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Eric Nantel 10.1 2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
4 <td valign="top" ><font size="2" face="verdana"><strong>Sumo for
5 Bot Board / BASIC Atom or Pro / Scorpion.</strong></font>
6 <p><font size="2" face="verdana"><strong>Updated: <!--webbot
7 bot="Timestamp" startspan s-type="EDITED" s-format="%m.%d.%y" -->02.15.06<!--webbot
8 bot="Timestamp" i-checksum="13028" endspan --></strong></font></p>
9 <p><font size="2" face="verdana"><b>By Jim
10 Frye &amp; Beth
11 Frye</b></font></p>
12 <p><font size="2" face="verdana">The goal of this tutorial is to build an
13 autonomous sumo using a Bot Board with an Atom 28 or Pro microcontroller,
14 Scorpion motor controller, and various sensors.</font></p>
15 <p><font size="2" face="verdana">Note, in our examples we are using a
16 Viper sumo chassis. However, the fundamental principals explained in this
17 tutorial can be used with any of our sumo chassis. Minor changes to the
18 code may be necessary and are encouraged to fine-tune the performance of
19 your sumo set up. These modifications are simple. For example, a
20 six-wheel-drive sumo will require a larger turning value than a
21 two-wheel-drive to obtain the same results.</font></p>
22 <p><font size="2" face="verdana">This is a work-in-progress, and will be
23 updated as we proceed with the project.</font></p>
24 </td>
Eric Nantel 18.1 25 <td align="center" valign="top" width="320"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsisos.jpg" border="2" hspace="10" ><br>
Eric Nantel 10.1 26 <font size="2" face="verdana"><strong>Current Picture (as of 03.01.04)</strong></font></td>
27 </tr>
28 <tr>
29 <td colspan="2" valign="top">&nbsp;<a name="elec1"></a></td>
30 </tr>
31 <tr>
32 <td valign="top" ><b><font size="2" face="verdana">1. Attaching
33 Scorpion&nbsp; to Chassis</font></b>
Eric Nantel 18.1 34 <p><font size="2" face="verdana"><b>Step 1.</b> Consult the Scorpion <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/WebHome/scorpion.pdf" target="_blank">users
Eric Nantel 10.1 35 manual</a> to disable mixing (tank steer mode) and disable the battery
36 elimination circuitry (BEC). Cut the servo cables to about 3" length,
37 and solder them in the Left and Right positions. Use double-sided foam
38 tape to attach the Scorpion to the chassis as shown in the picture.</font></p></td>
Eric Nantel 18.1 39 <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs03.jpg" border="2" hspace="10" ><br>
Eric Nantel 10.1 40 <font size="2" face="verdana">Figure 1-1.</font></td>
41 </tr>
42 <tr>
43 <td colspan="2" valign="top">&nbsp;<a name="power1"></a></td>
44 </tr>
45 <tr>
46 <td valign="top" ><font size="2" face="verdana"><b>2. Wiring
47 Power to the Electronics</b></font>
48 <p><font size="2" face="verdana"><b>Step 1.</b> Solder the wires onto the
49 DPDT power switch as illustrated. While positioned as shown, flipping the
50 toggle switch down will apply 9vdc to the Bot Board. Flipping the switch
51 up will apply 9vdc to the Bot Board and 14.4vdc to the Scorpion. This is
52 useful for disabling the motors while programming.</font></p>
53 </td>
Eric Nantel 18.1 54 <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs02.jpg" border="2" hspace="10" ><br>
Eric Nantel 10.1 55 <font size="2" face="verdana">Figure 2-1.</font></td>
56 </tr>
57 <tr>
58 <td colspan="2" valign="top">&nbsp;</td>
59 </tr>
60 <tr>
61 <td valign="top" ><font size="2" face="verdana"><b>Step 2.</b>
