > Board > POP-XT (Caterina).


(3.2.2.10) Select the COM port from Tools > Serial port > COMxxx . This example is

COM26.

(3.2.2.11) Upload the sketch file by clinking on the button or select menu File

> Upload

(3.2.2.12) Wait until the uploading finish. The status message; Done uploading is

appeared on the staus bar at the bottom of Arduino IDE window.

(3.2.2.13) After uploaded; the POP-XT controller board run immediately. The GLCD

screen displays the red rectangle shape. Now the first USB driver installation is completed.

(3.2.2.14) Next, the computer detects new hardware and ask for the location of the

driver file to install again. It is second round of USB driver installation. Click on the Install from

a list or specific location (Advanced) and click on the Next button to next step.



(3.2.2.16) The driver installation starts. Wait until the installation is completed. Click

on the Finish button.

(3.2.2.17) Wait a second. The Found New Hardware Wizard is appeared again.

Click on the Install from a list or specific location (Advanced) and click on the Next button

to next step.


(3.2.2.18) Choose the location as C:\Arduino\Drivers again. Click on the Next

button.

(3.2.2.19) The driver installation start. Wait until the installation is completed. Click

on the Finish button.


(3.2.2.20) At the Device Manager window; the new hardware will be appeared. It

is Unicon Board & POP-XT (COMxx) . The number of COM port will be changed to COM180.

The next uploading requires the new port. User must check the port availibility before

uploading by using the Device Manager or check by menu Tools > Serial port of Arduino

IDE.

The driver installtion requires many steps. Therefore, proper following of instructions

is required to reduce errors in this installation.

After the driver has been installed, the POP-BOT XT robot is ready for programming.


3.2.3 USB driver installation for changing the USB port

After installing the USB drivers completed; user should continue to use the same

USB port. In case of any change to the USB port; there maybe a need to re-install new

drivers which may be different from the above explained normal steps.

The driver installation starts with USB composite device driver installation. After that,

install the POP-XT controller board driver. It is called Caterina in boot mode. This step requires

the OK switch pressing on the POP-XT controller board.

(3.2.3.1) After connect the POP-XT controller board to new USB port, the computer

detects new hardware and ask for the location of the driver file to install again. It is second

round of USB driver installation. Click on the Install from a list or specific location (Advanced)

and click on the Next button to next step.

(3.2.3.2) Also choose the location as C:\Arduino\Drivers . Click on the Next button.



the Finish button.

(3.2.3.4) With the USB cable still connected to the POP-XT board and the computer,

turn-off power of the POP-XT controller board. Then, press and hold at the OK switch near

the GLCD on the POP-XT controller board. Turn-on power and release the OK switch.


(3.2.3.5) The Found New Hardware Wizard is appeared immediately. Click on the

Install from a list or specific location (Advanced) and click on the Next button to next step.




the Finish button.

(3.2.3.8) Check the current COM port for interfacing at Control Panel > System >

Hardware > Device Manager. See the Ports listing, will find a list of Unicon & POP-XT (COMxx)

by the number of COM port could be changed on each computer. Remember this COM

port number as its required for operation with Arduino1.0.


3.3 Arduino1.0 software installation for MAC OSX10.6

The installation of Arduino1.0 siftware for Macintosh computer is not complicated.

Since all files are contained in a ZIP file. The installation step is as follows :

(3.3.1) Copy the Arduino1.0.zip from CD-ROM or downloaded from www.inex.co.th

or www.uniconboard.com to Desktop.

(3.3.2) Extract this file by Open With > Archive Utility.

(3.3.3) The extracted file are the Arduino files. There is a software icon below.

(3.3.4) Open the Finder window. Drag the Arduino icon to Applications


(3.3.5) Double-click to open Arduino software. Select menu Tool s > Board > POP-XT

(3.3.6) Tunr on the POP-XTcontroller board. Wait a few seconds for initialization. Plug

the USB cable to board and computer.

(3.3.7) Select menu Tools > Serial Port > /dev/tty.usbmodemxxxx. (xxxx is number

of usbmodem)

If user can do follows all steps, it means the software installation is completed. The

POP-BOT XT also ready for operating with Macintosh computer and MAC OSX10.6.


3.4 Arduino environmentAfter starting Arduino IDE, the main window will appear as shwon in the figure 3-1.

The Arduino includes the environments as follows.

Menu : Select the operation command

Toolbar : Includes all most command button

Tabs : Allows you to manage sketches with more than one file (each of

which appears in its own tab).

Text editor : Text editor area for creating the sketch.

Message area : Shows the program operation status such as compiling result.

Text area : The space demonstrates compiling information and Serial data

Terminal window if enable.

Figure 3-1 The Arduino1.0 environment

Tools bar

Menu

Message area

Serial MonitorClick to open theother window fortransmitting andreceiving theserial databetween Aruinohardware andcomputer

Text Editor

Tab


Serial Monitor This button is on the top right corner. Click this button to

open the serial communications and display information. Requires the Arduino hardware

must connect with the COM port always.

Serial Monitor is a important for displaying the serial data on the

computer. Arduino has this command ; Serial.print to display data. For sending data from

computer to Arduino is very easy. Only type the data on the text box and click on the

Send button at the top right corner of Serial monitor window. For using Mcintosh computer

or Linux computer; the Arduinoi hardware will need be reset when the Serial monitor is

opened every time.

3.4.1 Menu bar

3.4.1.1 File

The Arduino calls the code as Sketch. This menu contains many commands like

open, save and close the sketch as follows :

New : Creates a new sketch, named is the current date format "sketch_

YYMMDDa".

Open : Open the exist sketch.

Sketchbook : Opne the latest sketch file

Example : Open the example sketch.

Save : Save the current sketch


Save as : Save the current sketch as another name.

Upload to I/O board : Uploads your code to the Arduino I/O board (POP-

XT). Make sure to save or verify your sketch before uploading it.

Page setup : Set up the page layout for the current sketch

Print : Print the current sketch code to the printer

Preference : Set some preference of Arduino environment

Quit : Exit the Arduino IDE

3.4.1.2 Edit

The Edit menu provides a series of commands for editing the Arduino files.

Undo : Reverses the last command or the last entry typed.

Redo : Reverses the action of the last Undo command. This option is only

available, if there has already been an Undo action.

Cut : Removes and copies selected text to the clipboard.

Copy : Copies selected text to the clipboard.

Paste : Inserts the contents of the clipboard at the location of the cursor,

and replaces any selected text.

Select All : Selects all of the text in the file which is currently open in the text

editor.

Find : Finds an occurance of a text string within the file open in the text

editor and gives the option to replace it with a different text.

Find Next : Finds the next occurance of a text string within the file open in

the text editor.

3.4.1.3 Sketch

This menu provides a series of commands for compile the code and manage library.

Verify/Compile : Verify and compiles the code

Stop : Stops current activity.

Add file : Opens a file navigator. Select a code files to add it to the sketches

"data" directory.

Import Library : Import the addition library.

Show Sketch folder : Opens the directory for the current sketch.


3.4.1.4 Tools

This menu provides commands about tools for developing the Arduino sketch and

setting up the Arduino hardware.

Auto Format : Attempts to format the code into a more human-readable

layout. Auto Format was previously called Beautify.

Archive Sketch : Compress the current sketch to the zip file.

Export Folder : Open the folder that contain the curretn sketch.

Board : Choose the Arduino hardware. For POP-BOT XT, choose POP-XT

Serial Port :Allows to select which serial port to use as default for uploading

code to the Arduino I/O Board or monitor data coming from it. The data coming from the

Arduino I/O Board is printed in character format in the text area region of the console.

3.4.1.5 Help

This menu contains many information in HTML format for supporting the Arduino user.

Getting Start : Opens the How to start Arduino.

Troubleshooting : Suggest the solution when meet the problem in Arduino.

Environment : Describe about Arduino environments

Reference : Opens the reference in the default Web browser. Includes

reference for the language, programming environment, libraries, and a language comparison.

Frequently Asked Question : See the popular question and answer

Visit www.arduino.cc : Opens the web browser to the Arduino homepage.

About Arduino : Opens a concise information panel about the software.

3.4.2 Tools bar

Verify/Compile : Checks your code for errors.

Upload to I/O Board : Uploads your code to the Arduino I/O board

(POP-168 module). Make sure to save or verify your sketch before uploading it.

New : Creates a new sketch.

Open : Presents a menu of all the sketches in your sketchbook.

Save : Saves your sketch.


Chapter 4

Arduino programming

Programming for POP-XT boards and POP-BOT XT robots is done by using the Arduino

programming language (based on C++) with version 1.0 or higher, in which the language

of Arduino itself is developed from the open-source project framework for microcontrollers

called Wiring and the language of Arduino is grouped into two parts as follows:

1. Language structure, variables, and constants

2. Functions

Arduino language is based on the C/C++ languages so that when programming

for Arduino (including POP-XT controller board) one can use the functions and libraries

which already exist for the C language. This makes it convenient for those who do not

understand the intricacies of microcontrollers to write command programs for them.

This chapter will mainly describe the structure of Arduino. For a complete text written

about the function of the C programming language behind Arduino, see details in help

menu of Arduino IDE or their website; www. arduino.cc

4.1 Program structure of ArduinoAn Arduino program is composed of two sections including

void setup ( )

and

void loop ( )

The function of setup () : when a program runs, it will make a statement for this

function only once to define a default value for operation.

The function of loop () is a procedure in the program that contains statements

which are repeated.

Normally, this procedure is performed to specify working modes of the various pins

in the serial communication bus, and so on. The loop contains the program code which is

executed, such as reading input values, processing, displaying output etc. Any

configuration of default values, or components such as variables, need to be declared at

the beginning of the program before reaching the function part. In addition, you should

consider whether to use small letters or capital letters for variables, and name the functions

meaningfully.


4.1.1 setup () function description

This function is written at the beginning of a program and executes just once when

the program starts. It is used to declare variables, operating modes of various pins, or the

initialization of libraries, etc.

Example 4-1

int buttonPin = 3;void setup(){

beginSerial(9600);pinMode(buttonPin, INPUT);

}void loop(){

if (digitalRead(buttonPin) == HIGH)serialWrite('H');

elseserialWrite('L');

delay(1000);}

While the standard C programming language is written on AVR GCC (a kind of C

programming language using the GCC compiler for the AVR microcontroller) will be coded

as follows.

int main(void)

{

init();

setup();

for (;;)

loop();

return ;

}

compliance with void setup()

compliance with void loop()


4.1.2 loop () function description

After coding the function of setup ( ), which has already defined the default values

and initial state of the program, the next part is the loop( ) function. The program will

repeatedly execute this function until otherwise instructed to do so. Inside this function,

there are user programs which read values from ports, perform compilations, and control

output through various pins in order to control the performance of board.

Example 4-2

int buttonPin = 3; // Declare pin 3 to buttonPin variablevoid setup(){

beginSerial(9600);pinMode(buttonPin, INPUT);

}

// A loop which detects the pressing of a switch// that declared with buttonPin variable.

void loop(){

if (digitalRead(buttonPin) == HIGH)serialWrite('H');

elseserialWrite('L');

delay(1000);}


4.2 Operational control statements

4.2.1 If

Used to test for evaluating conditions during program operation, for example, if an

input value is greater than a certain value, what should be done in that case. The syntax

is shown as follows.

if (someVariable > 50)

{

// do something here

}

The program will check whether the value of someVariable is greater than 50 or

not. If so, what will have to do but if it is not, just skip to the function of this section.

The function of this command is to test certain conditions, which are written in

brackets. If the condition is true, follow an instruction in braces but if the condition is false,

leave out the function of this section.

The conditional test which is in brackets will have to use these comparison operators

as follows.

x == y (x equal to y)

x != y (x not equal to y)

x < y (x less than y)

x > y (x greater than y)

x <= y (x less than or equal to y)

x >= y (x greater than or equal to y)

Techniques for programming

In the comparison of variables, you should use the operator ==, e.g. if (x==10). Do

not use =, such as if (x=10), because a statement like this assigns a value of ten(10) to the

variable x.

Moreover, If statements can be applied to control intersection of the program and

the If...else statements can be used as well.


4.2.2 If…else

Applied to test for determining conditions of the program operation and they are

better than normal if statements. The process is that if a condition is true, what to do but

if it is false, what to do so. For example, If a readable value of analog input is greater than

500, what to do but if the value is greater than or equal to 500, do another one else.

Writing statements as follows:

Example 4-3

if (pinFiveInput < 500)

{

// A statement for a kind of operation if a value of pinFiveInput//is less than 500

}

else

{

// A statement for another type of operation if a value of pinFiveInput// is greater than or equal to 500

}

After the if…else statement, able to be followed by the if command. Therefore,

syntax becomes if…else...if. This is the test of conditions. When it is true, meet the

demand as the following example.

Example 4-4

if (pinFiveInput < 500)

{

// The statement for run a function, since pinFivelnput is less than 500

}

else if (pinFiveInput >= 1000)

{

// The statement for run another function// because pinFivelnput is greater than or equal to 1000

}

else

{

// The statement to set the next step in case that

// pinFiveInput is not less than 500 and greater than or equal to// 1000 (that is there will be response of the statement in this// subprogram when a variable has a value between 501 to 999

}

After the else statement, able to be followed by unlimited if statements (or capable

of putting the switch case statement instead of if...else...if statement for testing

a lot of conditions)

When the if...else...statement has been made, it is important to determine

that if the examination does not match with any condition, what to do by specifying at

the last else statement.


4.2.3 For ()

For () is used to instruct a statement in braces in order to repeat operation following

number of cycles required. This statement is very useful for any function that needs to

repeat and know the exact number of repetition round. It is often applied with Array

variables in collection of readable values from many analog input pins that have pin

numbers in sequence.

The syntax of For () command is divided into three parts as follows :

for (initialization; condition; increment)

{

//statement(s);

}

Beginning with initialization used to assign a default value of loop control

variables. In each work cycle, a condition is checked. If the condition is true, a statement

in braces is responded and a variable value is increased or decreased according to the

order in increment. Repeating the test until the condition is false.

Example 4-5

for (int i=1; i <= 8; i++)

{

// The statement for function by using a value of variable i and// repeating the function until the value of variable i is

// greather than 8 ;

}

For statement of C language is more flexible than whose other computer languages

are. It can ignore some parts or all three parts of the for statement. However, semicolon is

still necessary.


4.2.4 Switch-case

The statement is used to examine conditions in the determination of program

operation. If a tested variable matches with a condition, the run will follow the determined

process.

Syntax

switch (var)

{

case 1:

// The statement for operation when the variable value is equal to 1

break;

case 2:

// The statement for operation when the variable value is equal to 2

break;

default:

// If the value of variable is neither 1 nor 2, comply with this order.

}

Parameters

var - a variable which requires to test matching with which condition.

default - make a statement follow the end if it does not match with any condition,

break - a statement to stop running and it should be written appended cases. If

it is not written, the program will perform repeatedly according to a condition.


4.2.5 While

It is a kind of loop statements in order to follow the instruction written in braces

continually until a while() statement is false. A loop statement has to change a value of

a variable, such as to increasing variable value, or has external conditions, such as ability

to start and stop reading values from a sensor, respectively. Otherwise, the condition in

the braces of while () is always true, it causes the loop statement works endlessly.

Syntax

while(expression)

{

// statement(s);

}

Parameters

expression is a conditional test statement (true or false)

Example 4-6

var = 0;

while(var < 200)

{

// The statement for operation by repeating the operation in

// total of 200 rounds

var++;

}


4.3 Arithmetic Operators There are 5 operators consisted of + (addition), - (substraction), * (multiplicaiton),

and % (modulo reduction, remainder from integer division).

4.3.1 Arithmetic Operators, addition, substraction,multiplication, and division

They are used to calculate the sum, difference, the product, and quotient of binary

operators to give answers that include the same type as both binary operatands, such as

9/4, which shows the answer as 2 because both 9 and 4 are integer variables (int).

Moreover, arithmetic operators may cause overflow if a result is larger than storing

in that type of variables. If operands are different in types, a result will be as large as the

type of biggest variable (such as 9/4 =2 or 9/4.0 = 2.25).

Syntax

result = value1 + value2;

result = value1 - value2;

result = value1 * value2;

result = value1 / value2;

Parameters

value1 - the value of any variables or constant

value2 - the value of any variable or any constant

Example 4-7

y = y + 3;

x = x - 7;

i = j * 6;

r = r / 5;

Techniques for programming

You should :

Choose the size of variables that is large enough to store the most result value

of calculation.

Know that what value of variables will return the value back and how it back,

for example, (0 to 1) or (0 to -32768)

Use float variables in the calculation of fraction but the difference should be

concerned. For example, large variables can cause slow calculation.

Change types of temporary variables by cast operators, such as (int)myfloat,

while a program is running


4.3.2 Modulus operator : %

The operator is able to compute remainder of 2 integers but not to apply for floating-

point variables (float).

Syntax

result = value1 % value2;

Parameters

value1 - a variable of byte, char, int or long type

value2 - a variable of byte, char, int or long type

Result

Remainder from performing integer division is integer data.

Example 4-8

x = 7 % 5; // x now contains 2




This modulus operator is applied for operation which demands events occurring

at regular intervals or causes the memory, which stores array variables, to roll over.

Example 4-9

// Examine the value of a detector for 10 times per a operating cycle

void loop()

{

i++;

if ((i % 10) == 0)

// Divide a value of i by 10 and then check

// if the remainder of division is 0 or not

{

x = analogRead(sensPin); // Read from the detector for 10 times

}

}

In this example, the % statement is used to assign the cycle of operation in which

the program repeats performing to read value till the result of modulo division of the i %

10 statement is equal to 0 and this occurs when i = 10 only.


4.4 Comparison operatorsComparison operators go with the if () statement to test conditions or compare

variable values by writing expression inside the mark of ().

x == y (x equal to y)

x != y (x not equal to y)

x < y (x less than y)

x > y (x greater than y)

x <= y (x less than or equal to y)

x >= y (x greater than or equal to y)

4.5 Logical operatorsPerformed a for comparison of if () statements and there are 3 types; &&, ||, and !.

4.5.1 && (logic and)

Let a value is true when the comparison result of both sides is true.

