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Eric Nantel 18.1 2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
4 <td valign="top" align="left"><b><font size="2" face="Verdana">A4WD1 Tutorial for Autonomous Behavior v1.0</font></b>
5 <p><b><font size="2" face="Verdana">Updated 12/20/2011</font></b></p>
6 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
7 <p><font size="2" face="Verdana">Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to the
8 Lexan.</font></p>
9 <p><font size="2" face="Verdana">Note: This guide follows the assembly guide. The Sabertooth has already been installed.</font></p>
10 <p><font size="2" face="Verdana"><b>Software:<br>
11 </b>&nbsp; - Basic Micro Studio</font></p></td>
12 <td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton03.jpg" border="2" hspace="10" ><br>
13 <b>Image of A4WD1.</b></font></td>
14 </tr>
15 <tr>
16 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font>
17 <hr color="#808080">
18 </td>
19 </tr>
20 <tr>
21 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
22 </tr>
23 <tr>
24 <td valign="top" align="left"><b><font size="2" face="Verdana">Step 1. Mounting the Bot Board II</font></b><font size="2" face="Verdana"><br>
25 Add the four standoffs for the Bot Board II to the robot's top panel as shown. Use four .250" hex socket head screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
26 &nbsp;</font>
27 <table border="0" >
28 <tbody><tr>
29 <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
30 <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
31 </tr>
32 <tr>
33 <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4250hscs.gif" ></b></font></td>
34 <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4375hns.gif" ></b></font></td>
35 </tr>
36 </tbody></table>
37 </td>
38 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1p01.jpg" border="2" hspace="10" ><br>
39 Figure 1.</font></td>
40 </tr>
41 <tr>
42 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
43 </tr>
44 <tr>
45 <td valign="top" align="left"><b><font size="2" face="Verdana">Step 2.</font></b><font size="2" face="Verdana"><br>
46 Install the Bot Board as shown, using four of the .250" 4-40 screws. Install the Atom Pro chip as shown.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
47 &nbsp;</font>
48 <table border="0" >
49 <tbody><tr>
50 <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
51 <td ><font size="2" face="Verdana"><b>Atom Pro Orientation:</b></font></td>
52 </tr>
53 <tr>
54 <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4250hscs.gif" ></b></font></td>
55 <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/aproinst.gif" ></b></font></td>
56 </tr>
57 </tbody></table>
58 </td>
59 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1p02.jpg" border="2" hspace="10" ><br>
60 Figure 2.</font></td>
61 </tr>
62 <tr>
63 <td valign="top" align="left" colspan="2"><br class="pb">
64 </td>
65 </tr>
66 <tr>
67 <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 3. Connecting Sabertooth to Bot Board II</b><br>
68 The Sabertooth 2x10 R/C was primarily designed to be connected to a remote control receiver. It has a BEC (battery elimination circuit) that
69 puts 5vdc on the red wires to power the receiver. Because the Bot Board II has its own power supply, it is necessary to bypass the BEC.</font>
70 <p><font size="2" face="Verdana">Use an exacto knife to <b>carefully</b> pry the black tab up and slip the red wire out of the black housing as
71 shown in Figure 3.</font></p>
72 <p><font size="2" face="Verdana">Bend the red wires up and use electrical tape to cover them as shown. This will prevent accidental shorts.</font></p>
73 </td>
74 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/stbec.jpg" border="2" hspace="10" ><br>
75 Figure 3.</font></td>
76 </tr>
77 <tr>
78 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
79 </tr>
80 <tr>
81 <td valign="top" align="left"><b><font size="2" face="Verdana">Step 4.</font></b><font size="2" face="Verdana"><br>
82 Refer to Table 4 and the schematic (Figure 4) for Bot Board II and Sabertooth wiring connections. Double check your wiring. Make sure the red
83 battery wire goes to the (+) terminal!</font></td>
84 <td align="center" valign="top" >
85 <div align="center">
86 <center>
87 <table border="0">
88 <tbody><tr>
89 <td >
90 <table border="1" bordercolor="#000000" >
91 <tbody><tr>
92 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers
93 &amp; Connections</font></td>
94 </tr>
95 <tr>
96 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
97 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6vdc battery to VS</font></td>
98 </tr>
99 <tr>
100 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
101 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
102 </tr>
103 <tr>
104 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
105 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">A, B, C Button</font></td>
106 </tr>
107 <tr>
108 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
109 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VS to VL</font></td>
110 </tr>
111 <tr>
112 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
113 Connections</font></td>
114 </tr>
115 <tr>
116 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
117 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">12vdc battery</font></td>
118 </tr>
119 <tr>
120 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch1</font></td>
121 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P0</font></td>
122 </tr>
123 <tr>
124 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch2</font></td>
125 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P1</font></td>
126 </tr>