62 This image illustrates the power switch installed, the 14.4vdc leads going
63 to the Scorpion's battery inputs, and the motor wires connected to the
64 Scorpion's screw terminals. Observe polarity!<br>
65 &nbsp;</font>
66 <div align="center">
67 <center>
68 <font size="2" face="verdana">
69 </font><font size="2" face="verdana"><font size="2" face="verdana">
Eric Nantel 18.1 70 </font></font><table border="1" bordercolor="#FFFFFF">
Eric Nantel 10.1 71 <tbody><tr>
72 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 18.1 73 <p align="center"><font face="Verdana" size="2">Screw Terminal</font></p>
Eric Nantel 10.1 74 </td>
75 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 18.1 76 <p align="center"><font face="Verdana" size="2">Batt. / Motor Wire</font></p></td>
Eric Nantel 10.1 77 </tr>
78 <tr>
Eric Nantel 18.1 79 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">B+</font></td>
80 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Battery
Eric Nantel 10.1 81 +</font></td>
82 </tr>
83 <tr>
Eric Nantel 18.1 84 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">B-</font></td>
85 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Battery
Eric Nantel 10.1 86 -</font></td>
87 </tr>
88 <tr>
Eric Nantel 18.1 89 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">L+</font></td>
90 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left
Eric Nantel 10.1 91 Motor +</font></td>
92 </tr>
93 <tr>
Eric Nantel 18.1 94 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">L-</font></td>
95 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left
Eric Nantel 10.1 96 Motor -</font></td>
97 </tr>
98 <tr>
Eric Nantel 18.1 99 <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">R+</font></td>
100 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right
Eric Nantel 10.1 101 Motor +</font></td>
102 </tr>
103 <tr>
Eric Nantel 18.1 104 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">R-</font></td>
105 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right
Eric Nantel 10.1 106 Motor -</font></td>
107 </tr>
108 <tr>
109 <td bordercolor="#FFFFFF" align="center" colspan="2"><font face="Verdana" size="2"><font size="2" face="verdana">Table
110 </font></font><font face="Verdana" size="2">2</font><font size="2" face="verdana">-2</font></td>
111 </tr>
112 </tbody></table><font size="2" face="verdana"><font size="2" face="verdana">
113 </font></font></center><font size="2" face="verdana"><font size="2" face="verdana">
114 </font></font></div><font size="2" face="verdana"><font size="2" face="verdana">
115 </font></font></td>
Eric Nantel 18.1 116 <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs04.jpg" border="2" hspace="10" ><br>
Eric Nantel 10.1 117 <font size="2" face="verdana">Figure 2-2.</font></td>
118 </tr>
119 <tr>
120 <td valign="top" colspan="2">&nbsp;<a name="prog1"></a></td>
121 </tr>
122 <tr>
123 <td valign="top" ><font size="2" face="verdana"><b>3. Setting Up
124 and Installing the Bot Board and Atom</b></font>
Eric Nantel 24.1 125 <p><font size="2" face="verdana">Consult the Bot Board <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/WebHome/mini-abb-user-guide.pdf" target="_blank">users
Eric Nantel 10.1 126 manual</a> to provide VL to the power bus for I/O 0 - 3, and AX 0 - 3 for
127 the Atom 28. Enable the onboard speaker and the pushbuttons / LEDs (simple
128 user interface). Install the board as shown using the provided hardware.