Example 4-10

if (x > 0 && x < 5)

{

// ...

}

The value is true when x is greater than 0 and less than 5 (a value of 1 to 4).

4.5.2 && (logic or)

The value is true when the comparison result shows that one of variables is true or

both variables are true.

Example 4-11

if (x > 0 || y > 0)

{

// ...

}

It shows the result is true when the value of x or y is greater than 0.

4.5.3 ! (used to convert the result to be contrary)

The value is true when the comparison result is false.

Example 4-12

if (!x){

// ...}

The result is true if x is false (such as x = 0, the result is true)


4.5.4 Caution

Be careful for programming. If you want to use logical operators, you have to write

the mark of &&. If you write a mark of &, Bitwise AND operators and variables will show

different results.

As well in application of logic or writing the sign of || (two vertical bars next to

each other), if write the sign of | (one vertical bar) this means Bitwise OR operators and

variables.

A bitwise NOT operator is different from a conversion operator (!) so you should

choose the right one to apply.

Example 4-13

if (a >= 10 && a <= 20){}

// The result of performance is true when the value of a is between 10// to 20.

4.6 Bitwise operatorsLevel operators will bring bit of variables to process and they are useful to solve

problems of programming widely.

There are 6 level operators of C language (including Arduino) consisted of & (bitwise

AND), | (OR), ^ (Exclusive OR), ~ (NOT), << (shift bits to the left) and >> (shift bits to the

right)

4.6.1 Bitwise AND operators (&)

AND in bitwise statements of C programming language can be represented by

using the mark of & in and you must write between expressions or integer variables. The

work will take data of each bit of both variables to operate with AND logic. The rules are

as follows.

0 0 1 1 Operand1

0 1 0 1 Operand2

——————————

0 0 0 1 Returned result

If both inputs are ‘1’, both outputs are ‘1’. Other cases, outputs are ‘0’ as the

following example. In checking, a pair of operators should be in the vertical.

In Arduino, int variables have the size of 16 bits so when using AND bitwise operators,

there is logical action in conjunction with all 16- bit data as the example in the following

program.


Example 4-14

int a = 92; // equal to 0000000001011100 binary

int b = 101; // equal to 0000000001100101 binary

int c = a & b; // result is 0000000001000100 binary or 68 demical

In this example, all 16-bit data of variable a and b are performed by AND logic

and then the result of all 16 bits will be stored at variable c, which the value is 01000100 in

binary number or 68 in decimal number.

It is popular to use bitwise AND operators to select desired bit-data (maybe one bit

or many bits) from int variables in which this selection of some bits is called masking.

4.6.2 Bitwise OR operator ( l )

A bitwise OR statement of C language is able to be written by using one mark of |

by writing between expressions or integer variables. The process is to bring data of each

bit of both variables to operate with OR logic. The rules are as follows.

If any input or both are ‘1’, so the output is ‘1’. In case that both input are ‘0’ so the

output is ‘0’ as following example.

0 0 1 1 Operand1

0 1 0 1 Operand2

——————————


Example 4-15

The program shows application of bitwise OR operators.

int a = 92; // equal to 0000000001011100 binary

int b = 101; // equal to 0000000001100101 binary

int c = a | b; // The result is 0000000001111101 binary or 125 decimal

Example 4-16

The program demonstrates application of bitwise AND and OR operators.

The example of a program, which uses bitwise AND and OR operators, are called

by programmers as Read-Modify-Write on a port. For 8-bit microcontroller, values of reading

or writing to the port have the size of 8 bits and show input at all 8 pins. Writing values

sending to a port is done only one time to cover all 8 bits.

The variable named PORTD is the value used instead of the status of digital pin

numbers 0, 1, 2, 3, 4, 5, 6, 7. If any bit has a value as 1, this makes that pin have logic value

as HIGH (don’t forget to specify that port pin to work as output with pinMode command

( )) Therefore, if configuration of PORTD is determined = B00110001; this is to design pin 2, 3,

and 7 as HIGH. In this case, it doesn’t need to change the status values of pin 0 and 1.

Normally, hardware of Arduino is used in the serial communication. If you convert a value,

this will affect to the serial communication.


Algorithm for the program is as follows

Read a value from PORTD and then clean up the value at only the

controlled bit (using a bitwise AND operator).

Take the modified PORTD value from above to add with the bit from above

(OR operators).

Write the program as follows :

int i; // counter variable

int j;

void setup()

{

DDRD = DDRD | B11111100; // determine the direction of the// port pin 2 to 7 with the value of// 11111100

Serial.begin(9600);

}

void loop()

{

for (i=0; i<64; i++)

{

PORTD = PORTD & B00000011; // determine data to pin 2 to 7

j = (i << 2);

PORTD = PORTD | j;

Serial.println(PORTD, BIN);

// show the value of PORTD at the serial monitor window

delay(100);

}

}


4.6.3 Bitwise Exclusive OR statement (^)

It is a special operator which is not usually used in C/C ++ language. The exclusive

OR operator (or XOR) is written by using the symbol of ^ and this operator has operation

resembled to a bitwise OR operator but they are different when both inputs are ‘1’, output

is ‘0’. The demonstration of work is as follows.

0 0 1 1 Operand1

0 1 0 1 Operand2

——————————


Or it is also said that bitwise XOR operators give the output as ‘0’ when both inputs

are the same and give the output as ‘1’ when both inputs are different.

Example 4-17

int x = 12; // Binary number is 1100

int y = 10; // Binary number is 1010

int z = x ^ y; // Result is 0110 as binary or 6 as decimal

Bitwise XOR operators are much used in value swap of some bits of int variables,

such as changing from ‘0’ to be ‘1’ or from ‘1’ to ‘0’.

When using bitwise XOR operators, if a bit of mask is ‘1’ so this affects the swop of bit

value. Otherwise, if a value of mask is ‘1’ the bit value remains the same. The following

example is a program shown the instruction that logic of the digital pin 5 is switched all the

time.

Example 4-18

void setup()

{

DDRD = DDRD | B00100000; // Assign pin 5 as output

}

void loop()

{

PORTD = PORTD ^ B00100000; // Invert logic at pin 5

delay(100);

}


4.6.4 Bitwise NOT operator (~)

Bitwise NOT will write by using symbol ~. This operator will be performed with only

one operand on the right by switching all bits to become opposite values, i.e. from ‘0’ to

be ‘1’ and from ‘1’ to be ‘0’ as the example.

0 1 Operand1

—————

1 0 ~ Operand1

int a = 103; // binary: 0000000001100111

int b = ~a; // binary: 1111111110011000

When operated already, this makes the value of variable be as -104 (decimal) in

which the answer is negative because of the most important bit (the bit on the far left) of

an int variable. An int variable is the bit which notifies whether the number is positive or

negative. The value is ‘1’, meant that this value is negative. A computer will store the

number value as both positive and negative according to 2’s complement system.

Declaration of int variables, which has the same meaning as the signed int, should

be aware that the value of the variable may be negative.

4.6.5 Left shift (<<) and Right shift (>>)

In C/C++ programming language, there is an operator shifts bits to the left << and

shifts bits to the right >>. This operator will instruct to slide bits of operands written on the left to

the left or the right in accordance with the amount of bits stated on the right of the operator.

Syntax

variable << number_of_bits

variable >> number_of_bits

Parameter

variable - an integer variable which has the amount of bits less than or equal

to 32 bits (or a byte, int or long variable).

Example 4-19

int a = 5; //equal to 0000000000000101 binary

int b = a << 3; // the result is 0000000000101000 binary or 40

int c = b >> 3; // the result is 0000000000000101 binary or 5 decimal

Example 4-20

When instructing to slide variable x to the left following the amount of y bit (x <<

y), the bit data on the far left of x with the amount of y will be disappeared because it is

moved to the left hand.

int a = 5; //equal to 0000000000000101 binary

int b = a << 14; // the result is 0100000000000000 binary


Moving bits to the left will affect the value of the variable on the left of the operator

is multiplied by two and power the number of bits that shift to the left as follows.

When you instruct to slide variable x to the right with the amount of y bit (x >> y),

the difference depends on types of variables. If x is an int variable, the sum can appear

both positive and negative. Wherewith, the bit on the far left will be sign bit and if it is a

negative, the bit on the far left will be 1. After instructing to move a bit to the right, the

program will bring the value of sign bit to add up to the bit on the far left. This phenomenon

is called sign extension as the example below.

Example 4-21

int x = -16 // equal to 1111111111110000 binary

int y = x >> 3 // shift bits of x variable to the right for 3 times// the result is 1111111111111110 binary

If you would like to slide the bit to the right and then put 0 at the bit on the far left

(which happens with a case that a variable is unsigned int), you can do by changing

types of temporary variables (typecast) in order to convert variable x to unsigned int

temporarily as the following example.

Example 4-22

int x = -16 // Equal to 1111111111110000 binary

int y = unsigned (x) >> 3 // Shift bits of x variable (not concerned// about the sign) to the right for 3 times

// The result is 0001111111111110 binary

After being aware of the sign extension, you will use the operator to move bits to

the right for dividing the variable value by 2 and power any number. For example

Example 4-23

int x = 1000;

int y = x >> 3; // Divide the value of 1000 by 8, from 23

// The result is y = 125


4.7 Syntax of Arduino

4.7.1 ; (semicolon)

Used to end a statement

Example 4-24

int a = 13;

Forgetting to end a statement line in a semicolon will result in the complier error.

Wherewith, a complier may complain that it cannot find the semicolon or notify as other

mistakes. In case that a line which is noticed some mistakes but cannot be found any

mistake so you should check a previous line.

4.7.2 { } (Curly-braces)

Curly braces are a major part of C programming language and used to determine

operation in each period. An opening brace {must always be followed by a closing brace}

or it is said that parentheses must be balanced. In Arduino IDE software that is used for

programming will have an ability to check the balance of curly braces so users just click

at a parenthesis and its logical companion will be highlighted.

For beginning programmers and programmers coming to C language from BASIC

language might be confused with the application of brackets. In fact, curly braces can

be compared with the RETURN statement in subroutine (function) or replace the ENDIF

statement in comparison, and the NEXT statements in a FOR loop.

Because the use of the curly braces is so varied, it is good that you should type a

closing bracket immediately after typing the opening bracket. Next, press ENTER button in

between two braces to start a new line and write a desired statement. If you can follow

this suggestion, your braces will never become unbalanced.

Unbalanced braces can make mistakes while a programme is compiled. If a

programme is large, it is hard to track down any mistake. Location of each bracket

influences to the syntax of a program. Therefore, moving a brace one or two lines will

affect the meaning of a program.

The main use of curly braces

Functions

void myfunction(datatype argument)

{

statements(s)

}


Loops

while (boolean expression)

{

statement(s)

}

do

{

statement(s)

} while (boolean expression);

for (initialisation; termination condition; incrementing expr)

{

statement(s)

}

Conditional statements

if (boolean expression)

{

statement(s)

}

else if (boolean expression)

{

statement(s)

}

else

{

statement(s)

}

4.7.3 // (single line comment) and /*…* (multi-line comment)

Comments are part of a program and a programmer will write more information to

inform how the program operates. They are ignored by complier, and not exported to the

processor, so they are very useful to investigate the program later or inform colleagues or

others what this line is used for. There two kinds of comments in C lanague, including

(1) Single line comments write 2 slashes (//) in front of a line.

(2) Multi-line comments write a slash (/) paired with asterism to cover text of

comments, such as /*blabla*/.


4.7.4 # define

This statement is used a lot in determination of constants for a program. Defined

constants don’t take up any memory space of microcontroller. When it is at the compile

time, the compiler will replace characters with the assigned value. Arduino will use the

same # define statement as C language does.

Syntax

#define constantName value (Note : the # is necessary)

Example 4-25

#define ledPin 3

// Determination to let variable ledPin equal to constant 3

There is no semicolon after the # define statement.

4.7.5 # include

It instructs to gather other files and our program file and then compile the program

later.

Syntax

#include <file>

#include “file”

Example 4-26

#include <stdio.h>

#include “popxt.h”

The first line will take file stdio.th to fuse with a developing program by searching

the file from a location where stores the file system of Arduino. Normally, it is a standard file

come up with Arduino.

The second line instructs to gather file popxt.h and a developing program by

looking for address of C language files. Generally, they are files users build.


4.8 Variables Variables are several characters determined in a program and used to store various

informative values, such as readable values from a sensor connected with analog port

pins of Arduino. There are many types of variables.

4.8.1 char : character type variable

The variable takes up 1 byte (8 bits) and it is provided for storing character values.

Characters in C language will be given inside single quotes, like this, ‘A’ (for text, which

composed of many characters together, will be written in double quotes, such as “ABD”).

You can do arithmetic on characters, in case that you will apply ASCII values of the

characters, e.g. ‘A’+1 has the value of 66 because the ASCII code value of character A is

equal to 65.

Syntax

char sign = ' ';

Example 4-27

char var = 'x';

var is a name of a character variable you desired.

x is a desired value to assign to that variable and here is one letter.

4.8.2 byte : a variable of numeric type 8 bit or 1 byte

A byte variable is used to store a numeric value with the size of 8 bits and the value

can be between 0 to 255.

Example 4-28

byte b = B10010;

// Show the value of b in the form of a binary number// (equal to 18 of a decimal number)

4.8.3 int : a variable of integer type

It is abbreviated from integer, which means an integer number. The int is a basic

variable for preserving numbers. One variable has the size of 2 bytes and stores a value

from -32,768 to 32,767, from -215 (minimum value) and 215-1 (maximum value). In storage of

negative numbers uses a technique called 2’s complement and the maximum bit

sometimes called sign bit. If a value is ‘1’, it is shown the value is negative.

Syntax

int var = val;


Parameters

var - a name of a desired variable of int type.

val - a desired value to define to a variable.

Example 4-29

int ledPin = 13; // Assign variable ledPin to have a value = 13

When a variable is greater than a maximum capacity, the value will roll over to a

minimum capacity, however, when a value is less than a minimum capacity, the value

will roll over to a maximum capacity as the following example.

Example 4-30

int x

x = -32,768;

x = x - 1; // When you follow the instruction,

// the value of x will change -32,768 into 32,767.

x = 32,767;

x = x + 1; // When the statement is done,

// the value of x will change from 32,767 to -32,768

4.8.4 unsigned int : a variable of unsigned integer type

This type variable is similar to an int variable but will store only positive integers by

storing the value 0 to 65,535 (216-1).

Syntax

unsigned int var = val;

Parameters

var - the name of the desired int variable.

val - the desired value to assign to a variable.

Example 4-31

unsigned int ledPin = 13;

// Determine ledPin variable to have the value equal to 13 of unsigned type

When a variable has a maximum capacity, it will roll over back to a minimum

capacity later. Additionally, when a variable has a minimum capacity, it will roll over and

become a maximum capacity when there is value reduction again. As the example

Example 4-32

unsigned int x

x = 0;

x = x - 1; // After executed, the x value change from 0 to 65535.

x = x + 1; // After executed, the x value change from 65535 into 0


4.8.5 long : a variable of 32-bit integer type

The variable stores integer values and extends its capacity from an int variable. A

long variable uses a memory space of 32 bits (4 bytes) and is capable of storing values

from -2,147,483,648 through 2,147,483,647.

Syntax

long var = val;

Parameters

var - the long variable name.

val - the value that assign to the variable.

Example 4-33

long time; // Specify a time variable to be the long type

4.8.6 unsigned long : a variable of unsigned 32-bit integer type

A variable stores positive integers. One variable uses a memory space of 32 bits (4

bytes) and stores a value in range of 0 to 4,294,967,295 or 232-1.

Syntax

unsigned long var = val;

Parameter

var - the name of unsigned long variable.

val - the value that assign to the variable.

Example 4-34

unsigned long time; // Determine a time variable to be unsigned long type

4.8.7 float : float-point variable

Float is a variable for storing a value of decimal number values. It is popular to be

used to keep an analog signal value or a continuous value. Because this variable gives

values more precise than an int variable does, a float variable can store in a range of

4.4028235 x 1038 through -4.4028235 x 1038 and one variable will cover 32-bit memory space

(4 bytes).

In a mathematical calculation with the float variable will be slower than a

calculation of int variable so you should avoid calculating with float variables when doing

loop statement with the highest speed of a time function because it must be very precise.

Some programmers will convert decimal numbers to integer numbers before a calculation

for faster operation.


Syntax

float var = val;

Parameters

var - the float variable name

val - the value that determine to the variable

Example 4-35

float myfloat;

float sensorCalbrate = 1.117;

Example 4-36

int x;

int y;

float z;

x = 1;

y = x / 2; // y is equal to 0 no storage of values of// remainder from division

z = (float)x / 2.0; // z is equal to 0.5

When there is a usage of a float variable, numbers that are operated with this

float variable will be decimals as well. From the example is that number 2 calculated with

float variable x, so the number 2 is written as 2.0.

4.8.8 double : Double precision floating-point variable

Double has the size of 8 bytes and the highest stored value is 1.7976931348623157

x 10308 . In Arduino, there is limited capacity so it doesn’t use this type of variables.


4.8.9 string : variable of text type

String is a variable that stores text and it is usually array of a char variable in C

language.

Example 4-37 : Example of declaration of string variables

char Str1[15];

char Str2[8] = {'a','r','d','u','i','n','o'};

char Str3[8] = {'a','r','d','u','i','n','o','\0'};

char Str4[ ] = "arduino";

char Str5[8] = "arduino";

char Str6[15] = "arduino";

Str1 is a declaration of a string variable in which a default value is not defined.

Str2 announces a string variable along with defining a value of each character

for a text. If it is not completed following the announced number, a complier will add null

string until completing (from the example, 8 characters are declared but the text has only

7 characters so a complier fill one null string).

Str3 states a string variable together with determining a value to give a text

and close the end with a closing character which is\0.

