1/24/2008Physics 880:185:06 Lesson 11 MiniSumo Robotics Camp June 21 – July 2, 2010 Instructor: Dr. Dale Olson, PhD Full Professor UNI Physics Course co-author: Mr. Randy Dumse New Micros, Inc., and Adjunct instructor, UNI Physics

1/24/2008Physics 880:185:06 Lesson 12 MiniSumo Robotics Camp Introduction to camp Line following demonstrated Mini-sumo demonstrated

1/24/2008Physics 880:185:06 Lesson 13 Laboratory Projects in Robotics This camp >tada< So what will you do?

1/24/2008Physics 880:185:06 Lesson 14 MiniSumo Robotics Camp You will learn… …perhaps…

1/24/2008Physics 880:185:06 Lesson 15 Intro to (Mobile) Robotics Not really _all_ of robotics Mobile Robotics With a Digital Electronics focus …or…

1/24/2008Physics 880:185:06 Lesson 16 Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals …or…

1/24/2008Physics 880:185:06 Lesson 17 Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts …or…

1/24/2008Physics 880:185:06 Lesson 18 Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata …or…

1/24/2008Physics 880:185:06 Lesson 19 Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming …or…

1/24/2008Physics 880:185:06 Lesson 110 Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming With labs …or…

1/24/2008Physics 880:185:06 Lesson 111 Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming And Mini Sumo assembly …or…

1/24/2008Physics 880:185:06 Lesson 112 Intro to Mobile Robotics With a Digital Electronics focus And Microprocessor fundamentals And Real Time Programming concepts And FSM Automata Behavior Based Programming With labs And Mini Sumo assembly With final Competition YES!

1/24/2008Physics 880:185:06 Lesson 113 MiniSumo Robotics Camp Schedule M-F Mornings: 9:00 am – noon M-F Afternoons: 1:30 pm – 3:00 pm Starting: June 21 st Ending: July 2, 2010, With Mini Sumo Contest Two weeks

1/24/2008Physics 880:185:06 Lesson 114 MiniSumo Robotics Camp Useful references: Robot Sumo The Official Guide –Author: Pete Miles –Publisher: Osborne, 2002 Starting FORTH, by Leo Brodie: –Electronic; on-line copy Other reading: URL links will be provided.

1/24/2008Physics 880:185:06 Lesson 115 MiniSumo Robotics Camp Students will have many occasions to use computers in this course. UNI Information Technology Students has provided students in this class with the following temporary password: Temp$123 Log, then you will be required to change your password.

1/24/2008Physics 880:185:06 Lesson 116 Some goals: Level 1 –Make robot compete –Keep a brief journal of progress, making an entry every one or two hours. (For benefit of future camps and campers.) Level 2 –Add at least one strategy or sensor Level –Add multiple strategies or sensors

1/24/2008Physics 880:185:06 Lesson 117 Special advantages of the camp Instructor –40+ years Physics Instruction –Widely published in Physics –Experience in Optics, Electronics and Electro-optics Computers and robotics equipment supplied We have an expert back-up person: Mr. Randy Dumse –40+ Years electronics experience –Professionally recognized (awards) –Widely published in electronics –Contest winner (Mini Sumo and Line following)

1/24/2008Physics 880:185:06 Lesson 118 Disadvantages of this class You will want to do even more than you will have time for. Now matter how much you learn about programming the microprocessor, at the end of the camp you will say: I wish I could have learned more about programming using the FORTH language.

1/24/2008Physics 880:185:06 Lesson 119 What are challenges of this class The breadth of the topic, many fields The intensity of topic coverage (Non)Availability of printed material Computer language unusual

1/24/2008Physics 880:185:06 Lesson 120 What are opportunities of this class Principles translate to many fields Exceptional skills, high demand Can participate in future UNI MiniSumo Invitational Contests. See: FUN!

1/24/2008Physics 880:185:06 Lesson 121 Power-up μP Microprocessor (PlugaPod) power-up –Slider switch turns provided microprocessor on and off. –Connecting/disconnecting battery pack. –Removing and installing batteries in pack One four-battery pack One two-battery pack.

1/24/2008Physics 880:185:06 Lesson 122 Power-up μP –When you get home you will need to purchase rechargeable batteries and a charger. Instructor will provide a url where charger. can be ordered on-line. Charger and several batteries will cost $35 to $40 dollars. Then, additional batteries are about $2 to $3 each. You will need twelve batteries. A voltmeter would be another good tool. –Measure battery-pack voltage with a voltmeter

1/24/2008Physics 880:185:06 Lesson 123 What to expect to do (1) Learn how to enter code into the microprocessor Sense status of photodetector (digital) Display status of photodetector on uP Write a scan loop on uP Generate PWM from uP Control RC Servo position by PWM from uP Modify RC Servo for continuous rotation Control RC Servo for speed by PWM from uP Alter RC Servo speed based on photodetector input Build Mini Sumo robot chassis Combining skills, make robot line follow