127 </tbody></table>
128 </td>
129 </tr>
130 <tr>
131 <td >
132 <p align="center"><font size="2" face="Verdana">Table 4</font></p></td>
133 </tr>
134 </tbody></table>
135 </center>
136 </div></td>
137 </tr>
138 <tr>
139 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
140 </tr>
141 <tr>
142 <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 5.</b><br>
143 Set the Sabertooth switches to the settings listed in Table 5 and Figure 5.<br>
144 &nbsp;</font>
145 <div align="center">
146 <center>
147 <table border="0">
148 <tbody><tr>
149 <td >
150 <table border="1" bordercolor="#000000" >
151 <tbody><tr>
152 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
153 Settings</font></td>
154 </tr>
155 <tr>
156 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">1</font></td>
157 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Independent Control</font></td>
158 </tr>
159 <tr>
160 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">2</font></td>
161 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Exponential</font></td>
162 </tr>
163 <tr>
164 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">3</font></td>
165 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Non-Lithium Mode</font></td>
166 </tr>
167 <tr>
168 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">4</font></td>
169 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">R/C Flip Mode</font></td>
170 </tr>
171 <tr>
172 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">5</font></td>
173 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Autocalibrate</font></td>
174 </tr>
175 <tr>
176 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">6</font></td>
177 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Timeout</font></td>
178 </tr>
179 </tbody></table>
180 </td>
181 </tr>
182 <tr>
183 <td >
184 <p align="center"><font size="2" face="Verdana">Table 5</font></p></td>
185 </tr>
186 </tbody></table>
187 </center>
188 </div>
189 </td>
190 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/st10rc02.gif" border="2" hspace="10" ><br>
191 Figure 5.</font></td>
192 </tr>
193 <tr>
194 <td valign="top" align="left" colspan="2"><br class="pb">
195 </td>
196 </tr>
197 <tr>
198 <td valign="top" align="left" colspan="2">
199 <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 5.<br>
200 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1sch7.gif" ><br>
201 Schematic - Figure 5.</b></font></p>
202 </td>
203 </tr>
204 <tr>
205 <td valign="top" align="left" colspan="2"><br class="pb">
206 </td>
207 </tr>
208 <tr>
209 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6. Programming the Atom Pro</b><br>
Eric Nantel 19.1 210 Download the BASIC Micro Studio development
Eric Nantel 18.1 211 software. Install and run the program on your PC. The goal here is to load a program into the editor and program the Atom Pro with the code. You
212 can use the serial port (D shaped connector with 9 pins sticking out) or a USB-to-serial cable. If you go the USB-to-serial cable route buy a
213 good quality name brand unit. When you have a feel for the program you can load and program your Basic Atom with the BASIC programs listed
214 below.</font>
215 <p><font face="Verdana" size="2">Now it's time to have some fun!</font></p>
216 </td>
217 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/comp.jpg" border="2" hspace="10" ><br>
218 Figure 6.</font></td>
219 </tr>
220 <tr>
221 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
222 </tr>
223 <tr>
224 <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 7.</font></b><font size="2" face="Verdana"><b>
225 Differential or Tank Mode Test (Required)</b><br>
226 Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1tst2.zip" target="_blank">a4wd1tst2.zip</a>) and run it. For this program, on the Bot Board II,
227 the "A" button is left channel throttle, "C" button is right channel throttle, and "B" is a speed and direction
228 reset.</font>
229 <p><font size="2" face="Verdana">This program requires the Sabertooth's Switch 1 to be flipped to the "Off" or "Independent
230 Control" position.</font></p>
231 <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes. Pressing A once results in a beep and slow
232 forward motion (10%) on the left channel only. Pressing nine more times results in 100% power. Continuing to press A will make the motor act as
233 above, except only for the right channel. The C button will control the left motor in a similar manner. Pressing the B button will reset the
234 speed and direction of both left and right.</font></p>
235 <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The green Status1 LED
236 will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out
237 the detected number of lithium cells when lithium mode is enabled.</font></p></td>
238 </tr>
239 <tr>
240 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
241 </tr>
242 <tr>
243 <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 8.</font></b><font size="2" face="Verdana"><b>
244 Throttle and Steering Mode Test (Optional)</b><br>
245 This program requires the Sabertooth's Switch 1 is flipped into the "On" or "Enable Mixed Mode" position!</font>
246 <p><font size="2" face="Verdana">Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1tst1.zip" target="_blank">a4wd1tst1.zip</a>) and run it. For
247 this program, on the Bot Board II, the "B" button is throttle and the "A" and "C" buttons are steering.</font></p>
248 <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes.&nbsp; Pressing B once results in a beep and
249 slow forward motion (10%). Pressing nine more times results in 100% power. After the motor is at 100% power, pressing B will reduce the speed in