Str4 declares a string variable together with a determining a variable value in

quotes. From the example, it doesn’t assign the size of a variable, so a complier will assign

the size according to a number of letters.

Str5 proclaims a string variable along with specifying a variable value in a

quotation mark and the size of the variable, from the example, is 8 letters.

Str6 reveals a string variable and defines the size reserving for another text

that is longer than this.

4.8.9.1 Addition of characters which inform null termination

A string variable in C language specifies that the last character is an indicator of a

null string. The indicator is 0. In determination of size of variables (value in square brackets),

the size is equal to the amount of characters +1, as shown in the variable Str2 and Str3 in the

example 4-37. In the text of Arduino, there are 7 characters, declaration must specify as [8].

In announcement of a string variable, you should keep a space for storing a

character, which notifies the null termination. Otherwise, a complier will warn a mistake

happening. In the example, variable Str1 and Str6 can store messages with a maximum of

14 characters.

4.8.9.2 Single and double quotes

Normally, a string variable is determined inside quotes, such as “ABC”. For a char

variable, it is defined inside single quotation marks ‘A’.


4.8.10 Array variable

An array is a variable containing multiple variables which are stored in variables of

the same name.

Each variable is referred by an index number written inside square brackets. An

array variable of Arduino will be cited according to C language. It may look complicated

but if using an array variable directly, it is easy to understand.

Example 4-38 : Example of declaration of array

int myInts[6];

int myPins[] = {2, 4, 8, 3, 6};

int mySensVals[6] = {2, 4, -8, 3, 2};

char message[6] = “hello”;

A program developer is able to declare an array without determination of a

myInts variable.

Announcement of variable myPins is a declaration of an array variable without

specifying its size.

In declaration of an array, a program developer can announce and determine

a size of an array in the same time, as the example of declaration of variable mySensVals

to proclaim a size and specify values.

The last example is the declaration of a message variable, which is a char

variable, and there are 5 characters, including hello. However, determination of a variable

size will have to preserve a space for a character that informs null termination, so the

index value is specified as 6.

4.8.10.1 Usability of array variables

The usability of arrays can be done by typing a variable name together with

specifying an index value inside square brackets. An index value of an array variable

starts with value 0, so the value of a mySensVals variable is as follows.

mySensVals[0] == 2, mySensVals[1] == 4 ,

Determination of a value for an array variable can do as follows

mySensVals[0] = 10;

Calling a member value of an array value is done as this example

x = mySensVals[4];


4.8.10.2 Arrays and for loop instructions

Generally, application of an array variable is found in a for statement. An index

value of an array variable is given from using a value of a loop variable of the for statement

as the following example.

Example 4-39

int i;

for (i = 0; i < 5; i = i + 1)

{

Serial.println(myPins[i]); // Showing a member value of an array// variable at a serial monitor window

}

The completed program example of application of array variables are available

in the example of KnightRider in the topic of Tutorials at the website www. arduino.cc.

4.9 Scope of variablesVariables in C language used in Arduino have a specification called scope. This is

different from BASIC language that all variables have the same status and the status is

called global.

4.9.1 Local and global variables

Global variables are variables all functions in a program knowed by declaring the

variables outside functions. Local variables are variables proclaimed inside braces of

functions and known only in functions.

When programs are larger and more complex, usage of local variables is very

useful because only functions can apply the variables. This helps to protect mistakes when

a function modifies variable values used by other functions.

Example 4-40

int gPWMval; // All functions can see this variable.

void setup()

{}

void loop()

{

int i; // Variable i will be seen and performed inside only// a loop function.

float f; // Variable f will be seen and applied only inside a// loop function.

}


4.9.2 Static variables

A static variable is a reserved word and used when declaring variables, which

have scope of use only inside functions. It is different from a local variable that a local

variable will be created and deleted every time to run functions. For a static variable,

when a function finishes, it is still appeared (not deleted). This is a preservation of a variable

value during function performs.

A declared variable as static will build and define a value at the first time to run a

function.

4.10 ConstantsConstants are a group of characters or text preconfigured, so a complier of Arduino

will recognise these constants and it is not neccesary to notify or determine constants.

4.10.1 HIGH, LOW : used to assign logical values

In reading and writing values for digital port pins, two possible values are HIGH or

LOW.

HIGH is determination of values for digital pins and has voltage equal to +5V. If you

can read a value equal to +3V or greater, a microcontroller will read the value as LOW. A

constant of LOW is “0” or compared to logic as false.

LOW, which is configuration of digital pins, has voltage equal to 0V. If you can read

a value as +2V or less, a microcontroller will read the value as LOW and a constant of LOW

is “0” or compared to logic as false.

4.10.2 INPUT, OUTPUT : Determination of direction of digitalport pins

Digital port pins can serve for 2 types including being input and output:

When defined as INPUT means to assign that port pin as an input pin.

When specified as OUTPUT means to assign that port pin as an output pin.


Assignment of integer constants to be in various number bases ofArduino

An integer constant is a number you write in a program of Arduino directly, such

as 123, and normally, these numbers are decimal numbers. If you would like to specify

them into other number radix systems, you will have to use special marks to specify. For

example

Base Example

10 (decimal) 123

2 (binary) B1111011

8 (octal) 0173

16 (hexadecimal) 0x7B

Decimal is a decimal number used in daily life

Example : 101 = 101. It is from (1* 102) + (0 * 101) + (1 * 100) = 100 + 0 + 1 = 101

Binary is a binary number in which a number in each position can be only 0 or 1.

Example : B101 = 5 in decimal. It is from (1 * 22) + (0 * 21) + (1 * 20) = 4 + 0 + 1 = 5

Binary numbers can be used less than 8 bits (not greater than 1 byte) and

have values from 0 to (B0) 255 (B11111111).

Octal is an octal number and a number in each position has a value from 0 to 7

only.

Example : 0101 = 65 in decimal. It is from (1 * 82) + (0 * 81) + (1 * 80) = 64 + 0 +1

= 65

Caution in configuration of constants is to not put 0 in the front, otherwise, a

compiler will translate a meaning incorrectly that a number value is octal.

Hexadecimal (Hex) is a hexadecimal number. A number in each position is worth

from 0 to 9 and character A is 10 and B is 11 until F which is equal to 15.

Example : 0x101 = 257 in decimal. It is from (1 * 162) + (0 * 161) + (1 * 160) = 256 +

0 + 1 = 257

POP-Note


4.11 Other operators related to variables

4.11.1 cast : changing kinds of variables temporarily

Cast is an operator that instructs changing of a type of variables into another type

and controls calculation of a variable value to become a new kind.

Syntax

(type)variable

type is a type of any variables (such as int, float, long)

variable is any variable or constant

Example 4-41

int i;

float f;

f = 4.6;

i = (int) f;

In the change of a variable type from float into int, a remainder of an obtained

value will be cut out, so (int) 4.6 becomes 4.

4.11.2 sizeof : notifying the size of variables

Sizeof is used to identify the amount of byte of variables you are interested and it

can be both a normal variable and an array.

Syntax

written into two patterns as follows

sizeof(variable)

sizeof variable

Therefore; Variable is a normal variable or an array variable (int, float, long)

user would like to know the size.

Example 4-42

Sizeof operators are very useful in management with array variables (including

string variables).

The following example will type text out through a serial port, each character a

time.


char myStr[] = “this is a test”;

int i;

void setup()

{

Serial.begin(9600);

}

void loop()

{

for (i = 0; i < sizeof(myStr) - 1; i++)

{

Serial.print(i, DEC);

Serial.print(“ = “);

Serial.println(myStr[i], BYTE);

}

}

4.12 Reserved words of ArduinoA reserved word is a constant, a variable, and a function defined as a part of of C

language of Arduino. Don’t take these words to denominate variables. They are shown as

follows :

# Constants

HIGH

LOW

INPUT

OUTPUT

SERIAL

DISPLAY

PI

HALF_PI

TWO_PI

LSBFIRST

MSBFIRST

CHANGE

FALLING

RISING

false

true

null

# Literal Constants

GLCD_RED

GLCD_GREEN

GLCD_BLUE

GLCD_YELLOW

GLCD_BLACK

GLCD_WHITE

GLCD_SKY

GLCD_MAGENTA

# Port Constants

DDRB

PINB

PORTB

DDRC

PINC

PORTC

DDRD

PIND

PORTD

# Names

popxt

# Datatypes

boolean

byte

char

class

default

do

double

int

long

private

protected

public

return

short

signed

static

switch

throw

try

unsigned

void

# Methods/Fucntions

sw_ok

sw_ok_press

analog

knob

glcd

glcdChar

glcdString

glcdMode

glcdGetMode

glcdFlip

glcdGetFlip

colorRGB

setTextColor

setTextBackgroundColorsetTextSize

getTextColor

getTextBackgroundColor

getTextSize

glcdFillScreen

glcdClear

glcdPixel

glcdRect

glcdFillRect

glcdLine

glcdCircle


glcdFillCircle

glcdArc

getdist

in

out

motor

motor_stop

fd

bk

fd2

bk2

tl

tr

sl

sr

servo

sound

beep

uart_set_baud

uart_get_baud

uart_putc

uart_puts

uart

uart_available

uart_getkey

uart1_set_baud

uart1_get_baud

uart1_putc

uart1_puts

uart1

uart1_available

uart1_getkey

uart1_flush

# Other

abs

acos

+=

+

[]

asin=

atan

atan2

&

&=

|

|=boolean

byte

case

ceil

char

char

class

,//

?:

constrain

cos

{}

—

defaultdelay

delayMicroseconds

/

/**

.

else

==

expfalse

float

float

floor

for

<<=

HALF_PI

if

++

!=

int

<<<

<=

log

&&

!

||

^

^=loop

max

millis

min

-

%

/**

new

null

()

PII

return

>>

;Serial

Setup

sin

sq

sqrt

-=

switch

tan

thistrue

TWO_PI

void

while

Serial

begin

readprint

write

println

available

digitalWrite

digitalRead

pinMode

analogReadanalogWrite

attachInterrupts

detachInterrupts

beginSerial

serialWrite

serialRead

serialAvailableprintString

printInteger

printByte

printHex

printOctal

printBinary

printNewline

pulseIn

shiftOut


The POP-BOT XT robot’s program development can be summarize in the diagram

shown in figure 5-1.

Chapter 5

POP-BOT XT programdevelopment by Arduino1.0

Figure 5-1 Programming development diagram of POP-BOT XT robot kit by

using Arduino IDE

Create the sketch file

Make the C/C++ code on Arduino IDE

Compile

Upload the code

Upload the code via USB port

1. Turn on and wait a few second forUSB initialize. Then plug the USB-miniBcable to POP-XT controller board.

2. Check the USB Serial port address.

3. Upload the code.

Run the code

After uplaod the code successfully, pressRESET switch on the POP-XT controllerboard ; brain of the POP-BOT XT.

The POP-BOT XT run following theuploaded code.

Installtion software tools- Arduino 1.0 IDE :

C/C++ programming development tools.Includes Text editor, Compiler and Upload thecode to microcontroller

- USB driver of the POP-XT controller board

USB port


5.1 Getting start POP-BOT XT with ArduinoRun the Arduino IDE by clickng on the Start > All Programs > Arduino1.0 > Arduino

The first launch of Arduino is shown the screen below.

5.1.1 POP-BOT XT hardware configuration with Arduino IDE

5.1.1.1 Select microcontroller chip

Select the menu Tools > Board > POP-XT


5.1.1.2 Select the COM port

Uploading the sketch from Arduino IDE to POP-BOT X T requires serial port

communication. It can work with virtual COM port that created from USB driver installation.

Select menu Tools > Serial Port . You can select the target COM port.

5.1.2 Create the new sketch

(1) Create the new sketch file by selecting File > New . Next, type the following

code.

#include <popxt.h> // Include POP-XT libraryvoid setup(){

glcd(1,0,"Hello World"); // Display message on the GLCD screen}void loop(){}

(2) Save to HelloWorld.ino


(3) Compile the code by selecting Sketch > Verify/Compile following the picture

below or click at the button.

(4) The status bar at the bottom of main screen will display the compilation status.

If compile no error, it reports Done compiling and the Text area will display message of

binary sketch size.

5.1.3 Uploading the code

(1)Turn on the POP-BOT XT . Wait a few second for USB initialize. Plug the USB-miniB

cable to connect the robot with computer.

USB-miniB cable

Connect withcomputer's USB port

Computer

POP-BOT XT

220F

100F

TB6612

ATMega32U4

100


(2) Upload the sketch by clicking button or select menu File > Upload

(3) Wait until the uploading is successfully. The status bar at the bottom of main

screen will display message Done Uploading .Code will run immediately or press a RESET

switch again.

This example code is sending the message ; Hello World to display on line 1

column 0 of the GLCD screen of the POP-BOT XT

All this is preparation for the programming language C / C + + with Arduino for the

POP-BOT XT robot. The program development of this robot is very easy and comfort.

Because all steps are finish within a single window.



In this chapter we will learn about some activities for the POP-BOT XT controller

board. It’s POP-XT board. They include 4 main activities as follow :

1. Color GLCD activities (5 activities)

2. Generating of sounds

3. Reading the OK switch and KNOB data from the GLCD-XT board of POP-XT

board

4. Controlling simple output devices.

The development program procudures in each activity also similar. Open the

Arduino IDE 1.0, create the code, compile and upload onto the POP-BOT XT. Lastly, test

the operation.

It's important to emphasize that every time you turn on the powersupply of POP-BOT XT, must wait for USB initialize first. It takes about 7 to 10

seconds after turning the power switch or by pressing the RESET circuit before they are

uploaded to POP-XT.

And may cause errors in connection. Or upload code to not work as it should be.

But it does not affect the circuit board damage. Only the operation may malfunction or

incorrect.

Chapter 6

POP-BOT XT controller boardhardware experiment


Activity 1 : Display message on POP-BOT XTcontroller

Activity 1-1 Hello World

(A1.1.1) Open the Arduino1.0. Type the Listing A1-1 and save as.

(A1.1.2) Turn on the robot. Connect USB cable between a robot and computer.

USB-miniB cable

Connect withcomputer's USB port

Computer

POP-BOT XT

220F

100F

TB6612

ATMega32U4

100

(A1.1.3) Select the correct hardware; select menu Tools > Board > POP-XT following the

picture below.


(A1.1.4) Choose the serial port at menu Tools > Serial Port

(A1.1.5) Compile and upload the code or sketch to POP-BOT XT controller board by clicking

on button or select menu File > Upload

At the color LCD screen shows Hello World message.

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Hello World

#include <popxt.h> // Include the main libraryvoid setup(){

glcd(1,0,"Hello World"); // Show messsage on display}void loop(){}

Code description

This code sends the message; Hello World to line 1 column 1 of POP-BOT XT display. It will

work only once because this code is located in the setup() function

Listing A1-1 : HelloWorld.ino; sketch file for displaying message on

the POP-BOT XT color display


Activity 1-2 Multiple line display

The graphic color display of POP-BOT XT controller board resolution is 128 x 160

pixels. It can display 21 of the 5 x 7 dot characters 16 lines (maximum at standard size) User

possible to set the line and column display via glcd command of the popxt.h library file.

The glcd command also supports the special character for setting the display position.

This activity will be demonstrate this features.


(A1.2.2) Turn-on the robot. Connect USB cable between a robot and computer.

#include <popxt.h> // Include the main library

int i,j;

void setup()

{

glcdFillScreen(GLCD_WHITE); // Change backgrounbd color to white

setTextColor(GLCD_BLACK); // Set text color to black

setTextBackgroundColor(GLCD_WHITE); // Set text background color to white

for (i=0;i<16;i++) // Set loop 16 times

{

glcd(i,i,"Row %d ",i); // Display message ROWxx on each line

}

}

void loop()

{}

Code description

This sketch add 3 functions of the glcd library as follows :

1. glcdFillScreen - fill the background color of screen

2. setTextColor - set the text color

3. setTextBackground - set the text background color

After setting the display; send the message; Row following the line number that get from

increasing of i variable. The column also increase follows i parameter. Therefore, at the first line

shows Row0 message on column 0 and line 0. After that at the second line shows messge ;

Row1 at line 1 column 1. It run continue until finish on Row 15 column 15 and stop.

Listing A1-2 : MultipleTextLine.ino; sketch file for displaying

mutiple messages on each line of the POP-BOT XT color display




The color LCD screen will show the messages from Row 0 to 15 in that order.

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Row00

Row01

RRRow02

RRRRow03

RRRRRow04

RRRRRRow05

RRRRRRRow06

RRRRRRRRow07

RRRRRRRRRow08

RRRRRRRRRRow09

RRRRRRRRRRRow010

RRRRRRRRRRRRow011

RRRRRRRRRRRRRow012

RRRRRRRRRRRRRRow013

RRRRRRRRRRRRRRRow014

RRRRRRRRRRRRRRRRow015


Avtivity 1-3 Set size and display orientation

The default chararacter font size of POP-BOT XT display is the smallest. It is 6 x 10

dots (The real space is 5 x 7 dots). To adjust the font size to be bigger, it requiers the

setTextSize function of the popxt.h library file. The value assigned to a multiple of the

normal. For example :

setTextSize(2) refers double size of the font. It is 12 x 20 dots per character.

setTextSize(3) refers the 3 times of defualt size. It is 18 x 30 dots per character.

When the font size is bigger. Number of characters per line is decreased from 21

characters 16 lines. On the x2 size, tt will display 10 characters 8 lines.

In addition to change the font size. User coulde be change the orientation of the

display screen by using the function glcdMode (). The default is mode 0 (glcdMode (0)).

It is vertical orientation. For modes 1, 2 and 3 are applied, the display is orientated 90

degrees each. In mode 1 orientate 90 degrees, Mode 2 orientate 180 degrees and mode

3 orientate 270 degrees.


