location of the cup. Sensors will be added in a future article.
For the program “Pick Up Cup” to work, you will need
a paper or plastic cup (plastic is better in case the robot
crushes it by squeezing too hard). Place the cup 12 inches in
front of the robot. Turn on the power and push the reset
button so the program will start. Since I did not add any
sensors, this robot is running blind and requires you to set up
the environment in a way that the program will function
correctly. Watch how the robot and the program work. If the
cup is too far to the left or right, or too far forward or back,
move it so the robot will be able to pick it up.
You can move the cup until you find the right distance
for placement every time. With my robot on my floor, the cup
placed 12 inches in front and centered works perfectly.
I then modified the program so the cup could be placed
two feet directly in front of the robot.
When the program is launched, the robot moves
forward while the arms go up and out. Then the robot stops,
the arms go down around the cup, the arms close grasping
the cup, the arms go up lifting the cup (see Figure 21), the
robot turns 180 degrees and, moves forward taking the cup.
Have fun changing the program to change the directions
Roger Robot will go and the amount of time he will run.
Troubleshooting
Capacitors and resistors have been included in the Parts
List in case you have a problem with electronic noise from the
low-cost parts of this robot. I wrote the program in a way that
the noise should not bother the function of the robot. The
symptom of the electronic noise shows up when you run a
program that operates any of the onboard motors. When the
program tells a motor to move one direction is when the
problem may show its ugly head. Symptom: motor moves a
little, stops, then moves in a random direction and moves for
random amounts of time. Also, other motors may randomly
move different directions and for different times. I will go into
the placement of filter components in a future article. SV
Parts List 2
• Dremel
• Dremel bits
• Drill
• Drill bits
• Exacto or razor knife
• Electrical tape
• Helping Hands (to help with soldering)
• Multimeter
• Needle nose pliers
• Pliers
• Screwdriver philips and standard
• Soldering Iron
• Solder
• Vise
• Wire cutters
• Wire markers (or tape you can write on)
• Wire stripers
• Wite Out™ Marking Pen (or white paint or correction
fluid)
Extreme Robot Speed Control!
6 14V - 50V
6 Dual 80A H-bridges 150A+ Peak!
6 Adjustable current limiting
6 Adjustable speed slew rate
6 Temperature limiting
6 Three R/C inputs - serial option
6 Many mixing options
6 Flipped Bot Input
6 Rugged extruded Aluminum case
6 4. 25" x 3. 23" x 1.1” - Only 365g
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$29.99 $79.99 $119.99
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6 5V - 18V 6 Plus 12A fwd-only channel 6 Dual 13A H-bridge 45A Peak!
6 1.25“ x 0.5” x 0.25” 6 5V - 18V 6 5V - 24V
6 2. 7“ x 1.6” x 0.5”
6 Control like a servo 6 1.6“ x 1.6” x 0.5”
6 Three R/C inputs - serial option
6 Optional screw term. 6 Four R/C inputs
6 Mixing, Flipped Bot Input
6 Only 5.5g 6 Mixing, Flipped Bot Input
6 Only 28g
6 Only 22g
$199
OSMC - Monster Power H-bridge
6 14V - 50V and 160A over 400A peak!
6 3. 15“ x 4. 5” x 1.5”
6 Control with Stamp or other Micro
6 3 wire interface
6 R/C interface available
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Advanced dual motor
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full-closed-loop motion control. Just take a look at these features!
Motion Control Functions Application Support
Drives all sign-magnitude brushed DC motor 6 PIC18F6722 CPU running at 40MHz
drives such as the OSMC 6 60k+ FLASH available
6 Serial bootloader, no programmer needed
Closed-Loop Features 6 Serial command/monitor in both terminal
6 Closed-loop control of two motors and high-speed binary API mode
6 Full PID position loop 6 I2C slave command interface
6 Trapezoidal path generator 6 Firmware implented in C andASM
6 Adjustable slew rate for smooth transitions 6 C source for main loop and utility routines
6 Non-volatile storage of PID parameters provided free
6 Step-Response PID motor tuning support 6 Linkable device driver function library
6 Quadrature encoder support for each motor provided for building custom applications
6 Terminal mode for interactive tuning and 6 Extensive documentation with Owner’s
debugging Manual and Getting Started Manual
6 Windows GUI under development provided on CD
6 Custom code development services
Open-Loop Features available (contact EE)
6 Two R/C command modes ( 3 input
channels) I/O Connections
6 Two open-loop pot control modes
6 Interactive terminal control of motors 6 Two RS-232 serial ports
6 Adjustable slew rate 6 36 GPIO
6 I2C master and slave ports ( 2 ports)
6 Two motor drive outputs
6 Two quadrature encoder inputs
6 Two Hall-effect current sensors inputs
6 Six 10-bit A/D
6 Two channels of cooling fan control
6 Standard ICD connector
Also from Robot Power
Kits, parts, schematics
Planetary gearmotors
For more Dalf information visit
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Phone: 253-843-2504 sales@robotpower.com
SERVO 01.2007 51