250 10% increments until it stops. Continue to press B to make the robot move as above, only in reverse.</font></p>
251 <p><font size="2" face="Verdana">Press Reset, then B twice. Now press C a few times to see the robot make a gradual left turn. Pressing A a few
252 times will return to forward motion, and continuing to press A will result in gradual right turn.</font></p>
253 <p><font size="2" face="Verdana">Experiment with these buttons to understand how throttle and steering can be used to control the vehicle's
254 motion.</font></p>
255 <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The green Status1 LED
256 will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out
257 the detected number of lithium cells when lithium mode is enabled.</font></p>
258 <p><font size="2" face="Verdana"><i>When you're done with this testing program, flip the Sabertooth's Switch 1 back into the "Independent
259 Control" position!</i><br>
260 &nbsp;</font></p></td>
261 </tr>
262 <tr>
263 <td valign="top" align="left" colspan="2"><br class="pb">
264 </td>
265 </tr>
266 <tr>
267 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 9.</font></b><font size="2"><br>
268 Now it's time to set up the A4WD1 for autonomous behavior.</font></font>
269 <p><font size="2" face="Verdana">The code supports three Sharp GP2D12 sensors; two in the front and one in the back.</font></p></td>
270 <td align="center" valign="top" >
271 <div align="center">
272 <center>
273 <table border="0">
274 <tbody><tr>
275 <td >
276 <table border="1" bordercolor="#000000" >
277 <tbody><tr>
278 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers
279 &amp; Connections</font></td>
280 </tr>
281 <tr>
282 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
283 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">AX 0-3 Power Bus Jumper to 5v</font></td>
284 </tr>
285 <tr>
286 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX1</font></td>
287 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Robot's front left sensor</font></td>
288 </tr>
289 <tr>
290 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX2</font></td>
291 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Robot's front right sensor</font></td>
292 </tr>
293 <tr>
294 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX3</font></td>
295 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Rear sensor</font></td>
296 </tr>
297 <tr>
298 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td>
299 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch1</font></td>
300 </tr>
301 <tr>
302 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
303 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch2</font></td>
304 </tr>
305 </tbody></table>
306 </td>
307 </tr>
308 <tr>
309 <td >
310 <p align="center"><font size="2" face="Verdana">Table 9</font></p></td>
311 </tr>
312 </tbody></table>
313 </center>
314 </div>
315 </td>
316 </tr>
317 <tr>
318 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
319 </tr>
320 <tr>
321 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
322 Attach two GP2D12 sensors to the chassis as shown, using either double-sided foam tape or optional multi-purpose sensor housing brackets. The
323 exact angle isn't critical, but will affect the robot's behavior. Experimentation is encouraged.</font>
324 <p><font face="Verdana" size="2">Make sure you place the robot's right sensor on the robot's right side, facing left! Place the robot's left
325 sensor on the robot's left side, facing right! This overlap ensures there isn't a blind spot in the center. If you switch the positions of the
326 sensors accidentally, the robot will turn <i>into</i> objects, instead of away.</font></p>
327 <p><font face="Verdana" size="2">Attach the other GP2D12 sensor at the rear of the robot as shown. Use double-sided foam tape to hold it in
328 place.</font></p></td>
329 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton01.jpg" border="2" hspace="10" ><br>
330 Figure 10.</font></td>
331 </tr>
332 <tr>
333 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
334 </tr>
335 <tr>
336 <td valign="top" align="left" colspan="2">
337 <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 11.<br>
338 &nbsp;<br>
339 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1sch6.gif" ><br>
340 &nbsp;<br>
341 Schematic - Figure 11.</b></font></p>
342 </td>
343 </tr>
344 <tr>
345 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
346 </tr>
347 <tr>
348 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 12.</font></b><font size="2"><br>
349 </font></font><font size="2" face="Verdana">Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1auto.zip" target="_blank">4wd1auto.zip</a>) and
350 program the Atom Pro. You will want to set the bot on something so that the wheels aren't touching the ground.</font>
351 <p><font size="2" face="Verdana">This program allows the robot to roam around the room without bumping into things. It uses three Sharp GP2D12
352 analog distance sensors to "see" things in its environment. Feel free to experiment with the variables and math in the main section of
353 the program. The robot does a very good job navigating without getting stuck. The motor control is based on the GP2D12 sensors with a bias for
354 forward motion. The robot will sometimes back up and turn even though there are no specific instructions to do so. Look for this and other
355 emergent behaviors during your experimentation.</font></p></td>
356 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton02.jpg" border="2" hspace="10" ><br>
357 Figure 12.</font></td>
358 </tr>
359 </tbody></table>
360 </body>
Eric Nantel 1.1 361 {{/html}}

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