129 Carefully install the Atom into the Bot Board socket. Install the 9vdc
130 wires from the switch harness. Observe polarity! Plug in the servo cables
131 from the Scorpion with Left being I/O 14 and Right being I/O 15. Plug in
132 the Single Line Detector cables with Left being I/O 2 and Right being I/O
133 3.</font></p></td>
Eric Nantel 18.1 134 <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs06.jpg" border="2" hspace="10" ><br>
Eric Nantel 10.1 135 <font size="2" face="verdana">Figure 3-1.</font></td>
136 </tr>
137 <tr>
138 <td colspan="2" valign="top">&nbsp;<a name="sld01"></a></td>
139 </tr>
140 <tr>
141 <td valign="top" ><font size="2" face="verdana"><b>4. Preparing
142 the Single Line Detectors</b></font>
143 <p><font size="2" face="verdana">Install the charged 7.2vdc battery packs
144 and the 9vdc battery. Turn on the power to the electronics only. Adjust
145 the sensor positions to as low as possible. Place the robot on the sumo
146 ring or other black surface. Adjust the threshold full counterclockwise,
147 then clockwise until the red LED just lights. Then roll the robot to the
148 ring edge, or other white surface, and the LED should go out. Do this to
149 both sides to complete the line detector setup.</font></p></td>
Eric Nantel 18.1 150 <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs07.jpg" border="2" hspace="10" ><br>
Eric Nantel 10.1 151 <font size="2" face="verdana">Figure 4-1.</font></td>
152 </tr>
153 <tr>
154 <td valign="top" colspan="2">&nbsp;<a name="sld02"></a></td>
155 </tr>
156 <tr>
157 <td valign="top" ><b><font size="2" face="Verdana">5. Using
158 Single Line Detectors to stay in the ring</font></b>
159 <p align="left"><font size="2" face="verdana">Download the latest version
Eric Nantel 18.1 160 of the Basic Atom or Pro editor from Basic Micro's.
Eric Nantel 10.1 161 Then download the proper program for your processor from Table 5-1. It
162 uses the pulseout command, which requires updating every 20 mS. Load the
163 program into the editor, and program the Atom chip. The Atom Pro 24 does
164 not have a power on reset. This means you should press Reset after
165 downloading to start the program running.</font></p>
166 <p align="left"><font size="2" face="verdana">This program incorporates a
167 five-second delay which is required in sumo competitions. It then
168 instructs the robot to go forward. If the white line is detected, the
169 robot will stop, back up, and turn away from the detected line. For
170 example, if the Left line detector sees the line, the robot will back up
171 and turn right. The variable "backup" affects how long the robot
172 will back up. The variable "turn" affects how long the robot
Eric Nantel 18.1 173 will turn. Watch these videos to see how your robot should be acting: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.mpg" target="_blank">Without
174 opponent</a>. <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo02.mpg" target="_blank">With
Eric Nantel 10.1 175 opponent</a>.</font></p></td>
176 <td align="center" valign="top" >
177 <div align="center">
178 <center>
179 <font size="2" face="verdana">
Eric Nantel 18.1 180 </font><table border="1" bordercolor="#FFFFFF">
Eric Nantel 10.1 181 <tbody><tr>
182 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 18.1 183 <p align="center"><font face="Verdana" size="2">Bot Board </font><font size="2" face="verdana"><font face="Verdana" size="2">Pin
Eric Nantel 10.1 184 Number</font></font></p><font size="2" face="verdana">
185 </font></td>
186 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 18.1 187 <p align="center"><font face="Verdana" size="2">Connects to...</font></p>
Eric Nantel 10.1 188 </td>
189 </tr>
190 <tr>
Eric Nantel 18.1 191 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P0
Eric Nantel 10.1 192 - P1</font></td>
Eric Nantel 18.1 193 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Not
Eric Nantel 10.1 194 used</font></td>
195 </tr>
196 <tr>
Eric Nantel 18.1 197 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P2</font></td>
198 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left
