ROBOBOX 3.

0
CONTENTS

Curriculum

MANUAL BOOK 1

ROBOBOX Overview ................................................................... 2 MICROCONTROLLER ................................................................ 2 SENSORS..................................................................................... 2 STRUCTURAL COMPONENTS.................................................... 3 COMPUTER ................................................................................ 3 MOTORS and WHEELS.............................................................. 3 REMOTE CONTROL ................................................................... 3 What is in the KIT .......................................................................... 4 Accessories................................................................................. 10 TOUCH / SWITCH SENSOR ( ZX-01 ) ...................................... 10 Light Sensor / Detector ( ZX-02 )........................................... 11 Light Reflector ( ZX-03 ).......................................................... 12 LDR ( ZX-06 ) ............................................................................ 13 GP2D120 Sensor ..................................................................... 14 Wheels & DC Motors.............................................................. 15 Tracks and Sprockets............................................................. 16 RF Modules ( UTX-4 & URX-4 )................................................ 17 BUILDING a BASIC ROBOT ........................................................ 17 BUILDING a BASIC ROBOT ........................................................ 18 CONSTRUCTION PHASE.......................................................... 18 CONSTRUCTION PHASE.......................................................... 19 PROGRAMMING the BASIC ROBOT ..................................... 21 SIMPLE MOVEMENT for MODEL I Basic ................................ 22 BUILDING the BUMPER ROBOT ................................................. 29 SUB-FUNCTIONS....................................................................... 34 BUILDING the LIGHT ROBOT...................................................... 36 BUILDING the SURVEYOR .......................................................... 44 BUILDING THE SUMOBOT ........................................................... 49 1 Innovative Experiment Co.,Ltd.

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ROBOBOX Overview
The Robobox 3.0 System consist of many components that are categorized into different groups. They are as follows : - MICROCONTROLLER - SENSORS - STRUCTURAL COMPONENTS - COMPUTER - MOTORS and WHEELS - REMOTE CONTROL

MICROCONTROLLER
This is the main brain and controller of your whole robotic kit. Includes inputs, outputs, power supply, etc.. This is also the unit where you connect your downloading cable from your computer to program your robotic kit.

SENSORS
Included in the kit is a wide range of sensors for your robot to sense the environment, etc..

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STRUCTURAL COMPONENTS
These are the Parts used to create the basic frame of the robot. Such parts include plastic joiners, screws, nuts, chassis, plates, etc

COMPUTER
You will need a PC with LOGOBLOCKS software installed into it for programming and running of the ROBOBOX 3.0 System.

MOTORS and WHEELS

These are the driving force of your robot. This comes in 48:1and 120:1 gear ratio. Wheels and tracks are attached to the motors to allow movement of your ROBOBOX 3.0

REMOTE CONTROL
Control robots via Radio Frequency and the beauty of ID identification. This set include a transmitter and a receiver set. You need to use different frequencies for controlling of different robots.

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What is in the KIT

When you first open your kit, you will see many different components inside. Such includes the microcontroller, wheels, sensors, motors, etc.

1
Opening of your ROBOBOX for the first time.

Many different components can be found in the box.

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Microcontroller IBOX 3.0

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48:1 and 120:1 gear ratio Gear Boxes

UHF RF Modules

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INEX SENSORS

UCON 232 , USB to Serial Convertor

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Screws, Nuts, Spacers

Plastic Joiners

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Tracks and Hubs Set

Plates Set

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Accessories

TOUCH / SWITCH SENSOR ( ZX-01 )

The Touch / Switch Sensor module consist of 3 main components, the Wire input, LED Indication light and the Switch. When the Switch is pressed, it sends a ON Signal through the wire, back to the I-BOX, and the LED is lit. When the Switch is released, it disconnects the circuit and an OFF Signal is recognized by the I-BOX.

