Slide 1Intel® Confidential

Intel Design and Discovery

Robotics Module

Padraig O Murchu

Education and Research Manager

Corporate Affairs Group

Intel Ireland

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Welcome to Quadrabotz

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Objective of Robotics Session

• Have Fun• Discover the hardware components that make up a robot• Discover the functions of Quadrabotz• Program Quadrabotz to move forward• Program Quadrabotz to move backward• Program Quadrabotz to change gait• Program Quadrabotz to beep• Program Quadrabotz to detect light• Program Quadrabotz to detect objects and take evasive action

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Hardware Components of Quadrabotz

• Chassis

• 3 motors-front middle back

• 4 Legs

• Left and right LED ( emit light )

• Left and Right photodetector ( detect visible and infra red light )

• Micro-controller

• Power source - battery packs

• on/off switch

• Piezo sounder

• Comms socket for PC/programming

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h

Light Sensor

Infra Red LED

Sensors

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Quadrabotz Programming

1. Introduction to Software Programming

2. The Quadrabotz can be programmed in Basic. The programs are written on a PC running Windows and downloaded into the Quadrabotz through an RS232 port.

3. When the Quadrabotz is switched on and the programming cable is plugged in then the Quadrabotz waits for communications from the PC.

4. If the programming cable is unplugged then the Quadrabotz starts to execute its current program.

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Quadrabotz

• If Quadrabotz is turned on, it will beep once a minute.

ZZH

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Plugging in the programming cable

1. Connect comms cable to comms. port on computer (The COM port should have 9 pins) and to the earphone jack port (RS 232) on Quadrabotz.

2. If necessary connect comms cable to USB adapter cable and load USB to serial minidiskette

3. To check for connectivity; Click on Options Comms. A message box appears, as follows:

4. If necessary change the comms port number and try again until you get a successful connection.

5. Turn Quadrabotz on.

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Quadrabotz Motors

• There are 3 motors, - front , middle and back• A Delay command must be inserted after each motor command.

(measured in jiffies: 1 jiffy = 50ms)

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Examples of Motor constants

• xxx all motors stop• LxR the front-left and back-right legs move forward• LLx the front-left leg moves forward; the front section twists to the

left• LLL the front-left and back-left legs move forward; the front section

twists to the left• LRx the front-left leg moves forward; the front section twists to the

rightNote: The middle and back motors cannot move in opposite directions at

the same time.

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Creating your first program for Quadrabotz

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1. Set motor position

2. Create motor command

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3. Set Delay value

4. Create Delay command

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5. Set motor position

6. Create motor command

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7. Set Delay value

8. Create Delay command

9. Run Program

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10. Say Yes!

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11. Program is downloaded

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Program execution

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1. Front left leg moves forward

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2. Do nothing for 14 jiffies (0.7 secs.)

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3. Front right leg moves forward

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4. Do nothing for 14 jiffies (0.7 secs.)

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5. Go back to the first instruction and do it all

again!

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Programming Quadrabotz to walk

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Programming Quadrobotz to walk.

Motor(LxR)

Delay(15)

Motor(xLx)

Delay(10)

Motor(RxL)

Delay(15)

Motor(xRx)

Delay(10)

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Quadrabotz walking on the floor.

• Click the Download button to download the program into the robot.

• Switch the robot off.

• Unplug the cable.

• Switch the robot on again.

• The program in the robot will start to run and will be executed repeatedly.

• Switch the robot off, plug the cable in, and switch the robot on again to await next program.

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Gaits

A gait is a way of walking – a sequence of motor commands.

Quadrabotz is capable of over 2000 different gaits!

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Gaits

The Quadrabotz has six built-in gaits:• Gait(gFwd) :execute one step forwards

• Gait(gLeft) :execute one step turning to the left

• Gait(gRight): execute one step turning to the right

• Gait(gRev) :execute one step backwards

• Gait(gRevL) :execute one step backwards to the left

• Gait(gRevR) :execute one step backwards to the right

•  

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Gaits

• Type-in, download and run this program:•  • Gait(gFwd)•  • The robot will walk forwards.•  

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Gaits

• Try different combinations of gaits, for instance three paces forwards then two backwards and to the left:

• Type-in, download and run this program:•  • Gait(gFwd)• Gait(gFwd)• Gait(gFwd)• Gait(gRevL)• Gait(gRevL)

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Programming Quadrabotz to Sing

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Making Sounds

• Ensure that the robot is plugged in and switched on.• Click the beep button to select the Beep Programming page.• Click in the squared area of the dialog box • Each square corresponds to a different type of beep• Click on the test button to hear the type of beep• The robot will play the beep. • Select a beep and then press the Beep button • Beep statement is now added to the program.