#include <popxt.h>int x,m;void setup(){ setTextColor(GLCD_RED); // Set text color to red}void loop(){ for (x=1;x<6;x++) { setTextSize(x); // Set text size 2x for(m=0;m<4;m++) { glcdClear(); // Clear screen glcdMode(m); // Set display mode glcd(0,0,"%dX",x); // Show text size glcd(1,0,"M=%d",m); // Show mode number sleep(500); } }}

Listing A1-3 : SetText_FlipDisplay.ino; sketch file for testing font

size setting and orientation display



(A1.3.3) Compile and up load the c od e or sketc h to POP-BOT XT controller board by clicking


The graphic display of the POP-BOT XT controller board shows message of font size

and mode of orientation. Start with upper left, upper right, lower right and lower left corner.

Surrounding the display of the size are 1X, 2X, 3X, 4X and 5X each round will be show 4

orientation refer the M character message.

These are some example of the operation pictures.

M = 0 ; vertical M = 1 ; right orientate 90 degress3X font size 4X font size

M = 2 ; orientate 180 degrees M = 3 ; orientate 270 degreesThe dispaly is inverted from Mode 0 5X font size4X font size


Activity 1-4 Line art display

The main function of the color graphic LCD screen of the POP-BOT XT is glcd. This

function contains many subfunction for display message and create the line art graphic.

It includes :

glcdRect (int x1, int y1, int width, int height, uint color) :

draw a rectangle.

glcdFillRect (int x1, int y1, int width, int height, uint color)

: fill rectangle color.

glcdLine (int x1, int y1, int x2, int y2, uint color) : draw the line.

glcdCircle (int x, int y, int radius, uint color) : draw a circle.

glcdFillCircle (int x, int y, int radius, uint color) : fill circle

color.

glcdClear (uint color) : clear the display.

The testing program is shown in Listing A1-4, and then upload it to test with POP-BOT

XT controller board. The result is following the picture below.



int i,j;

void setup()

{}

void loop()

{

glcdClear; // Clear screen and set to black color

sleep(300);

for (i=0;i<160;i+=4)

{

glcdLine(0,0,128,i,GLCD_WHITE); // Draw the white line from 0,0 to 128,i

}

for (i=0;i<128;i+=4)

{

glcdLine(0,0,i,160,GLCD_RED); // Draw the red line from 0,0 to i,160

}

sleep(2000);

glcdRect(32,40,64,80,GLCD_BLUE); // Draw the blue rectangle

sleep(300);

glcdFillCircle(32,40,31,GLCD_GREEN); // Fill the green circle

glcdFillCircle(96,40,31,GLCD_YELLOW); // Fill the yellow circle

glcdFillCircle(32,120,31,GLCD_MAGENTA); // Fill the magenta circle

glcdFillCircle(96,120,31,GLCD_SKY); // Fill the blue sky circle

sleep(1000);

glcdCircle(64,40,31,GLCD_GREEN); // Draw the green circle

glcdCircle(32,80,31,GLCD_BLUE); // Draw the blue circle

glcdCircle(64,120,31,GLCD_YELLOW); // Draw the yellow circle

glcdCircle(96,80,31,GLCD_SKY); // Draw the blue sky circle

sleep(1000);

glcdFillRect(0,0,128,160,GLCD_YELLOW); // Fill the yellow rectangle

sleep(1000);

}

Listing A1-4 : SimpleGraphic.ino; sketch file for testing the glcd

function


Activity 1-5 Draw a curve

Besides the circle and square, curve also is an essential ingredient in creating

graphics. The glcd function includes the curve drawing function. It is glcdArc (). It

requires many parameters for setting. See details in Chapter 7.





#include <popxt.h>

int i;

// Smile face function

void face()

{

glcdFillCircle(64,70,50,GLCD_WHITE);

glcdArc(48,60,16,30,150,GLCD_RED);

glcdCircle(48,55,5,GLCD_BLUE);



glcdFillCircle(64,70,7,GLCD_YELLOW);



}

void setup()

{}

void loop()

{

for(i=0;i<4;i++)

{

glcdClear();

glcdMode(i); // Flip display

face();

sleep(1000);

}

}

Listing A1-5 : SmileFace_ArcTest.ino; sketch for drawing the curve


(A1.5.4) Run this sketch on the POP-BOT XT.

The display shows an animated smiley face for a second, then rotate 90 degrees

and then back to the start page to run again and again.


Activity 2 : Sound driving

POP-XT has the sound driving device. It is a piezo speaker. It response at 300 to 3kHz

frequency range. The popxt.h library also available the function for sound driving. They

are beep () and sound () functions

In the Listing A2-1 is an example of the beep () function to drives a beep signal.

In the Listing A2-2 is an example of using the sound () function for generating the

different frequency signal.

Testing both listing with same procedures. Open the Arduino1.0 to create a new

sketch. Type the code folloiwng the Listing A2-1 and A2-2. Compile and upload to POP-XT

(POP-BOT XT controller board).

#include <popxt.h> // Include the main libraryvoid setup(){}void loop(){ beep(); // Beep signal to speaker sleep(1000);}

Listing A2-1 : BeepTest.ino ; sketch for beep() function demonstration

#include <popxt.h> // Include the main libraryvoid setup(){}void loop(){ sound(500,500); // Generate 500Hz signal 0.5 second interval sound(2500,500); // Generate 2500Hz signal 0.5 second interval}

Listing A2-2 : SoundTest.ino ; sketch for sound() function demonstration


Activity 3 : Reading the OK switch and KNOB

In the control system must be configured with the switch in the circuit to work Also

on POP-XT board provides a user interface as well. It includes a OK button and KNOB

buttons for the menu selecting.

Create the new sketch and type Listing A3-1. Save as KnobSwitchTest.ino. Then

compile nad upload to POP-BOT XT Controller board. Run to try the operation.

The display show message as follows

Press OK (2X font size)

Press the OK switch to start.

The controller board beeps a sound at once and change display to

Knob value (2X font size)

XXXX (3X font size)

therefore : xxxx is 80 to 1023 values

Try to turn a KNOB button

The Knob value will be changed following the adjustment

Press the OK switch again.

The controller board drives a 500Hz signal 0.5 second. It will drive this signal

everytime when the OK switch is pressed.



void setup()

{

glcdClear; // Clear screen and sdt backgound to black

setTextSize(2); // Set text size is x2

glcd(1,0,"Press OK"); // Display the stat message

sw_ok_press(); // Check the OK switch pressing

beep(); // Drive the beep

glcdClear; // Clear screen and sdt backgound to black

}

void loop()

{

if (sw_ok()) // The OK switch is pressed ?

{

sound(500,500); // Drive 500Hz sound 0.5 second// after the OK switch is pressed

}

glcd(1,0,"Knob value"); // Display the KNOB message on screen

setTextSize(3); // Change text size to x3

glcd(2,2,"%d ",knob()); // Display the KNOB value on screen

setTextSize(2); // Change trext size back to x2

}

Listing A3-1 : KnobSwitchTest.ino ; sketch file for testing the OK

and KNOB button operation.


Activity 4 : Controlling simple output devices

In the popxt.h library file provides the function to send a logic “1” and “1” to output

port. It is out (int num, int _dat) function. This activity demonstrates the simple

outpuit device control. The simple deive is ZX-LED module.

The ZX-LED will on if the logic “1” is applied and off when the logic “0” is applied.

(A4.1) Connect 2 sets of ZX-LED to port 6/A7 and 4/A6.

ZX-LED


void setup()

{

setTextSize(2); // Set text size to 2x

glcd(1,1,"Press OK"); // Display start message

sw_ok_press(); // Check the OK switch pressing

}

void loop()

{

out(4,1); // Turn on LED at pin 4

out(6,0); // Turn off LED at pin 6

sleep(400);

out(4,0); // Turn off LED at pin 4

out(6,1); // Turn on LED at pin 6

sleep(400);

}

Listing 4-1 : LEDtest.ino ; sketch file for testing out() function to

controlling simple output devices


(A4.2) Turn-on the robot. Connect USB cable between a robot and computer.

(A4.3) Compile and upload the code or sketch to POP-BOT XT controller board by clicking


(A4.3) Run the sketch and observe the ZX-LED operation.

The display of POP-BOT XT controller board shows start message :

Press OK

Then, press the OK switch for starting the operation.

Both ZX-LED blinks alternating continuously.


C/C++ program development with Arduino1.0 for POP-BOT XT is supported by the

popxt.h library file. With this library, user can create the control program for POP-BOT XT

easier and faster.

The sturcture of the popxt.h library file is shown below.

popxt.h library

Chapter 7

POP-BOT XT library file


7.1 Sub-library of the popxt.h library file

glcd contains the functions and statements of the display message, number

and line art graphic on the color graphic LCD of POP-BOT XT (not support the image file)

sleep contains the function and statements of delayed time

in_out contains the functions and statements of reading digital input port and

sending digital data to digital output port.

analog contains the functions and statements of reading analog input.

sound contains the functions and statements of sound generation.

motor contains the functions and statements of DC motor driving.

servo contains the functions and statements of servo motor control

serial contains the functions and statements of serial data communication via

USB and TxD/RxD of the POP-BOT XT controller board.

To run the instructions for POP-BOT XT program development; developers have to

include popbot.h mainly library file at the beginning of the C/C++ code with this command

:

#include <popxt.h>

to declare the compiler know all statements of the popxt.h library.


7.2 Main function details of the popxt.h library

7.2.1 Color graphic LCD function

7.2.1.1 glcd

It is the function for display message on the color graphic LCD screen. The default

display is 21 characters, 16 lines with smallest font size.

Syntax

void glcd(unsigned char x, unsigned char y ,char *p,...)

Parameter

x is line number. Value is 0 to 15

y is character position. Value is 0 to 20

*p is the display message and special character or symbol for determine the

display as follows :

%c or %C - display one character

%d or %D - display integer from -32,768 to 32,767

%l or %L - display integer from -2,147,483,648 to 2,147,483,647

%f or %F - display floating point ( 3-digit maximum)

Example 7-1

glcd(2,0,"Hello World");

// Show message; Hello World at left end position of line 2

100 F

HelloRWorld

RRRRow03

RRRRRow04

RRRRRRow05

RRRRRRRow06

RRRRRRRRow07

Example 7-2

int x=20;

glcd(1,2,"Value = %d",x); // Display both charater and number same line

// Start from column 2 of line 1

100 FRow00

RRValueR=R20

RRRow02

RRRRow03

RRRRRow04

RRRRRRow05

RRRRRRRow06

RRRRRRRRow07


7.2.1.2 colorRGB

It is color changing function in RGB (Red Blue Green) format to 16-bit data. It divides

5-bit for Red , 6-bit for Green and last 5-bit for Blue.

Syntax

unsigned int colorRGB(uint red,uint green,uint blue)

Parameter

red - Red value is between 0 to 31. If applied data is greater than 31, adjsut to 31

green - Green value is between 0 to 63. If applied data is greater than 63,

adjust to 63

blue - Blue value is between 0 to 31. If applied data is greater than 31, adjsut to 31

Example 7-3

#include <popxt.h>

int colors;

void setup()

{

int colors;

colors=colorRGB(31,0,0); // Determine 16-bit data of red to// variable colors

glcdFillScreen(colors); // Set the background screen to red

}

void loop()

{}

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Row00

RRValueR=R20

RRRow02

RRRRow03

RRRRRow04

RRRRRRow05

RRRRRRRow06

RRRRRRRRow07

RRRRRRRRRow08

RRRRRRRRRRow09

RRRRRRRRRRRow010

RRRRRRRRRRRRow011

RRRRRRRRRRRRRow012

RRRRRRRRRRRRRRow013


RRRRRRRRRRRRRRRRow015


7.2.1.3 color[ ]

It is array type variable. It is uesd for set the 8 basic colors. Developers can also use

color[] directly or use the color name.

Syntax

unsigned int color[]= { GLCD_RED,

GLCD_GREEN,

GLCD_BLUE,

GLCD_YELLOW,

GLCD_BLACK,

GLCD_WHITE,

GLCD_SKY,

GLCD_MAGENTA};

Parameter

GLCD_RED - Select red

GLCD_GREEN - Select grren

GLCD_BLUE - Select blue

GLCD_YELLOW - Select yellow

GLCD_BLACK - Select black

GLCD_WHITE - Select white

GLCD_SKY - Select sky blue color

GLCD_MAGENTA - Select magenta

Example 7-4

glcdFillScreen(color[5]) // Set background color to white

Example 7-5

glcdFillScreen(GLCD_BLUE) // Set background color to blue


7.2.1.4 setTextColor

This function is used to set the text color that diaply with glcd() function. The default

color is white.

Syntax

void setTextColor(unsigned int newColor)

Parameter

newColor - This is to set the target color. It is 16-bit data or variable data which is

defined from the variable color[]

Example 7-6

setTextColor(GLCD_YELLOW); // Set text color to yellow

7.2.1.5 setTextBackgroundColor

It is to set the text background color function. The default color is black. The text

background color is not screen background. Setting the scrren background color, need

to use the glcdFillScreen function.

Syntax

void setTextBackgroundColor(unsigned int newColor)

Parameter

newColor - This is to set the target color. It is 16-bit data or variable data which is

defined from the variable color[]

Example 7-7

setTextBackgroundColor(GLCD_GREEN);

// Set the text background color to green

220 F

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RRValueR=R20

RRRow02

RRRRow03

RRRRRow04

RRRRRRow05

RRRRRRRow06

RRRRRRRRow07

RRRRRRRRRow08

RRRRRRRRRRow09

RRRRRRRRRRRow010

RRRRRRRRRRRRow011

RRRRRRRRRRRRRow012

RRRRRRRRRRRRRRow013


Hello World


7.2.1.6 glcdClear

It is clear screen function. The background color will be latest the text backgorund

color. If not defined before, the background color will be black

Syntax

void glcdClear()

Example 7-8

glcdClear(); // Clear all contents on the screen

7.2.1.7 glcdFillScreen

This will clear the scrren and change to the background color function. After

executing this function, all contents on scrren will be cleared and it will change to the

backgtround color to the target color.

Syntax

void glcdFillScreen(unsigned int color)

Parameter

color - The target color. It is 16-bit data or variable data which is defined from

the variable color[]

Example 7-9

glcdFillScreen(GLCD_BLUE);

// Clear screen and set background color to blue

[BLACK] [BLUE]


7.2.1.8 glcdMode

It is for setting the display orientation. There are 4 modes; 0 (0 degree), 1 (oritentate

right 90 degrees), 2 (orientate 180 degrees or invert) and 3 (orientate 270 degrees from

origin)

Syntax

glcdMode(unsigned int modeset)

Parameter

modeset - Orientation mode number. It is 0 to 3 for determine 0, 90, 180 and 270

degrees orientation. The default is 0 degree in vertical.

Example 7-10

#include <popxt.h>

void setup()

{

setTextSize(2); // 2X text sice

}

void loop()

{

glcdClear(); // Clear screen

glcdMode(0); // Set orientation display mode 0

glcd(0,0,”POP-BOTXT”); // Show message

sw_ok_press(); // Wait for OK pressing for changing

// the orientation diplay mode

glcdClear(); // After OK switch is pressed; clear screen

glcdMode(1); // Change orienatation display to mode 1

glcd(0,0,”POP-BOTXT”);

sw_ok_press();




sw_ok_press();




sw_ok_press();

}


7.2.1.9 setTextSize

This function is used to set the text size. The text size is 1x time by default. It requires

6 x 10 dots include character gap. With the default size, this display shows 21 characters

16 lines maximum in vertical.

Syntax

setTextSize(unsigned int newSize)

Parameter

newSize - times number of the default size. It is 1 to 16.

Example 7-11

#include <popxt.h>

void setup()

{

setTextSize(1); // Set text size to 1x

setTextColor(GLCD_GREEN); // Set text color to green

glcd(0,0,"Size1"); // Show message

setTextSize(2);

glcd(1,0,"Size2"); // Set text size to 2x

setTextSize(3);


setTextSize(4);


}

void loop()

{}


7.2.1.10 getTextColor

Get the current text color.

Syntax

unsigned int getTextColor()

Return value

textColor - It is 16-bit data. It refer colorRGB[] function

Example 7-12

unsigned int color;

color=getTextColor(); // Get the current color data to store in// the color variable

7.2.1.11 getTextBackgroundColor

Get the current text background color.

Syntax

unsigned int getTextBackgroundColor()

Return value

textBackgroundColor - It is 16-bit data. It refer colorRGB[]function

Example 7-13

unsigned int color;

color=getTextBackgroundColor(); // Get and store the text color// background to color variable

7.2.1.12 getTextSize

Get the currect text size.

Syntax

unsigned int getTextSize()

Return value

textSize - The size is times number from the default size. Range is 1 to 16.

Example 7-14

unsigned int textSize;

textSize=getTextSize(); // Store the current text size to textSize// variable


7.2.1.13 glcdGetMode

Get the current orientation in display mode.

Syntax

unsigned int glcdGetMode()

Return value

mode - The orientation display mode number. It is 0 to 3. See details in glcdMode

function

Example 7-15

unsigned int Mode;

Mode=glcdGetMode(); // Get the current orientation display mode number

7.2.1.14 glcdPixel

This plots the dots on the coordinator of the display. It refers to 128 x 160 dots display.

Syntax

void glcdPixel(unsigned int x,unsigned int y,unsigned int color)

Parameter

x - Horizontal axis coordinator or x-axis. Value is 0 to 127.

y - Bertical axis coordinator or y-axis. Value is 0 to 159

color - The target color. It is 16-bit data or variable data which is defined from

the variable color[]

Example 7-16

#include <popxt.h>

int i;

void setup()

{

for (i=0;i<128;i+=4)

{

glcdPixel(i,80,GLCD_RED);

// Plot dot every 4 pixels on x-axis

// of center of the screen

}

for (i=0;i<160;i+=4)

{

glcdPixel(64,i,GLCD_RED);

// Plot dot every 4 pixels on y-axis

// of center of the screen

}

}

void loop()

{}


7.2.1.18 glcdRect

Draw the rectangular shape.