Eric Nantel 10.1 199 Edge Sensor</font></td>
200 </tr>
201 <tr>
Eric Nantel 18.1 202 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P3</font></td>
203 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right
Eric Nantel 10.1 204 Edge Sensor</font></td>
205 </tr>
206 <tr>
Eric Nantel 18.1 207 <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">P4,
Eric Nantel 10.1 208 P5, P6</font></td>
Eric Nantel 18.1 209 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Push
Eric Nantel 10.1 210 buttons</font></td>
211 </tr>
212 <tr>
Eric Nantel 18.1 213 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P7</font></td>
214 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Not
Eric Nantel 10.1 215 used</font></td>
216 </tr>
217 <tr>
Eric Nantel 18.1 218 <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">P9</font></td>
219 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">(Internal
Eric Nantel 10.1 220 speaker)</font></td>
221 </tr>
222 <tr>
Eric Nantel 18.1 223 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P10
Eric Nantel 10.1 224 - P13</font></td>
Eric Nantel 18.1 225 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Not
Eric Nantel 10.1 226 used</font></td>
227 </tr>
228 <tr>
Eric Nantel 18.1 229 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P14</font></td>
230 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left
Eric Nantel 10.1 231 Motor</font></td>
232 </tr>
233 <tr>
Eric Nantel 18.1 234 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P15</font></td>
235 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right
Eric Nantel 10.1 236 Motor</font></td>
237 </tr>
238 <tr>
Eric Nantel 18.1 239 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">VL</font></td>
240 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">9vdc
Eric Nantel 10.1 241 battery</font></td>
242 </tr>
243 <tr>
Eric Nantel 18.1 244 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">VS</font></td>
245 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Not
Eric Nantel 10.1 246 used</font></td>
247 </tr>
248 <tr>
249 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 18.1 250 <p align="center"><font face="Verdana" size="2">Download</font></p></td>
Eric Nantel 10.1 251 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 18.1 252 <p align="center"><font face="Verdana" size="2">Description</font></p></td>
Eric Nantel 10.1 253 </tr>
254 <tr>
Eric Nantel 24.1 255 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.zip" target="_blank">Line
Eric Nantel 10.1 256 Detectors Program</a></font></td>
Eric Nantel 18.1 257 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">BASIC
Eric Nantel 10.1 258 Atom Pro code</font></td>
259 </tr>
260 <tr>
Eric Nantel 24.1 261 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo11.zip" target="_blank">Line
Eric Nantel 10.1 262 Detectors Program</a></font></td>
Eric Nantel 18.1 263 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">BASIC
Eric Nantel 10.1 264 Atom 28 code</font></td>
265 </tr>
266 <tr>
Eric Nantel 18.1 267 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.mpg" target="_blank">Without
Eric Nantel 10.1 268 Opponent Video</a></font></td>
Eric Nantel 18.1 269 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot's
Eric Nantel 10.1 270 behavior without opponent in ring</font></td>
271 </tr>
272 <tr>
Eric Nantel 18.1 273 <td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo02.mpg" target="_blank"><font size="2" face="Verdana">With
Eric Nantel 10.1 274 Opponent Video</font></a></td>
Eric Nantel 18.1 275 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Bot's
Eric Nantel 10.1 276 behavior with opponent in ring</font></td>
277 </tr>
278 <tr>
279 <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="verdana">Table
280 </font><font face="Verdana" size="2">5</font><font size="2" face="verdana">-1</font></td>
281 </tr>
282 </tbody></table><font size="2" face="verdana">
283 </font></center><font size="2" face="verdana">
284 </font></div><font size="2" face="verdana">
285 </font></td>
286 </tr>
287 <tr>