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Sounds

• Type-in, download and run this program

Beep(184)

Beep(131)

Beep(109)

Beep(91)

 

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Sounds• Type-in, download and run this program

Beep(184)Delay(14)Beep(131)Delay(14)Beep(109)Delay(14)Beep(91)Delay(14)

 

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Testing the obstacle sensors

• Quadrabotz has 2 light sensors • The robot’s chip measures the light level seen by the light sensor and

assigns it a base value• Quadrabotz has 2 light emitting diodes• When these are turned on and • If there is an obstacle nearby, then infra red light will be reflected off it

back to the light sensors.• The difference between the two readings is what is shown on the

Measure dialog chart.• The sensitivity of the light sensors depends on how much infra red light

the obstacle reflects and on the background light level.

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h

Light Sensor

Infra Red LED

Sensors

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Testing the obstacle sensors• Switch the robot off, make sure the cable is plugged in and switch the robot

on again.• Click the measure button to display the Measure dialog.• Watch the Obstacle Left and Obstacle Right charts. Wave your hand in front

of the robot’s sensors – the white lines on the chart move up and down.•

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Testing the light sensors

• Switch the robot off, make sure the cable is plugged in and switch the robot on again.

• Click the measure button to display the Measure dialog.• The light sensors on each corner of quadrabotz are sensitive to white and red

light• Watch the Light Left and Light Right charts as you point the robot towards and

away from a window or light source• The white lines on the chart move up or down due to the differing light intensity.

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Threshold Level

• The red line shows the threshold level above which an Event will be triggered.

• Click and drag the mouse over the Light charts to alter the threshold value.

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Sensors in basic

• You can test the value measured by the obstacle detectors and light sensors in If,While and Repeat statements.

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Sensors in basic

• The Quadrabotz has the following sensors•  • LeftObs Left obstacle sensor• RightObs Right obstacle sensor• LeftLight Left light-level sensor• RightLight Right light-level sensor• FrontMotor Front motor sensor• BackMidMotors Mid/Back motor sensor• Timer timer

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Sensors in Basic

Type in and download the following program

If LeftLight > 20 then

Beep(189)

end

The robot measures the light level seen by the left light sensor

It beeps if the level is greater than 20.

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Sensors in basic

• If you click the if Left Bright button on the If programming page, the editor inserts:

• If LeftLight > 20 then• else• end

•

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• You could compare 2 sensor values as follows:

• Type-in, download and run this program

• If LeftLight > RightLight then

Beep(240)

• else

Beep(87)

• end

Sensors in basic

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Sensors in Basic• Timer is a variable that is incremented 4 times a second.

• Type-in, download and run this program

• If Timer > 20 then

• Timer=0

• Beep(240)

• end

• This program beeps every 5 seconds

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Events

An event (something happening in the outside world) allows a program to respond quickly to a sensor.

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1. Select event dialogue

Gait(gFwd)

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2. Select Left Obstacle event

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3. Select motor dialogue

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4. Tilt middle motor to the left and create the

command

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6. Tilt middle motor to the right and create the

command

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7. Just one more delay…

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8. Select beep dialogue and choose a beep type and create the command

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9. Now run the program and observes what

happens when you put your finger in front of the

left sensor

5. Now do a 6 jiffy delay (0.3 secs.)

6. Tilt middle motor to the right and create the

command

7. Just one more delay…

8. Select beep dialogue and choose a beep type and create the command

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10. The robot continuously executes

the ‘Main’ program. When it detects a left obstacle it stops whatever it is doing

in the ‘Main’ program, jumps to the ‘Event LetObs’ program, executes all of the

commands and returns to where it left off in the

‘Main’ program

Motor (xLx)Delay(6)Motor(xRx)Delay(6)Beep(169)

Gait(gFwd)

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Gait(gFwd)

Beep(168) Beep(189)

Gait(gRev)

Gait(gRev)

Gait(gRevL)

Gait(gRevL)

Gait(gRevL

Beep(187)

Gait(gRev)

Gait(gRev)

Gait(gRevR)

Gait(gRevR)

Gait(gRevR)

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Beep(100)

Gait(gRev)

Beep(106)

Gait(gRev)

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Advanced Programming