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Light Sensor / Detector ( ZX-02 )

GP2D120 Sensor Wheels Tracks Sprockets and Hubs The Light Sensor/Reflector has 2 main components, the Wire RF Modules

output and the Photo-Transistor Component. This module senses LIGHT density and returns a value to the I-BOX. This can be plug into SENSOR1 to SENSOR4 of the I-BOX

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Light Reflector ( ZX-03 )

The Light Reflector consist of 2 parts, the Emitter and the Detector. This simple circuit shows how the INEX light reflector functions. It shoots out an LED light and bounces off the surface which in turns returns back to the detector processing and then giving a digital data value back to the I-BOX it is connected to.

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LDR ( ZX-06 )

The LDR is in 2 parts. The RED LED and the LDR Component. This allows the sensor to detect different Light density and feedbacks to the I-BOX the different Digital Values.

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GP2D120 Sensor

The GP2D120 has identical electronics as the GP2D12, but has special lenses which give it a shorter detection range. This sensor takes a continuous distance reading and reports the distance as an analog voltage with a distance range of 4cm (~1.5") to 30cm (~12"). The interface is 3-wire with power, ground and the output voltage and requires a JST 3pin connector which is included with each detector package. Each package also includes a booklet that contains specifications, describes plugging together the connector, interfacing the detector, and application notes for the GP2D120.

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Wheels & DC Motors

The DC Motors comes in 2 different gear ratios. One set 48:1 and the other 120:1 gear ratio. These are powered by 1.5v motors but delivers a high torque value with the combination of the internal gears. The wheels are plastic moulded wheels with rubber tires attached. These are screwed onto the gear motors with a 3m screw provided.

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Tracks and Sprockets

The Track set is a Tamiya product that is used in conjunction with our customized sprockets that allows it to be connection to the DC Gear motors. These tracks are very useful for tank based vehicular movement.

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RF Modules ( UTX-4 & URX-4 )

This is a unique UHF control product. Connect the URX-4 to your robot via 4 digital inputs. Program the robot according to digital inputs. When the UTX buttons are pressed, the URX will react accordingly and thus sending signals to your robot. You need different frequencies in order to control different robots. However, you need also to ensure that the transmitter ID and the receiver ID are identical for communication to function.

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BUILDING a BASIC ROBOT

asic BOT

The very first of your robots. You will learn how to create and program this robot. With simple movements, your robot will be able to move according to what you program.

I-BOX 3.0

Metal Plate Rubber Spacers

I-BOX Holder Wheels & Tires DC Motors Gearbox Wheel screws

Plastic Spacers

3x10 Screws Metal Spacers

3x10 Screws

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CONSTRUCTION PHASE

1. The first step is to screw on the 2 DC motor gear boxes to the I-BOX holder base. Align the gear boxes as shown below in the diagram and fasten them using screws from the inside of the holder base.

Place the screws from the bottom of the holder

2. Next connect the 25mm metal spacers with the 3mm plastic spacers onto the metal plate provided. This should result in the shown diagram below.

3. Using 3x10 screws, secure the DC Gearboxes with the holder shown in point 1 and with the plate shown in point 2, from the inside of the holder. Screw them tightly and this is will result in the diagram shown below.

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4. Secure 2 angled plastic joiners to be used as stabilizers for your robot in the front and end of the metal base. Use the rubber spacer as a cushion for your plastic joiner as well. Utilize 3x10 screws for this step.

5. Fix on the 2 wheels with their rubber tires attached using the screws DC Gearbox screws provided in this kit. Ensure that the screws are tightened properly to prevent the wheels from being loose.

6. To finish your robot, place the IBOX into the holder and plug in the DC Gearbox wires into the 2 motor outputs on the I-BOX. This is the BASIC MODEL I robot that you will be using to further learn and explore on other models. 20 Innovative Experiment Co.,Ltd.