288 <td valign="top" colspan="2">&nbsp;<a name="altsu1"></a></td>
289 </tr>
290 <tr>
291 <td valign="top"><b><font size="2" face="Verdana">6. Alternate
292 Startup Behaviors</font></b>
293 <p align="left"><font size="2" face="verdana">Download the alternate
294 startup behaviors code from table 6-1 and load it into the editor. Program
295 the Atom chip. (This program also has the stay-in-the-ring functionality
296 of previous programs.)</font></p>
297 <p align="left"><font size="2" face="verdana">Now, when you power up the
298 robot you can press either the A, B, or C buttons on the board. Each one
299 will trigger a different startup behavior routine. For a summary of the
300 behaviors and a video example of each, refer to table 6-1. Having multiple
301 startup functions available gives you a strategic advantage over the
302 opponent. For example, if you know that your opponent always goes forward
303 and you don't think that you can get under their scoop, you can choose
304 BehaviorA. This will allow you to ram into their side and push them out of
305 the ring.</font></p></td>
306 <td align="center" valign="middle" >
307 <div align="center">
308 <center>
309 <font size="2" face="verdana">
Eric Nantel 18.1 310 </font><table border="1" bordercolor="#FFFFFF">
Eric Nantel 10.1 311 <tbody><tr>
312 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 18.1 313 <p align="center"><font face="Verdana" size="2">Download</font></p>
Eric Nantel 10.1 314 </td>
315 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 18.1 316 <p align="center"><font face="Verdana" size="2">Description</font></p></td>
Eric Nantel 10.1 317 </tr>
318 <tr>
Eric Nantel 24.1 319 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo03.zip" target="_blank">Alt
Eric Nantel 10.1 320 Startup Program</a></font></td>
Eric Nantel 18.1 321 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC
Eric Nantel 10.1 322 Atom Pro code</font></td>
323 </tr>
324 <tr>
Eric Nantel 24.1 325 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo13.zip" target="_blank">Alt
Eric Nantel 10.1 326 Startup Program</a></font></td>
Eric Nantel 18.1 327 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC
Eric Nantel 10.1 328 Atom 28 code</font></td>
329 </tr>
330 <tr>
Eric Nantel 18.1 331 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsa01.mpg" target="_blank">BehaviorA
Eric Nantel 10.1 332 Video</a></font></td>
Eric Nantel 18.1 333 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot
Eric Nantel 10.1 334 reverses in a Right arc, then goes forward</font></td>
335 </tr>
336 <tr>
Eric Nantel 18.1 337 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsb01.mpg" target="_blank">BehaviorB
Eric Nantel 10.1 338 Video</a></font></td>
Eric Nantel 18.1 339 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot
Eric Nantel 10.1 340 turns in place to the Right, then does a half circle around the
341 ring</font></td>
342 </tr>
343 <tr>
Eric Nantel 18.1 344 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsc01.mpg" target="_blank">BehaviorC
Eric Nantel 10.1 345 Video</a></font></td>
Eric Nantel 18.1 346 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Bot
Eric Nantel 10.1 347 goes forward at start; "normal" sumo startup</font></td>
348 </tr>
349 <tr>
350 <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="verdana">Table
351 </font><font face="Verdana" size="2">6</font><font size="2" face="verdana">-1</font></td>
352 </tr>
353 </tbody></table><font size="2" face="verdana">
354 </font></center><font size="2" face="verdana">
355 </font></div><font size="2" face="verdana">
356 </font></td>
357 </tr>
358 <tr>
359 <td valign="top" colspan="2">&nbsp;<a name="gp2d1201"></a></td>
360 </tr>
361 <tr>
362 <td valign="top"><b><font size="2" face="Verdana">7. Setup of
363 Sharp GP2D12 Sensor</font></b>
364 <p align="left"><font size="2" face="verdana">For the Atom Pro 24, plug in
365 the sensors to P0 and P1. For the Atom 28, plug in the sensors to AX0 and
366 AX1. Attach the sensors to the top of the robot as shown in Figure 7-1. We
367 used two aluminum Single Ultrasonic Range Sensor Housing kits. You may