Syntax

void glcdRect(unsigned int x1,unsigned int y1,unsigned intwidth,unsigned int height,unsigned int color)

Parameter

x1 - Start point of the rectangular shape on x-axis. Value is 0 to 127

y1 - Start point of the rectangular shape on y-axis. Value is 0 to 159

width - The width of rectangular shape. Value is 1 to 128

height - The height of rectangular shape. Value is 1 to 158

color - Line color. It is 16-bit data or variable data which is defined from the

variable color[]

Example 7-17

#include <popxt.h>

void setup()

{

glcdRect(32,40,64,80,GLCD_RED);

// Draw the red rectangle 64 x 80 pixels

}

void loop()

{}


7.2.1.19 glcdFillRect

This creates a filled rectangle. It is only fill color without an outline.

Syntax

void glcdFillRect(unsigned int x1, unsigned int y1, unsigned intwidth, unsigned int height,unsigned int color)

Parameter

x1 - Start point of the rectangular shape on x-axis. Value is 0 to 127

y1 - Start point of the rectangular shape on y-axis. Value is 0 to 159

width - The width of rectangular shape. Value is 1 to 128

height - The height of rectangular shape. Value is 1 to 158

color - Fill color. It is 16-bit data or variable data which is defined from the variable

color[]

Example 7-18

#include <popxt.h>

void setup()

{

glcdFillRect(32,40,64,80,GLCD_RED);

// Create the solid red rectangle 64 x 80 pixels

}

void loop()

{}


7.2.1.20 glcdLine

Draw the straight line from point to point.

Syntax

void glcdLine(unsigned int x1, unsigned int y1, unsigned int x2,unsigned int y2, unsigned int color)

Parameter

x1 - Start point on the x-axis. Value is 0 to 127.

y1 - Start point on the y-axis. Value is 0 ro 159

x2 - Destination point on the x-axis. Value is 0 to 127.

y2 - Destination point on the y-axis. Value is 0 ro 159

color - Line color. It is 16-bit data or variable data which is defined from the

variable color[]

Example 7-19

#include <popxt.h>

void setup()

{

glcdLine(0,0,127,159,GLCD_RED);

// Draw a red diagonal line from top left to bottom right

}

void loop()

{}


7.2.1.21 glcdCircle

Draw a circle function.

Syntax

void glcdCircle(unsgined int x, unsgined int y, unsgined intradius,unsgined int color)

Parameter

x - Center of thge circle coordinator on x-axis. Value is 0 to 127

y - Center of thge circle coordinator on y-axis. Value is 0 to 159

radius - Radius value

color - Circumference color. It is 16-bit data or variable data which is defined

from the variable color[]

Example 7-20

#include <popxt.h>

void setup()

{

glcdCircle(32,120,31,GLCD_MAGENTA);

// Draw a magenta circle with 31 pixels radius

}

void loop()

{}


7.2.1.22 glcdFillCircle

Creates a filled circle without the circumference.

Syntax

void glcdFillCircle(unsigned int x, unsigned int y, unsigned intradius, unsigned int color)

Parameter



radius - Radius value

color - Circle color. It is 16-bit data or variable data which is defined from the

variable color[]

Example 7-21

#include <popxt.h>

void setup()

{

glcdFillCircle(32,120,31,GLCD_MAGENTA);

// Create the solid magenta circle with radius 31 pixels

}

void loop()

{}


7.2.1.23 glcdArc

Draw the arc line function.

Syntax

void glcdArc(unsigned int x,unsigned int y, unsigned int r, intstart_angle, int end_angle, uint color)

Parameter



radius - Radius value of the arc

start_angle - Start angle of the arc

end_angle - Ending angle of the arc

color - Arc line color. It is 16-bit data or variable data which is defined from the

variable color[]

Example 7-22

#include <popxt.h>

void setup()

{





glcdFillCircle(64,90,7,GLCD_GREEN);

glcdArc(64,100,30,220,320,GLCD_RED);

}

void loop()

{}


7.2.2 Time function

7.2.2.1 sleep and delay

Delay time function in millisecond unit. Time value is an approximation.

Syntax

void sleep(unsigned int ms)

void delay(unsigned int ms)

Parameter

ms - Delay time in millisecond unit. Value is 0 to 65,535

Example 7-23

sleep(20); // Delay 20 milliseconds

delay(1000); // Delay 1 second

7.2.2.2 delay_us

Delay time function in microsecond unit. Time value is an approximation.

Syntax

void delay_us(unsigned int us)

Parameter

ms - Delay time in microsecond unit. Value is 0 to 65,535

Example 7-24

delay_us(100); // Delay 100 microseconds


7.2.3 Sound generation function

7.2.3.1 beep

This is a beep function. The beep signal is a 500Hz frequency sqaure wave signal.

Duration is 100 millisecond. This sginal is driven to the piezo speaker on the POP-BOT XT

controller board.

Syntax

void beep()

Example 7-25

beep(); // Drives the bepp signal at once.

7.2.3.2 sound

This is sound generation function. It allow developers to set the frequency and time

period.

Syntax

void sound(int freq,int time)

Parameter

freq - Frequnecy value in Hertz. Value is 0 to 32,787

time - Time period in millisecond. Value is 1 to 32,787

Example 7-26

sound(1200,500);

// Drives the signal 1200Hz 500ms to piezo speaker of the POP-BOT XT.


7.2.4 Input/Ouput port function

7.2.4.1 in

Reading the digital input port function.

Syntax

char in(x)

Parameter

x - Digial input port number

Return value

“0” or “1’

Example 7-27

char x; // Declare the x variable for storing the result

x = in(2); // Read data from the digital input port 2 to store in// x variable

7.2.4.2 out

Out the digital value to the defined digital output port.

Syntax

out(char _bit,char _dat)

Parameter

_bit - Output pin port

Example 7-28

out(4,1); // Set port 4/A6 as output digital and out with data 1

out(6,0); // Set port 6/A7 as output digital and out with data 0

7.2.5 Sensor function

7.2.5.1 analog

Read the analog input port; A0 to A7

Syntax

unsigned int analog(unsigned char channel)

Parameter

channel - Analog input port. Value is 0 to 7. It is A0 to A7 port.

Return value

The converted digial data. It is 0 to 1023 from 10-bit analog to digital converter.


7.2.5.2 knob

Read the KNOB button data of the POP-BOT XT controller board.

Syntax

unsigned int knob()

Return value

80 to 1023

Example 7-29

int val=0; // Declare variable to data storing

val=knob(); // Read data from the KNOB of POP-XT board to store to// val variable

7.2.5.3 sw_ok()

Read status of the OK switch on the POP-BOT XT controller board (POP-XT board)

Syntax

unsigned char sw_ok()

Return value

1 (true) when the switch is pressed

0 (false) no press the switch

Note : Pressing the OK switch effects to KNOB value as 0 (zero)

Example 7-30

if(sw_ok())

{

beep(); // Beep after the OK switch is pressed

}

7.2.5.4 sw_ok_press()

Loop to check the OK switch pressing function

Example 7-31

........

sw_ok_press(); // Loop until the OK switch is pressed

......


7.2.6 DC motor control function

7.2.6.1 motor

Drive the DC motor function

Syntax

void motor(char _channel,int _power)

Parameter

_channel - DC motor output (1 or 2)

_power - Power value. It is -100 to 100

If set _power as positive value (1 to 100), motor moves forward

If set_power as negative value (-1 to -100), motor moves backward

If set as 0, motor stop but not recommended. Please choose the

motor_stop function better.

Example 7-32

motor(1,60); // Drive motor A with 80% power

motor(1,-60); // Drive motor A backward with 80% power

Example 7-33

motor(2,100); // Drive motor B with 100% power

7.2.6.2 motor_stop

Stop motor driving function

Syntax

void motor_stop(char _channel)

Parameter

_channel - DC motor output (1, 2 and ALL)

Example 7-34

motor_stop(1); // Stop motor A

motor_stop(2); // Stop motor B

Example 7-35

motor_stop(ALL); // Stop all motor


7.2.6.3 fd

Move forward function. It is to move the robot forward.

Syntax

fd(unsigned int speed)

Parameter

speed - percentage of motor power (0 to 100%)

Example 7-36

fd(60); // Robot moves forward with 80% power

7.2.6.4 fd2

This full name of this function is forward2. It is a dependent function of the motor

control command for forward.

Syntax

fd2(unsigned int speed1, unsigned int speed2)

Parameter

speed1 - Speed of motor A (0 to 100%)

speed2 - Speed of motor B (0 to 100%)

Example 7-37

fd2(30,80); // Move the robot in circle shape.

// Because the speed of motor B is greater than motor A

7.2.6.5 bk

Move backward function. It is to move the robot backward.

Syntax

bk(unsigned int speed)

Parameter


Example 7-38

bk(90); // Robot moves backward with 90% power


7.2.6.6 bk2

This full name of this function is backward2. It is a dependant function of the motor

control command for backward.

Syntax

bk2(unsigned int speed1 ,unsigned int speed2)

Parameter



Example 7-39

bk2(80,80); // Move backward both motor with same power

Both fd2() and bk2() functions help and adjust the motor speed for improving

the robot moving. Normally each motor speed is not equal 100%. It is some different. With

these function, user possible to adjust the different speed for each motor to adjust the

moving direction to more straight.

7.2.6.7 tl and tr

They are from turn left (tl) and turn right (tr). The turning method is stop one motor

and move another one. The tunring point is the stop wheel.

Syntax

tl(unsigned int speed) / tr(unsigned int speed)

Parameter

speed - Speed of motor (0 to 100%)

Example 7-40

tl(60); // Turn left with 80% power

tr(100); // Turn right with full speed

7.2.6.8 sl and sr

They are from spin left (sl) and spin right (sr). This function control each motor turn in

opposit direction. The turning point is the center of robot

Syntax

sl(unsigned int speed) / sr(unsigned int speed)

Parameter


Example 7-41

sl(70); // Root spin left with 70% power

sr(100); // Robot spin right with full speed


7.2.6.9 ao

It is to off all motor function.

Syntax

ao()

Example 7-42

void setup()

{

fd(100); // Robot moves forward with full speed

sleep(2000); // in 2 seconds

ao(); // Stop all motors

}

7.2.7 Servo motor library

There is one function. It is servo.

Syntax

void servo(unsigned char _ch, int _pos)

Parameter

_ch - Servo motor output (1 to 3)

_pos - Set the sevo motor shaft poistion (0 to 180 and -1)

If set to -1, disable selected servo motor output


7.2.8 Serial data communication library

It is library that contains function and statement for supporting the serial data

communication with UART of micontroller

7.2.8.1 Hardware interface

UART0

Connect the POP-BOT XT controller obard with USB port of the computer. It is same

port for uploading.

UART1

Connect the interface cable to RXD1 (port 2) and TXD1 (port 3)

7.2.8.2 uart

This is serial data sending function via UART0 port.

Syntax

void uart(char *p,...)

Parameter

*p - Type of data. Support the special character for setting display method.

Command Operation

%c or %C Display 1 character

%d or %D Display the decimal value -32,768 to +32,767

%l or %L Display the decimal value -2,147,483,648 to +2,147,483,647

%f or %F Display floating point 3 digits

\r Set the message left justify of the line

\n Display message on the new line

7.2.8.3 uart_set_baud

This is baud rate setting function for UART0.

Syntax

void uart_set_baud(unsigned int baud)

Parameter

baud - Baud rate of UART0 2400 to 115,200

Example 7-43

uart_set_baud(4800); // Set baud rate as 4,800 bit per second

7.2.8.4 uart_available


This is receiveing data testing function of UART0.

Syntax

unsigned char uart_available(void)

Return value

- “0” : no data received

- more than 0 : received character

Example 7-44

char x =uart_available();

// Check the recieving data of UART0.

// If x value is more than 0; it means UART0 get any data.

// Read it by using uart_getkey function in the order next immediately.

7.2.8.5 uart_getkey

This is data reading function from receiver’s buffer of UART0

Syntax

char uart_getkey(void)

Return value


- data : received character in ASCII code

Example 7-45

#include <popxt.h> // Include libraryvoid setup(){

glcdClear(); // Clear screensetTextSize(2); // Set text sixe 2xglcdMode(1); // Selectr orientation display mode 1

}void loop(){

if(uart_available()) // Check incoming data{

if(uart_getkey()=='a') // Is it ‘a’ ?{

glcd(1,0,"Key a Active!");

// Reply message after get the ‘a’ key

sleep(1000); // Delay 1 second}else{

glcdClear; // Clear screen}

}}


When run this program, Serial Monitor window od Arduno1.0 IDE is appeared.

Select the ending message with No line ending, baud rate is 115200 and uncheck at

Autoscroll box. Next, type a character and click on the Send button to send data from

your computer to the POP-XT board via USB port that is configured to run as a virtual COM

port over USB or USB Serial port

After POP-XT board get the a character, it shows message Key a Active!

on th color GLCD screen


7.2.8.6 uart1

This is serial data sending function via UART1 port. The default baud rate is 9,600 bit

per second.

Syntax

void uart1(char *p,...)

Parameter

*p - Type of data. Support the special character for setting display method. See

details in uart0 function.

7.2.8.7 uart1_set_baud

This is baud rate setting function for UART1.

Syntax

void uart1_set_baud(unsigned int baud)

Parameter

baud - Baud rate of UART1 2400 to 115,200

Example 7-46

uart1_set_baud(19200); // Set baud rate as 19,200 bit per second

7.2.8.8 uart1_available

This is receiving data testing function of UART1

Syntax

unsigned char uart1_available(void)

Return value


- more than 0 : received character

7.2.8.9 uart1_getkey

This is data reading function from receiver’s buffer of UART1.

Syntax

char uart1_getkey(void)

Return value


- data : received character in ASCII code


7.3 GP2D120 Infrared ranger libraryIn addition, the library file popxt.h that is the main library . The POP-BOT XT robots

also have a library for communicating with sensors and other special functions of the

robot that is not included in the main library popxt.h. Therefore developers must include

at the beginning of the code or sketch.

POP-BOT XT Standard kit provides a module GP2D120 infrared ranger. To working

with it, require a ligrary file gp2d120_lib.h.

To using this library, must include at the beginning of the program with this statement :

#include <gp2d120_lib.h>

About hardware inrerfacing, connect this sensor to any analog port of the POP-BOT

XT. They are A0 to A7.

7.3.1 getdist

Get distance value from GP2D120.

Syntax

unsigned int getdist(char adc_ch)

Parameter

adc_ch - Analog port that connect with GP2D120 (A0 to A7)

Return value

Distance in centimetre unit

Example 7-47

dist = getdist(3); // Read distance from GP1D120 at A3 port


The POP-BOT XT has 2 channels of DC motor drivers. You can control the speed

and direction of DC motor rotation with the software. Because DC motor is driven by PWM

(Pulse width modulation) signal. In this section describe how to drive DC motor with PWM

and how to generate PWM signal of POP-XT board with C/C++ programming and Arduino.

8.1 Basic operation of driving DC motor with PWMBy changing (modulating) the width of the pulse applied to the DC motor we can

increase or decrease the amount of power provided to the motor, thereby increasing or

decreasing the motor speed. Notice that, although the voltage has a fixed amplitude, it

has a variable duty cycle. That means the wider the pulse, the higher the speed.

Refer Figure 8 -1, the Vs supplies PWM signal to DC motor. The speed is dependent

on Ton time (ON time of motor). At this time, DC motor will receive the full voltage; Vm. If

Ton’s width is more, DC motor is received more voltage. It rotate in high speed. The ratio

of Ton time in percentage with period (T) is called Duty cycle. You can calculate this as

follows :

% duty cycle = ToffTon

Ton100

................................................................(8.1)

PWM frequency = T

1

ToffTon

1

....................................................................(8.2)

Average DC motor voltage drop = Supply voltage x duty cycle (%) ............(8.3)

Chapter 8

POP-BOT XT movement control

MVs Vm

RsVm

t

Ton

Toff

T

Figure 8-1 : The PWM signal for driving DC motor


Although the duty cycle is determine the motor speed. But DC motor can operate

at limit frequency. If the PWM frequrency is over the limit, DC motor will stop because its

operation reach to saturation point. The example PWM signal in figure 8-2 has 20 milliseconds

period and 50Hz frequency.

In Figure 8-2 (A) the PWM duty cycle is 20%. Motor will rotate with lowest speed

because the voltage drop is only 0.9V.When increase the duty cycle in Figure 8-2 (B) and

(C), voltage is applied to DC motor increase. Its speed is increase too.

In Figure 8-2 (D) the voltage is applied to DC motor full level because duty cycle is

100%. Thus, controlling the PWM duty cycle is a method of motor speed control.

4 8 12 16 20 24 28 32t (ms)

Vm (V)

4.5

4 8 12 16 20 24 28 32t (ms)

Vm (V)

4.5

4 8 12 16 20 24 28 32t (ms)

Vm (V)

4.5

10ms

4 8 12 16 20 24 28 32t (ms)

Vm (V)

4.5

18ms

20ms

Average voltage = 4.5 x 100% = 4.5V

(A)

(B)

(C

(D)


Duty cycle =2018 x100% = 90%

Duty cycle =2020 x100% = 100%

Duty cycle =2010 x100% = 50%


Duty cycle =204 x100% = 20%


Figure 8-2 : Shows the relation between the different duty cycleand voltage accross the DC motor.


8.2 Arduino with PWMArduino has a special function to generate PWM signal and outs to any digital pins.

It is analogWrite(). User can adjust PWM duty cycle from 0 to 100% with value between

0 to 255.

At value = 0, no PWM signal is occured. Voltage output as 0V.

At value = 51, The PWM signal has positive pulse width 20% of period. The duty

cycle is equal to 20%.

At value = 127, The PWM signal has positive pulse width half of period. The duty


At value = 191, The PWM signal has positive pulse width 75% of period. The duty


At value = 255, The PWM signal has full positive pulse width. The duty cycle is

equal to 100%.

The figure 8-3 shows the PWM signal at any duty cycle.

Figure 8-3 : Shows the PWM signal at any duty cycle.