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PROGRAMMING the BASIC ROBOT

Move back

Center

Move front

In this chapter, you will learn how to setup your Robot for programming, program simple basic movements for your robot which consist of Moving Backwards, Forwards, Waiting, moving in a Zigzag line, etc You will also learn how to program using both the GUI Logoblocks Software as well as Cricket Logo Software Text Based programming. Later in this chapter , you will also experiment on programming your robot to move faster or slower, as well as moving in circles as well as moving in angles.

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SIMPLE MOVEMENT for MODEL I Basic

Proper using of the UCON 232 device
1) 2) 3) 4) 5) Plug in the UCON232 device into one of your USB ports. Use the CDROM provided to install the relevant drivers You will have a new COMM port available. Connect the UCON232 to your IBOX3.0 with the serial cable provided. Run LOGOBLOCKS and choose the appropriate comm. Port for download.

This is a simple program that you will learn on how to program the MODEL I BASIC robot using either LOGO BLOCKS or the CIRCKET LOGO software.

Cricket Logo Code to start ab, onfor 300 end

This small program allows your robot to move forward for 3 seconds

Click on the DOWNLOAD button to download this program into the I-BOX

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You will now learn how to utilize the LOOP command for your robot. This looping allows your robot to continue in an endless loop of whatever commands are placed in this loop. This can be used to program the robot for continuous movement and tasks.

Cricket Logo Code to start loop [ ab, onfor 100 ab, rd ] end This Program programs the robot to loop endlessly the commands for moving forward for 1 second and reversing the directions of Motors A and B. This is how your robot should move for this program. In a Zigzag motion. Try this out a few times to discover for yourself on how the LOOP command is being used.

Observe how your robot moves with the program. 23 Innovative Experiment Co.,Ltd.

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Changing Power of your DC Motors

In this section, you will also learn how to control your I-BOX power output for the DC motors. Try these out with different power levels to see the difference in movement for your robot.

Cricket Logo Code to start ab, setpower 8 wait 100 ab, onfor 100 end

This program sets the power of your I-BOX to FULL and then waits for 1 second before moving forward for another 1 second.

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The Diagram below actually shows the distance traveled by the robot given the same time but with different powers of the Motors.

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Try out this program to make your robot go round in circles.

Cricket Logo Code to start wait 100 a, setpower 3 b, setpower 7 ab, on end

The robot moves round in a circle as the motor on one side is set to 3 and the other is set to 7.

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There are 2 kinds of turning that your robot can maneuver, a curve like turn as well as a pivot like turn. The curve turn usually comprises of one motor having a much lower power compared to the other but moving in the same direction. A Pivot turn on the other hand turns on its spot but this requires an opposite direction on both wheels at the same power level.

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Try out these 2 programs and see how your robot runs. You may also change your wait values as well as your motor power levels.

Cricket Logo Code to start wait 100 loop [ a, onfor 200 wait 100 b, onfor 200 wait 100 ] end

Cricket Logo Code to start wait 10 loop [ a, thisway b, thatway ab, onfor 200 wait 100 ab, rd ab, onfor 200 wait 10 ] end

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BUILDING the BUMPER ROBOT

umper BOT

This robot uses the touch sensor to sense for objects surrounding it. Below shows the parts you require to build this robot.

Nuts

3x10 Screws

Switch Sensors

Plastic Spacers

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In order for the touch sensor to be stable, screw on the plastic joiner to the Touch sensor module with a 3x10 screw and a nut. Connect another plastic joiner to the angled joiner to provide a connection to the robot body.
Plastic Joiner spacer

LED Indicator

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Connect the 2 ready touch sensor modules to the secured 2 plastic joiners. Make sure the screws are fastened tightly

Lastly, Connect the end of the sensor wires to the I-BOX in ports IN0 and IN1.

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Cricket Logo Code to start loop [ if (in 0) [ note 2 100 ] if (in 1) [ note 62 100 ] ] end

The above Diagram shows the programming of the BUMPER Robot to detect both the touch sensors at IN0 and IN1. It continuos endlessly in a loop for these 2 touch sensors.