1/24/2008Physics 880:185:06 Lesson 124 What to expect to do (2) Read A/D converter, display results Read Sharp Ranging Sensor, display results Read Pulse Width Timer, display results Read Sonar Ranging Sensor, display results Diagram a Finite State Machine (FSM) Program a Finite State Machine Combine multiple Finite State Machines Add sensors to Mini Sumo robot chassis Combining skills, make a functional Mini Sumo robot

1/24/2008Physics 880:185:06 Lesson 125 What to expect to do (2) Read A/D converter, display results Read Sharp Ranging Sensor, display results Read Pulse Width Timer, display results Read Sonar Ranging Sensor, display results Diagram a Finite State Machine (FSM) Program a Finite State Machine Combine multiple Finite State Machines Add sensors to Mini Sumo robot chassis Combining skills, make a functional Mini Sumo robot

1/24/2008Physics 880:185:06 Lesson 126 What to expect to do (3) Compete to win

1/24/2008Physics 880:185:06 Lesson 127 Related theory Electronic Theory Semiconductor Theory Photoelectric (Quantum) Theory Digital Theory Sensor Theory Mechanical/Kinematics Theory Behavior/Subsumption Theory Gaming Strategy

1/24/2008Physics 880:185:06 Lesson 128 Programming language / OS: IsoMax™ Resident on uP Interactive, monitor while running Direct access to machine internals State Machine paradigm Excellent for Real Time Inherently multitasking Embedded, can be flashed, autostarted

1/24/2008Physics 880:185:06 Lesson 129 Programming language: FORTH Forth procedural portion under IsoMax™ Forth is archaic, but powerful, widely used in special applications such as space programs, controls, rapid prototyping Forth is stack-based, which can be difficult Forth is Interactive, which is very useful We will learn by use, and effort

1/24/2008Physics 880:185:06 Lesson 130 Microprocessor Board PlugaPod™ –DSP56F803 –LEDs –Digital I/O –A/D –Timers –PWM –Internal Flash Storage

1/24/2008Physics 880:185:06 Lesson 131 Microprocessor Board DSP56F803 –Freescale (Motorola) –Modern Design (~2000) –Digital Signal Processor –80 MHz (40MIPs) –Motion Control Hardware –General Purpose Controller

1/24/2008Physics 880:185:06 Lesson 132 Program Development Communicate interactively with uP Develop source code in text editor on PC Download source code to uP Link from PC to uP –by Bluetooth module or –USB to RS-232 converter (wire) Interactively test results Repeat as required

1/24/2008Physics 880:185:06 Lesson 133 Use of Computers Are terminal for communications Are editor for source code Are storage for source code Used for eLearning material Used for reference material from web Not used for personal , browsing

1/24/2008Physics 880:185:06 Lesson 134 Use of Computres Source code will be downloaded to robots

1/24/2008Physics 880:185:06 Lesson 135 Laptops are not… The robot’s brains Machines to play games on Browsers of unrelated web sites A place to check non-class from For dorm room use, or any use outside class/lab

1/24/2008Physics 880:185:06 Lesson 136 Building of Robots Each student will build his own robot Each student must compete with own robot Chassis will be assembled RC Servo’s will be modified, mounted Sensors will be mounted Microprocessor attached Program downloaded, tested, installed

1/24/2008Physics 880:185:06 Lesson 137 The Kit Mark III Mini Sumo hardware kit

1/24/2008Physics 880:185:06 Lesson 138 RC Servos The RC Servos are the power train for the robot

1/24/2008Physics 880:185:06 Lesson 139 Line Sensors The Line sensors detect edges for the robot

1/24/2008Physics 880:185:06 Lesson 140 Sharp Rangers The Sharp Rangers detect the “enemy” for the robot

1/24/2008Physics 880:185:06 Lesson 141 Open eLearning More later. This is still being set up for the camp.

1/24/2008Physics 880:185:06 Lesson 142 Do we keep the robots? Yes. You have paid for them. However: –They do not come with batteries. Compete in next time’s Open Contest

1/24/2008Physics 880:185:06 Lesson 143 Student Introductions Students should introduce themselves by station, 1-8, clockwise from above view, starting at side away from door Please give name, class (soph, jr, senior), major, and any special experience with electronics or robotics

1/24/2008Physics 880:185:06 Lesson 144 Intro to Mini Sumo & Rules

1/24/2008Physics 880:185:06 Lesson 145 Mini Sumo Video Viewing (1)

1/24/2008Physics 880:185:06 Lesson 146 Mini Sumo Video Viewing (2)

1/24/2008Physics 880:185:06 Lesson 147 Discussion of Mini Sumo Build Mark III Mini Sumo kitsMark III Mini Sumo kits Use PlugaPod™ uPPlugaPod™ Modify RC Servos for continuous rotationModify RC Servos Install and test line sensorsline sensors Test as Line follower Add Sharp rangersSharp rangers Test as Mini Sumo Students make own modifications

1/24/2008Physics 880:185:06 Lesson 148 Get IM addresses from MSN We will conference together so instructor can send links through IM. Each station needs to apply for address Each station to add to contacts in