20%

50%

75%

0%

100%


Output voltage of PWM signal is average value relate the duty cycle. You can

calcualte from this relation below :

Output_voltage = (on_time / off_time) x max_voltage

We can use the PWM signal from analogWrite() function to adjust the LED brightness

or amplify to drive the DC motor. The Arduino’s pin that assigned to PWM output will out

the PWM continue until do the analogWrite() function in new period or excecute

digitalRead and digitalWrite funtion at same pin.

For Arduino Leonardo hardware (the POP-XT board is also compatible) has 5 analog

output pins; it includes pin 3, 5, 9, 10 and 11. However the POP-XT board assign pin 5, 9 and

10 to connect the motor control circuit both DC motor and servo motor. The pin 3 is assigned

to SDA pin for I2C bus and pin 11 is connected with piezo speaker.

The analogWrite function fornat is

analogWrite(pin,value);

Therefore; pin as The Arduino Leonardo’s port pin 3, 5, 9, 10 and 11

value as Duty cycle value 0 to 255.

8.3 DC motor function for POP-BOT XTThe programming language C / C + + to drive the motors of the robot POP-BOT XT

has been made easier with DC motor function in the popxt.h library file. Summary of all

functions are as follows :

motor(_channel,_power); Select the motor output and set speed.

motor_stop(_channel); Stop motor operation

fd(speed); Move forward

bk(speed); Move backward

tl(speed); Turn left

tr(speed); Turn right

sl(speed); Spin left

sr(speed); Spin right

ao(); Break all motors


8.3.1 motor

Drive the DC motor function

Syntax

void motor(char _channel,int _power)

Parameter

_channel - DC motor output (1 or 2)

_power - Power value. It is -100 to 100

If set _power as positive value (1 to 100), motor moves forward

If set_power as negative value (-1 to -100), motor moves backward

If set as 0, motor stop but not recommended. Please choose the

motor_stop function better.

Example 8-1

motor(1,60); // Drive motor A with 80% power

motor(1,-60); // Drive motor A backward with 80% power

Example 8-2

motor(2,100); // Drive motor B with 100% power

8.3.2 motor_stop

Stop motor driving function

Syntax

void motor_stop(char _channel)

Parameter

_channel - DC motor output (1, 2 and ALL)

Example 8-3

motor_stop(1); // Stop motor A

motor_stop(2); // Stop motor B

Example 8-4

motor_stop(ALL); // Stop all motor

8.3.3 fd

Move forward function. It is to move the robot forward.

Syntax

fd(unsigned int speed)

Parameter


Example 8-5

fd(60); // Robot moves forward with 80% power


8.3.4 fd2

This full name of this function is forward2. It is a dependent function of the motor

control command for forward.

Syntax

fd2(unsigned int speed1, unsigned int speed2)

Parameter



Example 8-6

fd2(30,80); // Move the robot in circle shape.

// Because the speed of motor B is greater than motor A

8.3.5 bk

Move backward function. It is to move the robot backward.

Syntax

bk(unsigned int speed)

Parameter


Example 8-7

bk(90); // Robot moves backward with 90% power

8.3.6 bk2

This full name of this function is backward2. It is a dependant function of the motor

control command for backward.

Syntax

bk2(unsigned int speed1 ,unsigned int speed2)

Parameter



Example 8-8

bk2(80,80); // Move backward both motor with same power

Both fd2() and bk2() functions help and adjust the motor speed for improving

the robot moving. Normally each motor speed is not equal 100%. It is some different. With

these function, user possible to adjust the different speed for each motor to adjust the

moving direction to more straight.


8.3.7 tl and tr

They are from turn left (tl) and turn right (tr). The turning method is stop one motor

and move another one. The tunring point is the stop wheel.

Syntax

tl(unsigned int speed) / tr(unsigned int speed)

Parameter


Example 8-9


tr(100); // Turn right with full speed

8.3.8 sl and sr

They are from spin left (sl) and spin right (sr). This function control each motor turn in

opposit direction. The turning point is the center of robot

Syntax

sl(unsigned int speed) / sr(unsigned int speed)

Parameter


Example 8-10

sl(70); // Root spin left with 70% power

sr(100); // Robot spin right with full speed

8.3.9 ao

It is to off all motor function.

Syntax

ao()

Example 8-11

void setup()

{

fd(100); // Robot moves forward with full speed

sleep(2000); // in 2 seconds

ao(); // Stop all motors

}


Activity 5 : POP-BOT XT basic movement

Activity 5-1 Forward and Backward movement

A5.1.1 Open the Arduino IDE and create the sketch code from Listing A5-1.

A5.1.2 Upload the sketch to the robot.

A5.1.3 Turn-off power and Remove the download cable.

A5.1.4 Make sure the robot is on a flat surface. Turn-on the power and observe the

operation.

The POP-BOT XT moves forward. See both LED motor indicators light in green color.

After 1 second, both indicators change color to red and the robot moves backward.

If this is incorrect you will need to re-connect the motor cable to its opposite port /

polarity. Do this until your robot moves correctly. Once its done, Use this motor port

configuration for all your programming activities from now on. The robot will move forward

and backward continually until you turn off its power.

#include <popxt.h>

void setup()

{}

void loop()

{

fd(80);

sleep(1000);

bk(80);

sleep(1000);

}

Listing A5-1 : ForwardBackward.ino ; sketch file for simple movement

control for POP-BOT XT


Activity 5-2 Circle-shape movement control

With setting the different speed for each motor, it cause the robot move in circle-

shape. You can try with this procedure as follows :

A5.2.1 Create a new sketch file and write the following C Codes shown in Listing A5-2.

A5.2.2 Upload the sketch to the robot.

A5.2.3 Turn-off power and Remove the download cable.

A5.2.4 Make sure the robot is on a flat surface. Turn-on the power and observe the robot.

The robot moves with circle-shape continually until you press the OK button on the

POP-BOT XT controller board to stop the robot movement.

#include <popxt.h>

void setup()

{

fd2(30,90);

sw_ok_press();

ao();

}

void loop()

{}

Listing A5-2 : CircleMove.ino; sketch for circle-shape movement of

the POP-BOT XT


Activity 5-3 Square-shape movement control

A5.3.1 Create a new sketch file and write the following C Codes shown in Listing A5-3.

A 5.3.2 Upload the sketch to the robot. Turn-off power and Remove the download cable.

A5.3.3 Turn-on the power and observe the robot.

The robot will be activated if the OK button on the robot is being pressed. The

robot will move forward and turn right continually to make the square routing.

#include <popxt.h> // Include Library for POP-BOT XT

void setup()

{

setTextSize(2); // Set text size 2x

glcd(1,1,"Press OK"); // Start message

glcd(2,1,"to Start");

sw_ok_press(); // Check OK switch pressing to start


glcd(1,1,"Moving..."); // Operation message

}

void loop()

{

fd(80); // Forward with 80% power

sleep(900); // Forward time

tr(80); // Turn right with 80% power

sleep(400); // Turn right time

}

Listing A5- 3 : RectangleMove.ino ; sketch file for rectangle-shape

movement of the POP-BOT XT robot


Activity 5-4 Multi-direction movement

The Listing 5-4 is sketch for control the robot to move on any direction. It includes

forward 0.6 second, turn left 0.4 second, backward 0.6 second, spin right 0.3 second,

backward again 0.6 second, spin left 0.3 second and back to repeat again continually.


void setup()

{

glcdClear(); // Clear screen and set to black


glcd(1,1,"Press OK"); // Show the start message


sw_ok_press(); // Loop for OK switch pressing

beep(); // Drive the beep signal


}

void loop()

{

glcdFillScreen(GLCD_RED); // Clear screen and set to red

fd(80); // Move forward with 80% power

sleep(600); // and 0.6 second

glcdFillScreen(GLCD_GREEN); // Clear screen and set to green



glcdFillScreen(GLCD_BLUE); // Clear screen and set to blue

bk(80); // Backward with 80% power


glcdFillScreen(GLCD_YELLOW); // Clear screen and set to yellow

sr(60); // Spin right with 60% power


glcdFillScreen(GLCD_MAGENTA); // Clear screen and set to margenta

bk(80); // Backward with 80% power


glcdFillScreen(GLCD_WHITE); // Clear screen and set to white

sl(60); // Spin left with 60% power


}

Listing A5 -4 : MultiDirectionMove.ino ; sketch file for moving with

multi-direction of the POP-BOT XT


After upload the sketch, turn off power and remove the USB cable. Place the robot

on the flat floor. Turn on power. The display of the robot show title message :

Press OK

to Start

Press the OK buttton on the robot. The POP-BOT XT begins to move. When it change

direction, the screen color will change following to report the direction changing.

Activity 5-5 Improve the straight movement of POP-BOT XTwith fd2() and bk2() function

The function fd2(speed1,speed2) and bk2(speed1,speed2)are DC motro control

functions similar fd() and bk() functions. The different are fd2() and bk2() have 2

more parameters to set the speed of each mortor independent.

The inequality of the motor may result in the movement of the robot can be tilted

to one side. With separate speed setting of each motor in fd2() and bk2() functions, it

compensates the different speed of each motor. The result is robot possible to move more

straight.

Listing A5-5 is simple program that use the simple statements to control the robot

moves forward by adjusting each motor speed with fd2() and bk2() function. The robot

will move forward straight as possible.



void setup()

{





sw_ok_press(); // Wait for OK switch pressed

glcdClear();

glcd(1,1,"Moving..."); // Show operation message

fd2(70,70); // Move the robot forward with 70% power

}

void loop()

{}

Listing A5 -5 : MoveAlignment.ino ; sketch for speed adjusting withfd2()and bk2() function to improve the robot’s movement tomore straight.

After uplaoding, see the robot movement.

Senarion 1 : robot move slant to left

It means the left DC motor speed is slower than the rigfht DC motor. Solution is

increase the left DC motor speed by adjusting at speed1 parameter of fd2() function.

Senarion 2 : robot move slant to right

It means the right DC motor speed is slower than the left DC motor. Solution is

increase the right DC motor speed by adjusting at speed2 parameter of fd2() function.



For proper movement of the robot, you will need to learn about taking in readings

from sensors and then to determine the outcome movements based on conditions set by

the robot’s code. The most basic sensor in robotics is the switch sensor. This chapter will

explain about to ussage of the switch sensor and it helps the robot to avoid collisions.

In POP-BOT XT robot kit, comes with 2 switch sensors; ZX-01. The schematic diagram

of this sensor is shown in the figure 9-1. When the switch is pressed (it means it has touched

or collided with an object. The logic output changes from “1” to “0” until the release of

the switch. Once the switch is release, the output signal is converted back to a “1” again.

This sensor is used to determine the conditions encountered by the robot. The

switches are installed at the front of the robot. Once the switch is pressed, the micro-

controller will drive the robot to move backwards and change its direction. The robot will

be able to move through obstacles.

Operation :

If the switch is pressed; the logic“0I” is sent to output and the redLED is on.

If no pressing, output is logic “1”and LED is off.

Figure 9-1 : ZX-01 switch sensor of the POP-BOT XT schematic andoperation details.

DATAR3220

R210k

R1510

LED1

S1Switch

Indicator

Signal output

GND

+V

Chapter 9

Object avoidance by contact


Activity 6 : Switch sensor testing

This activity presents a simple program to test the switch sensor operation. Get the

switch status to drive a beep to the piezo speaker

(A6.1) Connect the ZX-01 switch sensor to port 22/A4 and 23/A5 of the POP-BOT XT controller

board.

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(A6.2) Open Arduino1.0 IDE. Type the Listing A6-1 and save as TouchSwitchTest.ino file.

(A6.3) Turn-on the robot. Connect the USB cable between the robot and the computer.



(A6.5) Run the sketch. At the robot’s display, it shows message :

Press OK

to Start

Press the OK switch on the robot to start



void setup()

{






glcdClear();

glcd(1,1,"Let's go!"); // Show operation message

}

void loop()

{

if(in(22)==0) // If swtich at pin 22 is pressed

{

sound(1000,300); // Generate the 1kHz signal

glcdFillScreen(GLCD_RED); // Change the screen color to red

}

if(in(23)==0) // If switch at pin 23 is pressed

{

sound(2000,300); // Generate the 2kHz signal

glcdFillScreen(GLCD_YELLOW); // Change the screen color to yellow

}

}

Listing A6-1 : TouchSwitchTest.ino ; sketch file for testing the ZX-01 switch sensor operation

Try pressing the ZX-01 switch sensor at port 22/A4.

The 1kHz signal is driven to piezo speaker 0.3 second and the background screen

color is change to red. If still press the switch, the signal also is driven continually

Try pressing the ZX-01 switch sensor at port 23/A5.

The 2kHz signal also is driven with 0.3 second period and display color is yellow.


Activity 7 : Wired remote control

Install 2 switches for the mobile robot for the 4 scenarios as follows :

1. No switches pressed : the robot stops. Does not move.

2. Both switches are pressed in the same time : the robot moves forward.

3. The left switch that is connected with port 22/A4 is pressed only : the robot

turns left

4. The right switch that is connected with port 23/A5 is pressed only : the robot

turns right.


void setup()

{





glcdClear();


}

void loop()

{

if(in(22)==0&&in(23)==0) // Both switches are pressed ?

{

fd(60); // If correct, move forward with 60% power

}

else if(in(22)==0) // Only switch at pin22 is pressed ?

{

tl(60); // If correct, turn left with 60% power

}

else if(in(23)==0) // Only switch at pin23 is pressed ?

{

tr(60); // If correct, turn right with 60% powerÒ

}

else

{

ao(); // No pressing any switch, stop the robot

}

}

Listing A7-1 : RemoteSwitch.ino ; sketch file for wired remotecontrol activity of the POP-BOT XT


From all the 4 conditions, we will write the condition for making the control program

for the POP-BOT XT following the Listing A7-1

(A7.1) Remove both ZX-01 switch sensors from the robot chasis but the cable are still connect.

The ZX-01 switch sensors are similar looking to that of a wired remote control for POP-BOT

XT

(A7.2) Open the Arduino IDE. Type the Listing A7-1. Compile and upload to the robot.

(A7.3) Run the program. Try to press both ZX-01 switch sensors to control the robot movement.


Activity 8 : The bumper

From Activity 7, you have learnt how to use switch sensors to control the movement

of the robot. This activity requires the switches to be installed at the front of robot again.

The codes for this activity is also changed. For normal movement, robot moves forward

continuously until any of the switches is pressed. It means a collision has happened. The

robot moves backward and changes its direction to get through obstacles.

This activity is to program the robot to detect the collision of both switches at the

front of the POP-BOT XT robot. After a collision is encountered on the left side, the robot will

move backward and spin right to change the direction.


On the other hand, if the collision is occurs at the right side. The robot moves

backwards again and spins left to change the direction.

(A8.1) Create the new sketch with Listing A8-1.

(A8.21) Turn-on the robot. Connect USB cable between a robot and a computer.



(A8.4) Prepare the demonstration area by placing and securing boxes or objects on the

surface.

(A8.5) Place the robot on the demonstration area.

(A8.6) Run the sketch. At the robot’s display, it shows message :

Press OK

to Start

(A8.7) Press the OK switch and observe the robot.

The POP-BOT XT will read both switch status from port 22/A4 and 23/A5. If any

switch is pressed or it collides with some object, the result is logic “0”.

In a normal operation, the robot will move forward continually.

If the Left Switch module touches any object, the robot will move backward and

change its moving direction to its right to avoid the object.

If the Right Switch module touches any object, the robot will move backward and

change its moving direction to its left to avoid the object.



void setup()

{





glcdClear();


}

void loop()

{

fd(70);

if(in(22)==0) // Left switch is attacked

{

bk(80); // Move backward

sleep(300);

sr(80); // Spin right

sleep(200);

}

if(in(23)==0) // Right swtich is attacked

{

bk(80); // Move backward

sleep(400);

sl(80); // Spin left

sleep(400);

}

}

Programming hint

This code determines the delay time in sleep() function which is used in the backward,

spin left and right sub-functions. These are not equal. It assist the robot to move out of the

trapped situation easier.

Listing A8-1: ObjectAvoider.ino; sketch file for object avoiding withcollision of the POP-BOT XT


Line following or Line tracking is a popular and common activity in robotics learning.

The purpose of this activity is to learn about how to interface analog sensors. In the POP-

BOT XT robot kit, it has a pair of Infrared reflector sensor for this activity. Two IR Reflector

sensors will be installed at the bottom of the POP-BOT XT so that it can detect both white

and black lines.

10.1 ZX-03 : Infrared reflector sensorThe heart of this sensor is TCRT5000 reflective object sensor. It is designed for close

proximity infrared (IR) detection. There’s an infrared diode behind its transparent blue

window and an infrared transistor behind its black window. When the infrared emitted by

the diode reflects off a surface and returns to the black window, it strikes the infrared

transistor’s base, causing it to conduct current. The more infrared incident on the transistor’s

base, the more current it conducts. The figure 10-1 shows the operation of ZX-03 sensor.

When used as an analog sensor, the ZX-03 can detect shades of gray on paper

and distances over a short range if the light in the room remains constant.

The suitable distance from sensor to line or floor is during 3 to 8 mm. The output

voltage is during 0.1 to 4.8V and digital value from10-bit A/D converter is 20 to 1,000.

Chapter 10

POP-BOT XT line tracking

Figure 10-1 : The operation of ZX-03 Infrared reflector sensor boardwith white and black surface

Infrared LED

Photo-transistor

White surface

10k

TCRT5000

510

+V

GND

OUT

High output voltage

Infrared LED

Photo-transistor

Black surface

10k

TCRT5000

510

+V

GND

OUT

Low output voltagecurr

ent

flow

curr

ent

flow


10.2 Line tracking activity preparation

10.2.1 Demonstration field component preparation

All activities are described in this chapter use the “make your own demonstration

field” . They includes white surface with black line and black surface with white line field.

You must make your own field using the items below (not provided in this kit) :

1. Polypropylene board or PP board white and Black sheet. Size is 90 x 60 cm.

However the sizing can change depending on your applications and resoucres.

2. Black and white electrical tape 1 inches width 2 rolls per color. 3M brand is

recommended.