Cricket Logo Code to start loop [ ab, thatway wait 50 a, thisway wait 20 ] end This digram on the other hand firstly defines the direction of the robot and then movies unti touch sensor at IN0 sense something. On this event, it moves backwards for 5 seconds, turns for 2 seconds.

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1) 2) 3) 4) 5)

the Robot moves forward. The robot hits the wall with its left touch sensor It moves backwards Turns right Move forwards

This is how your robot will react according to the program.

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SUB-FUNCTIONS

Cricket Logo Code to start loop [ ab, thisway ab, on if (in 0) [ left ] if (in 1) [ right ] ] end to left ab, thatway wait 50 a, thisway wait 20 end In this section, you will learn how to define Sub-Functions. A Sub-Function is another set of mini commands that you can call anywhere else in your program. This is especially useful if you are wanting to program many similar action based robot. to right ab, thatway wait 50 b, thisway wait 20 end

The Sub-Function only requires you to write the function commands once and after which you can call it anyway at anytime in the program you want. The above diagram shows the definition of 2 Sub-Functions, LEFT & RIGHT. These 2 functions have its own commands of turning left or right respectively. The Program on the extreme left shows the whole program that uses the LEFT & RIGHT Sub-Functions in the event of the touch sensors activation. 34 Innovative Experiment Co.,Ltd.

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This is how your robot will react according to the program. When its right touch sensor hits the wall, it will move back, turn left and carry on moving. If its left sensor hits the wall, it will move back, turn right and carry on moving.

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BUILDING the LIGHT ROBOT

ight BOT

You will learn how to construct and program the LIGHTBOT. It is similar to the BUMPER BOT, but with different front sensors. This LIGHTBOT only requires 1 sensor and will react according to light.

Light Sensors

Nuts

Plastic Spacer

3x10 Screws

Plastic Spacers

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To Connect the Light sensor, use a 120 degrees plastic joiner and attached this to the light sensor module with a 3x10 screw as shown below.

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Fit 2 other joiners into the front metal base plate of the robot. Secure these with 3x10 screws.

Next, use a series of plastic joiners to fix so that the Light sensor module is facing upwards as shown in the picture on the left.

This is how your LIGHTBOT should look like.

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Cricket Logo Code to start loop [ send (sensor 0) ] end

Create the above program for your robot to test out the Light sensor. Here you will learn about the SEND IR command. This command sends an IR SIGNAL back to the I-BOX for monitoring purpose. Since there is an endless loop, the IR Signals sent are continuous.

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After downloading the program, Make sure your UCON-700 is directly positioned facing your I-BOX. Next, open the Cricket Monitor and press the RUN button on your Robot. You can see there will be constant LED blinking which shows that IR Signals are being sent from your I-BOX to your Computer. Your Cricket Monitor Window will show the difference in the values that the LIGHT SENSOR sends back to the I-BOX.

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Cricket Logo Code to start ab, setpower 1 loop [ ifelse ((sensor 0) > 450) [ ab, thisway ab, on ] [ a, thatway b, thisway ab, onfor 10 ] ] end

The Program above shows that the Robot will continuously turn Until its Light Sensor at SENSOR0 port picks up an increase in LIGHT Density, it will then move forward towards that direction.

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Cricket Logo Code global [ LDR ] to start ab, setpower 2 wait 100 setLDR (sensor 0) setLDR (LDR + 50) wait 100 loop [ ifelse ((sensor 0) > LDR) [ ab, thisway ab, on ] [ a, thatway b, thisway ab, onfor 10 ] ] end

In this above program, you will learn how to firstly define a GLOBAL variable. A global variable is a variable that you can use anywhere else in the program. It works as a storage space for a numeric value of your definition. In this case the GLOBAL variable is ldr and it takes in the value of SENSOR0 in the start. It then goes on to add 50 to itself and continues with an endless loop whereby it checks with the same SENSOR0 whether its greater than the changed ldr. If it satisfies the condition, the vehicle will go backwards, if not, it will turn. Usually, such a program is used to make the robot function in almost all situations irregardless of the light surroundings as its reaction will be dependant on what value it takes in first for comparison later.

