RoboTeam 9/1/2011 Preformed by:Costia Parfeniev, Boris Pinzur Supervised by: Kobi Kohai

Agenda Project Goals Design Zigbee™ Introduction Detailed Architecture Modules structure and Status Short Summary Future Tasks

Project goals Develop a wireless communication infrastructure among several robots for future projects. The project will provide a simple software API for future reuse. The design shall allow using more than 2 robots by revising the application. Create an autonomous system of two robots. Demonstrate the ability to coordinate movement and activity using the Zigbee™ wireless communication.

Design Using a standard 2 level robot base. Which includes: Chassis 2 Servo motors Wheel encoders MSP430 as the main application processor. EZ430-RF2480 board as the communication module. A rotating sensors turret with: 2 IR distance sensors. IR LED beacon. IR photodiode.

Zigbee ™ Explained The Zigbee protocol was created for low-power, low- resource devices, with an easy to use API. Supports several network topologies A Zigbee network consists of a coordinator and several routers or end devices For example: Coordinator - Black Router - Red End Device - White

Zigbee ™ HW PC Interface: End Device

Software/Logical structure Application Remote Communication module Local Wireless Network Sensors Motors Close-range communication and discovery

Physical structure part 1 Zigbee board EZ430-RF2480 Zigbee board EZ430-RF2480 CC2480 MSP430 F2274 MSP430 Board MSP-TS430PZ100 MSP430 Board MSP-TS430PZ100 MSP430FG4618 Power Supply Mobility Left ServoRight Servo Right EncoderLeft Encoder

Physical structure part 2 MSP430 Board MSP-TS430PZ100 MSP430 Board MSP-TS430PZ100 MSP430FG4618 Sensors Turret Servo Forward IR Distance Sensor Back-Facing IR Distance Sensor Close range Discovery IR LED Forward IR Photodiode Back-Facing IR Photodiode

Purpose: Establish a network between the robots. Which will allow coordination and cooperation. Hardware: EZ430-RF2480 Software API (on the MSP430FG4619): Functions: void initCOMM(void) void COMMresetZB(void) void COMMsend(addr, buff, len) Callbacks: void COMMinit(addr) void COMMrecieved(addr, buffer, length) Remote Communication:

Status: The module is connected to the main MSP430 board. The software API is fully implemented. Tests performed: EZ430 -> WLAN -> EZ430 -> MSP430 MSP430 -> EZ430 ->WLAN -> EZ430 ->MSP430 TBD: Full MSP430 ->MSP430 test. Test the reset function. Remote Communication

Motors Purpose: Mobility and control infrastructure. Hardware: 2 servo motors 2 encoders Software API: MOVinit() MOVsetSpeed(speed) MOVRotate(degrees) Status: Hardware installed. TBD: Software API implementation.

Turret Servo Purpose: Setting sensors azimuth. Hardware: Servo. Software API: TURinit() TURsetAngle(degrees) TURgetAngle()

Sensors Purpose: Discovery and distance estimation of near-by objects. Hardware: 2 IR distance sensors, mounted on a servo. Software API: Functions: SENinit() SENgetMeasure(sensorID) Callback: SENmeasureRecieved(sensor ID,distance) Status: A turret prototype is assembled. TBD: Assemble a second turret. Integrate with the main MSP board.

Close-range Discovery Purpose: Identifying near-by robots. Hardware: Beacon - IR LED 2 IR photodiodes Operation: The beacon will transmit the short address of the current robot When the distance sensors identifies a near-by object: Application should check if the IR photodiodes received any valid ID’s. The application should periodically transmit it’s ID. If an ID was received the object is a robot and its Zigbee short address is the ID.

Short summary The architecture of the entire robot is finalized. The API of the various components is defined. The communication model is fully implemented and undergoing testing. A first prototype is in its final stages of hardware assembly and integration. Documentation of the communication module is done.

Development Challenges Robots environmental orientation IR Beacon communication Narrow angle object detection Demo Application definition

Future Tasks Implementing the various API functions. Testing the first prototype as a system. Assembling a second robot, as a replica of the prototype. Developing an application that will demonstrate the robot’s capabilities. Writing a project book.

Thank you