3. Scissors or a Cutter

10.2.2 Set the reference value for line tracking activity withanalogRead() function

POP-BOT XT can detect the difference between lines and surface by reading the

infrared reflector sensors value via the analog input ports. POP-BOT XT programming uses

the analogRead() function of Arduino for reading any analog sensor port.

POP-BOT XT reads the black line and surface data with low value (less than 400

and minimum is 0) and reads the white line and surface data with high value (higher than

500 and maximum is 1023). The reference value for making the decision about line or

surface is average value from summing of black and white surface as follows :

Reference value = (White surface value + black surface value) / 2

The activity 9 shows the detail of the reference value for this line tracking activity.


Activity 9 : Testing black and white area

The POP-BOT XT robot is attached with 2 of Infrared reflector modules at bottom of

the robot base. This activity will only dwell on the programming section.

Before developing the robot to track the line, developers must program the robot

to detect the difference between black and white surface.

(A9.1) Open the Arduino IDE and create the sketch code from Listing A9-1.

(A9.2) Upload the sketch to the robot. Disconnect the download cable.

(A9.3) Make the black & white testing sheet similar to the illustration as shown below. The

white surface area is 30 x 30 cm. and black surface is 30 x 30cm. (recommended).

(A9.4) Check the connection of both sensors again. The left ZX-03 sensor connect with port

18/A0 and right sensor connect with port 19/A1.


void setup()

{

setTextSize(3);

glcdMode(3);

glcd(1,1,"Press OK"); // Start message

sw_ok_press(); // Wait for the OK switch pressing

}

void loop()

{

glcd(1,1,"L=%d ",analog(0)); // Left ZX-03 value

glcd(3,1,"R=%d ",analog(1)); // Right ZX-03 value

sleep(100);

}

Listing A9-1 : SurfaceRead.ino ; sketch file for reading the surfacecolor and shows the value on the color display of the POP-BOT XT


(A9.5) Place the robot on the black surface. See the detection data from the color display.

Black surface values will range from 80 to 250.

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(A9.6) Place the robot on the white surface. See the detection data from the color display.

White surface values will range from 700 to1000.

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The result is :

The black surface value is between 80 and 250

The white surface value is between 700 and 1000

The example reference value for detecting the line would be an average,

(100+900) /2 = 500.


Activity 10 : AlarmBOT

This is a sample application to make the simple alarm system. When the robot is

lifted from the floor (the power is still on), the ZX-03 sensor that is installed bottom of the

robot chasis can not detect the reflected light. The reading is very low (less than black

value).

(A10.1) Open Arduino1.0 IDE and type the Listing A10-1.

(A10.2) Compile and upload to the POP-BOT XT. Disconnect the USB cable.

(A10.3) Place the robot on the floor. Then turn on power.

The robot will not do any work. The only indicator light is the on and the color

display screen will be black.

(A10.4) Try to lift the robot off the floor.

The POP-BOT XT will drive a warning sound alarm and the color display of the POP-

BOT XT is changed to red to alert you that the robot was lifted up off the floor.

#include <popxt.h> // Iclude the main library

void setup()

{}

void loop()

{

if(analog(0)<20) // Read and check the left sensor value ch.0// lower 20

{

sound(2500,500); // If correct, drive alarm sound

glcdFillScreen(GLCD_RED); // Change background to red

}

else

{


}

}

Listing A10-1 : AlarmBOT.ino ; sketch file for AlarmBOT applicationof the POP-BOT XT


Activity 11 : POP-BOT XT Edge detection

This activity is extended from the Activity 10. The POP-BOT XT can detect no light

reflected status. This activity will show about using infrared reflector sensors for surface

detection to control the robot move on the table and not fall off the edge of the table !

With a simple change of the position of the sensors and a simple program, you can

adapt the POP-BOT XT to edge detection. Start assembling the mechanical parts place

the sensors in the right position and create the Arduino sketch for the table surface testing.

This capability can be used to detect the area with a desk top or on the board at the

floor. Then write a program to make POP-BOT XT robot can move in the area.

(A11.1) Change the ZX-03 sensor position from bottom of the robot chasis to front by using

5-hole strip joiners, 3 x 15mm. screws and 3mm. nuts. The Edging detection robot will be

ready for programming following the picture below.

(A11.2) Use the same connection of both ZX-03 sensor same the previous activity.

(A11.3) Turn-on the robot. Connect USB cable between the robot and the computer.

(A11.4) Create the code following the Listing A11-1. Compile and upload the code or

sketch to POP-BOT XT controller board by clicking on button or select menu File >

Upload

(A11.5) Turn off power and remove the USB cable.


#include <popxt.h> // Include the main libraryint L,R;void setup(){ setTextSize(2); // Set text size 2x glcd(1,1,"Press OK"); // Show the start message glcd(2,1,"to Start"); sw_ok_press(); // Wait for the OK switch pressing glcdClear(); glcd(1,1,"Moving..."); // Show the operation message}void loop(){ fd(60); // Move forward L=analog(0); // Define A0 sensor as Left sensor R=analog(1); // Define A1 sensor as Right sensor if (L<500&&R<500) // Both sensors out of the area { bk(80); // Move backward sound(1000,100); // Warn the out of area by sounding sleep(500); sr(60); // Spin right to change direction sleep(300); } else if(L<500) // The left sensor out of the area { bk(80); // Movce backward sound(1500,100); // Warn the out of area with the different sound

// frequency sleep(400); sr(60); // Spin right to change direction sleep(300); } else if(R<500) // The right sensor out of the area { bk(80); // Movce backward sound(1500,100); // Warn the out of area with the sound sleep(300); sl(60); // Spin left to change direction sleep(500); }}

Programming hint

There is 2 important variables; L and R for storing the value from ZX-03 sensors on both the

left and right. Thus, use the variable values to compare with the reference value with IF statement

to check the robot move out the table. Before the robot moves, the controller will move the

robot backward and drive a warning sound. After that, it will spin to change its direction.

From the code, execute the sound() function after bk() function. This is because the sound()

function takes time to work. If executed before moving backward, the robot may fall off the

table while the robot is generating the alarm sound.

Liusting A11-1 : EdgeDetect.ino ; sketch file for edge detectionapplication of the POP-BOT XT


(A11.6) Place the robot on the table. Turn on and press the OK switch to start.

POP-BOT XT moves forward until the sensor is out from the table’s edge. It will

change the movement direction following these scenarios :

1. Both sensors are out from table’s edge : the robot moves backward and spins

right then moves forward again.

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spins right then moves forward again.

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3. The right sensor is out from talbe’s edge : the robot moves backward and

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Activity 12 : POP-BOT XT line detection

From the activity 9, we get the decision value for detection black and white area.

It is 500. Therefore, the reading sensor value which is lower 500 will be decided to black

color.

This activity demonstrates about black line detection of the POP-BOT XT that using

the result from the activity 9. The robot will move forward continuous until it detects the

black line. It will then stop immediately.

(A12.1) Use the robot platform from the previous activity.

(A12.2) Open the Arduino1.0 IDE to create the sketch following the Lisitng A12-1.

(A12.3) Compile and upload to the POP-BOT XT. Turn off power and remove the USB cable.

(A12.4) Stick the black tape 30cm. length on the white floor.

(A12.5) Place the robot on the floor far from the black line about 6cm. Turn on and press

the OK switch to start.

POP-BOT XT moves forward and stop when any ZX-03 sensor detects the black line.

(A12.6) From testing with the sketch file A12-1, usage of only the ao(); statement is not

enough to stop the movement immediately. We can impove this operation by moving

backward with very short time before stop. The example sketch is shown in Listing A12 -2

(A12.7) Upload the Listing A12-2 to POP-BOT XT and test again. See the different operation.

POP-BOT XT moves and stop when detect the black line similar the previous

operation. The different is stopping better than the previous operation than Listing A12-1.



int L,R;

void setup()

{




glcdClear();

glcd(1,1,"Moving..."); // Show the operation message

fd(60); // Moce forward

while(analog(0)>500); // Detect black line at A0 sensor

ao(); // Stop moving

}

void loop()

{}

Listing A12-1 : BlackLineDetect.ino ; sketch for the black lined e t e c t i o n a c t i v i t y o f t h e P O P -B O T XT


int L,R;

void setup()

{




glcdClear();


fd(60); // Moce forward

while(analog(0)>500); // Detect black line at A0 sensor

bk(100); // Backward short time

sleep(100);


}

void loop()

{}

Listing A12-2 : BlackLineDetect02.ino ; sketch file for the black linedetection activity of the POP-BOT XT. This code is improved therobot stopping after detect the line.


Activity 13 : POP-BOT XT moves along the blackline with 2 sensors

Heart of line tracking robot is control the robot to move over the line by sensors

position bestride the line. The robot moving along the line can be in 4 different scenarios.

(1) Both sensors read values that are white : The robot will move forward. Thus,

this program is written so that the robot moves forward normally.

(2) The left sensor detects the black line : This occurs when the robot is slightly

turned to the right. Thus, the program is written for the robot to move back left to resume

its normal path.

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(3) The right sensor detects the black line : This occurs when the robot is

slightly turned to the left. Thus, the program is written for the robot to move back to the

right to resume its normal path.

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(4) Both sensor detect the black line : the program is written for the robot to

make decision to move forward, tunr left, turn right , backward or stop.


(A13.1) Change the ZX-03 sensor positon back to bottom of the robot chasis.



(A13.4) Make the simple black line field following the illustration below. The white surface

area is 90 x 60 cm. and black line width is 1 inches (2.5 cm.)

(A13.5) Place the POP-BOT XT on the black line field. Turn on the robot. Observe the

robot movement.

POP-BOT XT will move along the black line. It is possible that the robot moves out of

the line. You can improve the precision by editing the program with adjusting the sensor

reference value and adjust to the position of both infrared reflector sensors.

When the robot moves over the crossing line, it drives a beep sound at once.

(A13.6) Try to increase the movement speed to find the maximum speed that the robot

still move along the line completely and not move out from the line.

Troubleshooting about line traking robot

There are some suggestion about checking and find out why the robot does not

move along the line or move not complete.

1. Check the connection of ZX-03 sensors. Follow this activity, the left ZX-03 sensor

connect with port A0/18 and right sensor is connected with port A1/19.

2. Check the motor connection. possible to swop connection or connection is not

complete ? Refer this activity, the left motor is Motor A or Motor 1 and the right motor is

Motor B or Motor 2.

3. Installation the sensor too far from the floor or not ? The suitable distance is 5 to

10mm.

4. Test the reference value from the activity 9 still working or not ?



int L,R;

void setup()

{





}

void loop()

{

L=analog(0); // Get the Left line sensor data

R=analog(1); // Get the Rightt line sensor data

if (L<500&&R<500) // Both sensors detect the black line.

// It means the crossing line

{

fd(60); // Move forward over the corssing line

sound(2000,200); // Beep a sound

}

else if(L>500&&R>500) // Both sensors detect the white area.

// It means robot move bestride the line

{


}

else if(L<500) // The left line sensor detects the black line

// The robot will move out the line in right

{

sl(60); // Spin left a little bit to adjust the robot// over the line

sleep(20);

}

else if(R<500) // The right line sensor detects the black line

// The robot will move out the line in left

{

sr(60); // Spin right a little bit to adjust the robot// over the line

sleep(20);

}

}

Listing A13-1 : SimpleLineTracking.ino ; sketch file for the Simple

line tracking activity of the POP-BOT XT by using 2 line tracking

sensors


Activity 14 : Simple Maze Solving

This activity is example of the Maze Solving competition. The robot will move along

the line and turn to change its ditrection when detect the crossing line. The robotmust

move in this manner until it detects all the crossing lines of the competition

Make the field

Stick the black tape 2.5cm. width on the white surface 90 x 60cm. size. or bigger

following the illustration below.

R90() function - the important function for this activity

To solve this activity, the important factor is the precision turning 90 degrees. The

R90() function is created. It turns right 90 degrees function when detect the crossing line

For a precision turn right when detecting the crossing line, robot must move forward

for a short time and then turn right until the sensors detects the cross line. After that move

forward to along the line continuous. The figure A14-1 shows this function operation.


Figure A14-1 : Shows the robot operation with R90() function to

improve the movement in Maze Solving activity.

Procedure



(A14.3) Place the POP-BOT XT over the line. Tunr on power and press OK switch to start.

POP-BOT XT moves along the line and turn right after detects the crossing line.

Every cross line detection, the robot drives a beep.


#include <popxt.h> // Include the main libraryint L,R;/* 90-Degree Turn right routine */void R90(){ fd(60); // Move forward pass the crossing line sound(1500,100); // Drive the sound signal while(analog(1)>500) // Check the Right line sensor to detect the whitearea { sr(60); // Spin right } while(analog(1)<500) // Spin right until detect the black line { sr(60); // Spin right again to pass the black line }}void setup(){ setTextSize(2); // Set text size 2x glcd(1,1,"Press OK"); // Show the start message sw_ok_press(); // Wait for the OK switch pressing glcd(1,1,"Moving..."); // Show the operation message}void loop(){ L=analog(0); // Get the Left line sensor data R=analog(1); // Get the Rightt line sensor data if (L<500&&R<500) // Both sensors detect the black line.

// It means the crossing line { R90(); // Call 90-Degree Turn right routine } else if(L>500&&R>500) // Both sensors detect the white area.

// It means robot move bestride the line { fd(60); // Move forward with 60% power } else if(L<500) // The left line sensor detects the black line

// The robot will move out the line in right { sl(60); // Spin left a little bit to adjust the robot over

// the line sleep(20); } else if(R<500) // The right line sensor detects the black line

// The robot will move out the line in left { sr(60); // Spin right a little bit to adjust the robot over

// the line sleep(20); }}

Listing A14-1 : SimpleMaze.ino; sketch file for simple maze solving

activity of the POP-BOT XT


Activity 15 : POP-BOT XT with complex linetracking

The robot needs to detect multiple cross lines with with increasing complexity, such

as turn left at the first intersection, turn right at the second intersection, move forwards at

the third intersection and turn right at the forth intersection etc. Users must create some

variable to count the number of intersections that robot detected.

Procedure

(A15.1) Make the demonstration field by using the 2.5mm. width black tape. Stick the

tape on the white surface 90 x 120cm size (or bigger) following the illustration below.




(A15.4) Place the POP-BOT XT over the line. Turn on power and press OK switch to start.

POP-BOT XT moves following the line, turn left when detects the 1st, 2nd, 4th, 5th,

6th, 7th and 8th intersection and turn right at the 3rd intersection. Then, robot drive a

beep at every intersection detected.



int L,R,x=0;

/* 90-Degree Turn right routine */

void R90()

{

fd(60); // Move forward pass the crossing line

sound(1500,100); // Drive the sound signal

while(analog(1)>500) // Check the Right line sensor to detect the whitearea

{

sr(60); // Spin right

}

while(analog(1)<500) // Spin right until detect the black line

{

sr(60); // Spin right again to pass the black line

}

}

/* 90-Degree Turn left routine */

void L90()

{

fd(60); // Move forward pass the crossing line

sound(1500,100); // Drive the sound signal

while(analog(1)>500) // Check the Right line sensor to detect the whitearea

{

sl(60); // Spin right

}

while(analog(1)<500) // Spin right until detect the black line

{

sl(60); // Spin right again to pass the black line

}

}

void setup()

{





}

void loop()

{

L=analog(0); // Get the Left line sensor data

R=analog(1); // Get the Right line sensor data

if (L<500&&R<500) // Both sensors detect the black line. It means the// crossing line

{

if(x==6) // The crossing line counting was complete

{

x=0; // Restart counting


Liusting A15-1 : MultipleCrossingTrack.ino ; sketch file for muitiple

crossing line tracking activity of the POP-BOT XT

}

x++; // Increase the crossing line counting

if (x==3) // Check the 3rd crossing line

{

R90(); // Turn right with 90-degree after detect the 3rd// crossing line

}

else

{

L90(); // If not, turn left with 90-degree

}

}

else if(L>500&&R>500) // Both sensors detect the white area. It means// robot move bestride the line

{


}

else if(L<500) // The left line sensor detects the black line

// The robot will move out the line in right

{

sl(60); // Spin left a little bit to adjust the robot over// the line

sleep(20);

}

else if(R<500) // The right line sensor detects the black line

// The robot will move out the line in left

{

sr(60); // Spin right a little bit to adjust the robot over// the line

sleep(20);

}

}



From chapter 10, we have many examples about interfacing the Infrared reflector

sensors. They are one kind of analog sensor. In this chapter, we will concentrate in interfac-

ing with another analog sensors. It is Infrared distance sensor or Infrared ranger; GP2D120.

We will explore on some of example about using this sensor and applications.

One of the special sensors in robotics is the Infrared Distance sensor. Some people

call it the IR Ranger. With the GP2D120 module, it gives POP-BOT XT the ability for distance

measurement and obstacle detection using an infrared light. Your POP-BOT XT can avoid

obstacles without having to make any physical contact.

11.1 GP2D120 features Uses Infrared light reflection to measure range

Can measure a range from 4 to 30 cm.

4. 5 to 5 V power supply and 33mA electric current

The output voltage range is 0.4 to 2.4V when supplied by +5V

Chapter 11

Touchless object avoiding

Infrared LED transmitter Infrared Receiver

GNDVout Vcc

GP2D120

4 8 12 16 20 24 28 3200

0.4

0.8

1.2

1.6

2.0

2.4

2.8

Output voltage (V)

Distance (cm)

Figure 11-1 : GP2D120 pin assignment, operation and characteristiccurve

1st measure 2nd measure

Not stable 1st output 2nd output n output

n measure

38.3ฑ9.6 ms

5 ms

Measurement

Vout

Supply

* Use Kodak R-27 gray-white

paper. The white side has a

90% reflection rate, made

from a material that reflects

light for range measurement.


GP2D120 Infrared Ranger module has 3 terminals : Supply input (Vcc), Ground

(GND) and Voltage output (Vout). To read the voltage values from the GP2D120, you

must wait until after the acknowledgement period which is around 32 to 52.9 ms.