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Cricket Logo Code global [ ldr1 LDR0 ] to start loop [ ab, setpower 2 ] wait 100

setLDR0 ((sensor 0) + 60) setldr1 ((sensor 1) + 60) wait 50 loop [ if ((sensor 0) < LDR0 and ((sensor 1) < ldr1)) [ b, on ] if ((sensor 0) > LDR0) [ a, onfor 30 ] if ((sensor 1) > ldr1) [ b, onfor 30 ] ] end

This program also does similar functions compared to the previous program. However, it consists of 2 sensors which will detect light and react accordingly. Notice that in this program, 2 GLOBAL Variables are defined, LDR0 and LDR1 Try this program out and see how your robot reacts

Try out your robot by moving it nearer to a light bulb. Do you see a difference in its reaction?

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BUILDING the SURVEYOR

urveyor BOT

You will learn how to construct a Surveyor Robot. This robot will survey the surrounding using its Light Reflector. Below are the components you need in order to construct this robot.
Light Reflector

Nuts

Plastic Spacer

3x10 Screws

Plastic Spacers

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Use a 120 degrees plastic plate to attach the Light Reflector module using a 3x10 screw and a plastic spacer in between as shown in the picture above.

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There are 3 parts to constructing the arm of your surveyor. The Light Reflector will be placed at the end of this arm.

3 parts

Next, Connect the Light Reflector into one of the SENSOR ports on the I-BOX

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The Program above is to send values of SENSOR3 back to the I-BOX for monitoring

When the Robot is traveling on a white surface and the survey arm Light Reflector is above a white surface, it reads a value of 975 on the cricket monitor window. When the Robots arm is then moved over a black surface, the value of 150 is shown on the cricket monitor window instead. This shows how much a difference there is between a white surface and a black surface.

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Try out this program below. It shows an endless loop of 2 conditions. If SENSOR3 sense that the surface is greater than 100, both motors move backwards. If SENSOR3 sense a value less than 100, both motors move forwards.

Cricket Logo Code to start loop [ if ((sensor 3) > 100) [ ab, thisway ab, on ] if ((sensor 3) > 100) [ ab, thatway ab, onfor 40 a, onfor 30 ] ] end

After programming your Robot, try placing your robot at the edge of a table. Make sure you are ready to catch it if it falls and also make sure that the survey arm is still within the table. Push the RUN button and observe the robot. It will move all the way to the edge of the table and then move backwards instead of falling off. This is so because the Light Reflector senses a change in value above 100

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BUILDING THE SUMOBOT

umo BOT

The SUMOBOT is a similar robot compared to the SURVEYOR as it is equipped with 2 Surveyor ARMS instead of just 1. This allows the robot to move until the edge of the SUMO ring but these sensors will prevent it from falling off.

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The Program below explains how the SUMOBOT functions. IF both sensors sense white surface, move forwards. If the left sensor sense the black surface of the edge of the ring, move backwards and do a small right turn. If the right sensor senses the black surface of the edge of the ring, move backwards and do a small left turn.

Cricket Logo Code to start loop [ if ((sensor 0) > 100 and ((sensor 4) > 100)) [ ab, thisway ab, on ] if ((sensor 3) < 100) [ ab, thatway ab, onfor 20 a, onfor 30 ]

if ((sensor 4) < 100) [ ab, thatway ab, onfor 20 b, onfor 30 ] ] end

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Try your SUMOROBOT out with your friends and see whose robot falls off the ring first. Try also to further modify your robot so that its more intelligent by adding touch sensors to sense if it hits the other robots side.

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