1. The George Washington University Department of ECE ECE 1010 Intro: Electrical & Computer Engineering
Introducing KIPR Link/Interface and Set-up
Continuation of Programming Skills
Connecting KIPR Link
Making sure connections are fine
Introduction to analog sensors
Dr. S. Ahmadi
Week 2

2. Outline PART I PART II Project Description Programming Exercises
Connecting KIPR Link
Hands-on Programming
Starting IC Program (Downloading Firmware)
Running Programs
PART II
Introduction to Analog Sensors
Project Description

3. PART I: ABOUT THE KIPR WALLABY

5. Connecting the KIPR Wallaby
Connect the Botball to the PC using the USB cable.
Type this IP address into your internet browser :8888

6. Click here to write code for your robot

7. Click Add Project

8. Name Project and click create

9. Then click RUN

10. How to run the program on your robot
Click Programs
Click the program you want to run
Click Run

11. Exercises

12. Sample Beeping Program/*
Program to beep 20 times continuously. */
int main() {
int count=0;
while(count<=20)
beep();
count=count+1; // Incrementing counter }
return 0;
Extra: Wait half a second between beeps.

13. 1

14. Motor control commands
DC motor control commands
fd(n); Rotate motor ‘n’ forward
bk(n); Rotate motor ‘n’ backwards.
motor(n, s); move motor ‘n’ at speed ‘s’
‘s’ range: -100 ~ +100
‘s’>0 forward
‘s’<0 reverse
off(n); turn off motor ‘n’
ao(); turn off all motors

15. Motor Exercise Procedure
Attach the two motors to the connector wires. Next, attach the wire plugs to KIPR Wallaby ports.
Turn the KIPR Wallaby on.
Turn on motor 1 using the motor(n,x) command.
Make motor 1 alternate between a forward and backward direction.
You can change the speed of your motors. For example motor(1,100) means motor 1 is turning at 100 or full speed.

16. Sample Motor Program (Exercise #1)
int main()
{ printf("Press A button to test motors\n");
while(a_button() == 0); //wait until button A is pressed fd(1); // Motor in port 1 go forward
msleep(2000.0); // Sleep for 2 seconds. bk(1); // Motor in port 1 go backward
msleep(2000.0); off(1); // Turn motor in port 1 off
fd(3); // Motor in port 3 go forward
msleep(2000.0); bk(3); // Motor in port 3 go backward
msleep(2000.0); off(3);
return 0; }

17. Motor Control: Exercise #2
Exercise #1: Motor speed control
write IC program to run one motor in three different speeds.
Turn motor #1 on
drive in slow speed for 3 seconds
drive in medium speed for 5 seconds
drive in high speed for 3 seconds
Stop motor

18. Motor Control: Exercise #3

19. SUMMARY of Main Functions from Week 2
fd(int n); Rotate motor ‘n’ forward
bk(int n); Rotate motor ‘n’ backwards.
motor(int n, int s); move motor ‘n’ at speed ‘s’
‘s’ range: -100 ~ +100
‘s’ > 0 – motor moves forward
‘s’ < 0 – motor reverses/moves backward
off(int n); turn off motor ‘n’
ao(); turn off all motors
msleep(int x); // Delays execution of next statement for ‘x’ msecs
beep(); // Causes the handy-board to beep

20. PART II: INTRO TO SENSORS

21. Analog Sensors Outputs a range of integer values.
Range depends on the signal being sensed.
The analog ports are ports 0 – 5.
Actual ports that should be used will depend on the sensor being used.
The three main analog sensors that we will be using are
Light Sensor
Optical Rangefinder Sensor
Infrared Sensor.

22. Analog Ports

23. Analog Sensor 1: Light Sensor
The light sensor included in the kit, can “sense” lightness and darkness.
Connect to analog ports 0-5
Access with function analog10(port#)
Analog values range from
A low value indicates bright light or close proximity to a light source
A high value indicates dark light or far proximity from a light source
Enlarged Light Sensor

24. Analog Sensor 2: IR Reflectance Sensor “Top Hat”
The IR sensor included in the kit, can also “sense” lightness and darkness like the light sensor
Connect to analog ports 0-5
Access with function analog10(port#)
Low values indicate bright light, light color, or close proximity
High values indicate low light, dark color, or distance of several inches
Sensor has a reflectance range of about 3 inches
Enlarged IR Sensor

25. Light Sensor Sample Code
/* Program that measures the reads from the light sensor and displays its output values continuously. */
int main() {
int color=0;
printf(“Light Sensor Sample Program \n");
while(a_button()==0); // Press Start Button
while(1) // Continue infinitely
msleep(500);
color = analog10(0); // Read “lower deck” analog port 0
printf(“Color is %d \n”, color);
// if near 0 – WHITE
// if near BLACK }
return 0;

26. Project 1 Overview

27. Project Description
The aim of this project is to design a robot that moves along a given path, from the Start point, towards the Finish line.
The thick black line acts as the guide for the robot to follow.
As an optional element to the project, after reaching the finish line, the robot should turn around, and go back along the path it came to the starting point.
Robot will be judged on smoothness of journey, and robot design.
Each group will have one chance to demonstrate their project to the judges. Therefore, fully test your project before demonstration.

28. Project #1 - Route 2m 2m
Finish
Start 2m 2m