The output voltage of GP2D120 at a range of 30 cm. and +5V power supply is

between 0.25 to 0.55V, with the mean being 0.4V. At the range of 4 cm., the output

voltage will change at 2.25V± 0.3V.

11.2 Reading GP2D120 with A/D converterThe GP2D120’s output voltage will change according to the detection distance.

For example, Vout 0.5V is equal 26cm. distance and Vout 2V is equal 6cm. distance. The

table 11-1 shows the summary of GP2D120’s Vout and Distance relation.

For interfacing with A/D converter module within microcontroller, the result is raw data

from the A/D conversion. The user will need to use the software to convert the raw data to the

exact distance. You can calculate the approximate distance from the formula below.

15V

2914R

Thus, R as Distance in Centimetre unit

V as Digital data from A/D conversion

For example, see the Table 11-1. The raw data from conversion is 307. It is equal

8cm. distance.

11.3 GP2D120 Infrared ranger libraryFor supporting the GP2D120 sensor, the main library popxt.h also provides the special

library. It is the gp2d120_lib.h.

To using this library, must include at the beginning of the program with this statement :

#include <gp2d120_lib.h>

There is only one function in this library. It is getdist(). This is summary of this

function :

Syntax

unsigned int getdist(char adc_ch)

Parameter

adc_ch - Analog port that connect with GP2D120 (A0 to A7)

Return value

Distance in centimetre unit

Example 11-1

dist = getdist(3); // Read distance from GP1D120 at A3 port

For hardware interfacing, connect this sensor to any analog port of the POP-BOT

XT. which is A0 to A7.


GP2D120output voltage (V)

10-bitA/D converter result

Distance (cm.)

0.4 82 32

0.5 102 26

0.6 123 22

0.7 143 19

0.8 164 16

0.9 184 14

1.0 205 13

1.1 225 12

1.2 246 11

1.3 266 10

1.4 287 9

1.5 307 8

1.6 328 8

1.7 348 7

1.8 369 7

1.9 389 6

2.0 410 6

2.1 430 6

2.2 451 5

2.3 471 5

2.4 492 5

2.5 512 5

2.6 532 4

Table 11-1 : The relation of GP2D120 output voltage, A/D converter

result and Measured distance.

11.4 Warning for the signal cable of the GP2D120The GP2D120 module has a different pin arrangement then that of the POP-BOT XT

controller board, even though it looks similar. Therefore, a special signal cable has already

been made and connected to the GP2D120 module. All the user need to is to connect

the other end of the cable to any of the analog ports of the POP-BOT XT controller board.

DO NOT remove the cable from the module, and do not replace it with signal cables from

other sensor modules.


Activity 16 : POP-BOT XT with GP2D120

Activity 16-1 GP2D120 installation with POP-BOT XT

(A16.1.1) Fix the 2 x 3 holes right-angle metal shaft with GP2D120 module at both installation

holes by using 3 x 10mm. screws and 3mm. nuts following the picture below.

2 x 3 hole right-anglemetal shaftGP2D120 module

3 x 10mm. screw

3mm. nut

hole of metal shaft

(A16.1.2) Attach the GP2D120 in front of the robot chasis by using 3 x 10mm. screws and

3mm. nuts following the pictures below.


(A16.1.3) Connect GP2D120 cable to port 20/A2 of the POP-BOT XT controller board.

Now the POP-BOT XT is ready for touchless object avoidance.

Activity 16-2 Measure distance with GP2D120

GP2D120 module gives the output voltage relate the distannce. The microcontroller

use the analog reading function to get the distance raw data from GP2D120. The POP-

BOT XT also have the special library to read the value. If reading value is high, means the

object is near the GP2D120. In the other hands, low value result means that the object is

far from GP1D120.

จุ ดต อ 20/A2

Listing A16-1 : GP2D120_Reading.ino ; sketch file of GP2D120

distance measurement of the POP-BOT XT


#include <gp2d120_lib.h> // Include GP2D120 sensor library

int raw,dist;

void setup()

{


glcdMode(1); // Set display mode 1




}

void loop()

{

raw=analog(2); // Read the raw sensor data from Analog input 2

dist=getdist(2); // Get the real distance value

glcd(2,1,"RAW = %d ",raw); // Show the raw data on screen

glcd(3,1,"Dist = %d cm",dist); // Show the distance value on screen

sleep(100);

}


(A16.2.1) Open the Arduino1.0 IDE to create the sketch following the Lisitng A15-1.

(A16.2.2) Compile and upload to the POP-BOT XT. Turn off power and remove the USB

cable.

(A16.2.3) Place the POP-BOT XT on the table. Put an object in front of the GP2D120. Turn

on the POP-BOT XT. Try to move an object in and out from GP2D120 sensor. Observe the

result at the color display of the robot.

220 F

100 F

TB6612

ATMega32U4

100

Adjust the distancein range 4 to 32cm.


Activity 17 : Touchless object avoiding robot

With the GP2D120 module, it adds the distance measuring and obstacle detection

using infrared light feature to your robot. Your POP-BOT XT can avoid obstacles without

having to make any physical contact. The detected distance of this activity is 10cm.


(A17.2) Upload the sketch to the robot and disconnect the USB cable.

(A17.3) Place the POP-BOT XT on thefloor. Try to place any object at the front of the robot

and see its operation.

The robot will check the distance of the object in 10cm. range. If not any obstacle,

robot will move forward continue. If found the object, it will move backward, spin left and

move forward again.

The display of the robot will change the color background everytime an object

detecion is detected. The color changing is random from 8 colors including red, green,

blue, yellow, black, white, skyblue and magenta.



#include <gp2d120_lib.h> // Include GP2D120 sensor library

void setup()

{





glcdClear();


}

void loop()

{

fd(70);

if(analog(20)>250) // Detect object in 10cm. or shorter

{

bk(80); // Move backward with 80% power

glcdFillScreen(color[random(8)]); // Change background colr with random

sleep(300);

sl(70); // Spin left to change direction

sleep(600);

}

}

Listing A17-1 : TouchlessObjectAvoider.ino ; sketch file for Touchless

object avoider activity of the POP-BOT XT


POP-BOT XT features more of the RC servo motor output. POP-BOT XT can drive 3 of

small RC servo motors simultaneously. POP-BOT XT controller board supplies the servo motor

supply voltage to Servo output headers already. There is no need for additional batteries

for the servo motor.

12.1 Servo motor introductionFigure 12-1 shows a drawing of a Standard Servo. The plug is used to connect the

servo motor to a power source (Vdd and Vss) and a signal source (a microcontroller I/O

pin). The cable conducts Vdd, Vss and the signal line from the plug into the servo motor.

The horn is the part of the servo that looks like a four-pointed star. When the servo is running,

the horn is the moving part that the microcontroller controls. The case contains the servo’s

control circuits, a DC motor, and gears. These parts work together to take high/low signals

from the microcontroller and convert them into positions held by the servo horn.

Figure 12-2 shows the servo motor cable assignment. It has 3 wires with difference

color; Black for GND or Vss or Negative pole, Red for Vdd or Servo motor supply voltage

and White (sometime is yellow or brown) wire for signal.

The servo motor plug standard has 2 types; S-type and J-type are shown in the

figure 12-3.

Chapter 12

POP-BOT XT with servo motor

Figure 12-1 : Standard servo motor physical

STANDARDSERVO MOTOR

Case

Horn

CablePlug


Controlling of the servo motors is used to pulse controlling. The control pulse is positive

going pulse with length of 1 to 2 ms which is repeated about 50 to 60 times a second. You

can check the details in the figure 12-4. Start by generating a pulse a period 20 millisecond

and adjust the positive pulse width 1 millsecond. The servo motor will move the horn to last

left position. The pulse width 1.5 millisecond move the servo horn to center and pulse

width 2 millsecond causes the servo horn to last right position.

The important specification of servo motor are 2 points, Speed or Servo turn rate or

transit time and Torque. The servo turn rate, or transit time, is used for determining servo

rotational velocity. This is the amount of time it takes for the servo to move a set amount,

usually 60 degrees. For example, suppose you have a servo with a transit time of 0.17sec/

60 degrees at no load. This means it would take nearly half a second to rotate an entire

180 degrees. More if the servo were under a load. This information is very important if high

servo response speed is a requirement of your robot application. It is also useful for

determining the maximum forward velocity of your robot if your servo is modified for full

rotation. Remember, the worst case turning time is when the servo is at the minimum

rotation angle and is then commanded to go to maximum rotation angle, all while under

load. This can take several seconds on a very high torque servo.

Torque is the tendency of a force to rotate an object about an axis. The torque

unit is ounce-inches (oz-in) or kilogram-centimetre (kg-cm). It tell you know about this servo

motor can drive a load weight in 1 oz. to move 1 inche or 1kg. weight to moved 1

centimeter (1oz. = 0.028kg. or 1kg. = 25.274oz.). Normally the RC servo motor has 3.40 kg-

cm/47oz-in torque.

(b) J-type plug(a) S-type plug

Figure 12-2 : Standard Servo motorcable assignment

Figure 12-3 : Standard Servo motorplug type


1 to 2 millsecond pulse

20ms period

(a) Servo motor control pulse

1 millisecond pulse

(b) 1 millisecond pulse causesservo horn moves anti-clockwisedirection to last right position (0o)

1.5 millisecond pulse

(c) 1.5 millisecond pulse causesservo horn moves to center position

2 millisecond pulse

(d) 2 millisecond pulse causesservo horn moves clockwisedirection to last left position (180o)

STANDARDSERVO MOTOR

STANDARDSERVO MOTOR

STANDARDSERVO MOTOR

Figure 12-4 : Timing diagram of pulse control servo motor


12.2 servo() functionThe heart of controlling the servo motor of POP-BOT XT controller board is servo()

function in popxt.h library. We will use a general purpose port to servo output; 30 (SV1), 12

(SV2) and 13 (SV3).

This is sum m ary o f servo()function.

Syntax

void servo(unsigned char _ch, int _pos)

Parameter

_ch - Servo motor output (1 to 3)

_pos - Set the sevo motor shaft poistion (0 to 180 and -1)

If set to -1, disable selected servo motor output


Activity 18 : Simple servo motor control

This activity demonstrates the simple example about control the standard RC servo

motor with a KNOB button on the POP-BOT XT controller board.


(A18.2) Upload the sketch to the robot. Turn off power.

(A18.3) Connect the standard RC servo motor to SERVO PORT 1 (SV1). Make sure the

connection is correct. The black wire is ground (GND), red wire is +Vm and white or yellow

wire is signal (S).

(A18.4)Turn on power, Press the OK switch to start. Adjust the KNOB button on the POP-BOT

XT controller board. Observe the servo motor operation when adjust the KNOB.

Adjusting the KNOB causes the color display to show the KNOB value and servo

motor is driven following the KNOB adjustment.



int x;

void setup()

{

glcdMode(1); // Set display mode 1




glcdClear();

}

void loop()

{

x=map(knob(),80,1023,0,180); // Read KNOB data and adjust to 0 to 180// range for storing in variable

glcd(2,1,"Servo = %d ",x); // Display servo motor position

servo(1,x); // Drive a servo motor1 to target position

}

Listing A18-1 : ServoKnob.ino ; sketch file of simple servo motor control

of the POP-BOT XT


Activity 19 : ObjectHitter-BOT

Activity 19-1 Installation servo motor with POP-BOT XT

(A19.1.1) Attach 2 of the 2 x 3 hole right-angle metal shaft together by using 3 x 6mm.

screws and 3mm. nuts following the picture below.

hole of metal shaft

2 x 3 hole right-angle metal shaft #1

3 x 6mm. screw

3mm. nut

2 x 3 hole right-angle metal shaft#2

(A19.1.2) Unscrew the screw at servo motor shaft and remove the horn. Attach a right-

angle metal shaft with servo motor body by using 3 x 10mm. screws and 3mm. nuts following

the picture below.

metal shaft's hole

The 2 x 3 hole right-anglemetal shaft from step(A19.1.1)

3mm. nut

servo motor

installation hole of servo motor

3 x 10mm.screw

3 x 10mm.screw


(A19.1.3) Attach the servo motor from step (A19.1.2) at the front of the robot chasis (see

the circle) by using 2 sets of 3 x 10mm. screw and 3mm. nut

(A19.1.4) Make an arm from 12-hole strip joiner. Attach it with servo motor shaft. Tighten

with a servo motor screw that release from stpe (A19.1.2). Connect the servo motor to SV1

output. The ObjectHitter-BOT is ready for doing the mission.



void setup()

{




sw_ok_press(); // Wait for OK switch

// pressed

glcdClear();


servo(1,0); // Set servo motor shaft

// to zero postion

sleep(1000);

fd(60); // Robot moves forward

}

void loop()

{

if(analog(0)<500) // Detect the black line

{


servo(1,180); // Drive servo to hit an object

sleep(1000); // Delay 1 second

servo(1,0); // Set servo motor shaft to origin

while(1); // Stop operation

}

}

Activity 19-2 ObjectHitter-BOT basic operation

The mission of this activity is move to find the line and hit an abject at the end of

each line.

(A19.2.1) Open the Arduino IDE and create the sketch code from Listing A19-1.

(A19.2.2) Upload the sketch to the robot. Turn off power.

(A19.2.3) Stick the black line on the white surface. Place the robot far from the black line

30cm.

(A19.2.4) Turn on power. Press the OK switch to start.

POP-BOT XT will move forward to the black line. After detect lhe blakc line, robot

will stop and drive a servo motor to move from 0 degree to 180 degrees and back to 0

degree position again. The arm that connect with servo shaft will move from right to left

and back to left again. The arm will hit an object at the black line.

Listing A19-1 : ServoHitting.ino ; sketch file for controlling the servo

motor to hit an object


Activity 19-3 ObjectHitter-BOT mission

The mission field for this activity is shown below.

START

STOP

From start point, the robot must move following the line and do something when

the robot detects the intersection as follows :

1. Turn left

2. Turn right

3. Move forward

4. Hit the object and move back to the same path

Mission is move to the end of each line to hit the object. Moving path of this mission

is as follows :

1. Detect 1st intersection, robot turn left

2. Detect 2nd intersection, robot hit an object, turn back and move forward.

3. Detect 3rd intersection, robot move forward to cross the intersection.

4. Detect 4th intersection, robot hit an object, turn back and move forward.

5. Detect 5th intersection, robot turn right


(A19.3.1) Open the Arduino IDE and create the sketch code from Listing A19-2.

(A19.3.2) Upload the sketch to the robot. Turn off power.

(A19.3.3) Make the mission field by using the 2.5cm. width black tape and the white board.

(A19.3.4) Place the robot on the start point

(A19.3.5) Turn on power. Press the OK switch to start.

The POP-BOT XT moves and do mission following the illustration below :


#include <popxt.h> // Include the main libraryint L,R,x=0,y=0;/* Move forward funtion */void FF(){ fd(60); sleep(300);}/* 90-Degree Turn right function */void R90(){ fd(60); // Move forward pass the crossing line sound(1500,100); // Drive the sound signal while(analog(1)>500) // Check the Right line sensor to detect the whitearea { sr(60); // Spin right } while(analog(1)<500) // Spin right until detect the black line { sr(60); // Spin right again to pass the black line }}/* 90-Degree Turn left function */void L90(){ fd(60); // Move forward pass the crossing line sound(1500,100); // Drive the sound signal while(analog(1)>500) // Check the Right line sensor to detect the whitearea { sl(60); // Spin right } while(analog(1)<500) // Spin right until detect the black line { sl(60); // Spin right again to pass the black line }}/* Hit object function */void hit(){ bk(100); // Move backward short time sleep(50); ao(); // Stop motor servo(1,180); // Drive servo motor to 180-degree position sleep(1000); servo(1,0); // Drive servo motor back to 0-degree position

bk(60); // Move backward sleep(200); R90(); // 90-degree turn right}void setup(){ setTextSize(2); // Set text size 2x glcd(1,1,"Press OK"); // Show the start message glcd(2,1,"to Start"); sw_ok_press(); // Wait for OK switch pressed glcdClear(); glcd(1,1,"Let's go!"); // Show operation message}


void loop(){ L=analog(0); // Read the Left line sensor value R=analog(1); // Read the Right line sensor value if (L<500&&R<500) // Detect the crossing line { if(x==5) // The crossing line counting was complete { x=0; // Restart counting y++; // Increase branch counter if (y==4) // The branch counting was complete { ao(); // Stop the robot

servo (1,-1); // Stop servo motor while(1); } } x++; // Increase the line crossing counter if (x==1) // 1st crossing { L90(); // Turn left } else if(x==2||x==4) // 2nd and 4th crossing { hit(); // Hit the object } else if (x==3) // 3rd crossing { FF(); // Move forward } else if (x==5) // 5th crossing { R90(); // 90-degree turn right } } else if(L>500&&R>500) // Both sensors detect the white area. It means

// robot move bestride the line { fd(60); // Move forward with 60% power } else if(L<500) // The left line sensor detects the black line

// The robot will move out the line in right { sl(60); // Spin left a little bit to adjust the robot

// over the line sleep(20); } else if(R<500) // The right line sensor detects the black line

// The robot will move out the line in left { sr(60); // Spin right a little bit to adjust the robot

// over the line sleep(20); }}

Listing A19-2 : ObjectHitterBOT.ino ; sketch file for ObjectHitter-BOT

mission of the POP-BOT XT


About this mission operation is described as

follows :

Firstly, POP-BOT XT moves along the line. After

meet the 1st intersection, it turns left and moves forward

until it meets the 2nd intersection. It drives a servo motor

to hit an object at the end of line. After that, it turns

back and moves forward to the main path.

Robot will meets the 3rd intersection at the main

path. It moves forward over this intersection and moves

to meets the 4th intersection. After that it drives a servo

motor again to hit the object at the end of line. Then it

turns back and moves forward back to the main path

again.

It meets the 5th at the main path then turns right.

The movement will loop to detect the 1st intersection.

POP-BOT XT will move, detect the intersection and drive

the servo motor to hit object at the end of each line.

After it hits all object already, it moves to the Stop

point. The mission is completed.

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