368 want to use double-sided tape or another method.</font></p>
369 <p align="left"><font size="2" face="verdana">Note, make sure the sensors
370 are "watching" the correct side of the robot! If you set this up
371 incorrectly, your bot will run away from any approaching opponent. The
372 sensor in P0 or AX0 should be watching the bot's Left side. The sensor in
373 P1 or AX1 should be watching the bot's Right side.</font></p>
374 <p align="left"><font size="2" face="verdana">Table 7-1 holds a nifty
375 little bit of code that you can use to adjust the position of your Sharp
Eric Nantel 24.1 376 GP2D12 sensors. Just make a new .zip file for it.</font></p>
Eric Nantel 10.1 377 <p align="left"><font size="2" face="verdana">After you run the code, if
378 you run your hand in front of the sensor a note will sound. The note
379 raises in pitch as you get closer to the sensor. Note, this code will only
380 work for the sensor on P0 / AX0 as is. To adjust the sensor on P1 / AX1,
381 change "</font><font size="2" face="Courier New"><font color="#000080">temp</font><font color="#800000">*</font><font color="#FF0000">10</font></font><font size="2" face="verdana">"
382 to "</font><font size="2" face="Courier New"><font color="#000080">temp2</font><font color="#800000">*</font><font color="#FF0000">10</font></font><font size="2" face="verdana">"
383 and run the code.</font></p>
384 <p align="left"><font size="2" face="verdana">This code allows you to
385 angle the sensors to look down in front of the robot and get an audio
386 signal when they see something. Adjust the sensors as far down as possible
387 without hearing sound.</font></p>
388 <p align="left"><font size="2" face="verdana">If you want to use Terminal1
389 in the editor to see the values produced by both sensors, remove the
390 apostrophe from in front of the </font><font size="2" face="Courier New">serout</font><font size="2" face="Verdana">
391 line.</font></p></td>
Eric Nantel 18.1 392 <td align="center" valign="middle" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs08.jpg" border="2" hspace="10" ><br>
Eric Nantel 10.1 393 <font size="2" face="verdana"><center>Figure 7-1.</center><br>
394 </font>
395 <div align="center">
396 <center>
397 </center><font size="2" face="verdana">
Eric Nantel 18.1 398 </font><table border="1" bordercolor="#FFFFFF">
Eric Nantel 10.1 399 <tbody><tr>
400 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 18.1 401 <p align="center"><font face="Verdana" size="2">Code Snippet</font></p>
Eric Nantel 10.1 402 </td>
403 </tr>
404 <tr>
405 <td bordercolor="#C0C0C0" align="center">
Eric Nantel 18.1 406 <p align="left"><font size="2" face="Courier New"><font color="#0000FF">temp
Eric Nantel 10.1 407 var</font> <font color="#FF0000">word</font><br>
408 <font color="#0000FF">temp2 var</font> <font color="#FF0000">word</font><br>
409 <br>
410 <font color="#0000FF">test:</font><br>
411 <br>
412 <font color="#0000FF">adin</font> AX0,<font color="#800000">2</font>,ad_ron,<font color="#000080">temp</font>&nbsp;
413 <font color="#808080">'For Atom 28</font><br>
414 <font color="#0000FF">adin</font> AX1,<font color="#800000">2</font>,ad_ron,<font color="#000080">temp2</font>
415 <font color="#808080">'For Atom 28</font><br>
416 <font color="#808080">'adin 0,temp&nbsp; 'For Atom Pro<br>
417 'adin 1,temp2 'For Atom Pro</font><br>
418 <font color="#808080">' serout S_OUT,i57600,[dec3 temp\3,"
419 ",dec3 temp2\3," ",13]</font><br>
420 <font color="#000080">temp</font> = <font color="#000080">temp</font><font color="#800000">*</font><font color="#FF0000">10</font><br>
421 <font color="#0000FF">sound</font> <font color="#FF0000">9</font>,
422 [<font color="#FF0000">10</font>\<font color="#000080">temp</font>]<br>
423 <br>
424 <font color="#0000FF">goto</font> <font color="#000080">test</font><br>
425 <font color="#0000FF">end</font></font></p></td>
426 </tr>
427 <tr>
428 <td bordercolor="#FFFFFF" align="center"><font size="2" face="verdana">Table
429 </font><font face="Verdana" size="2">7</font><font size="2" face="verdana">-1</font></td>
430 </tr>
431 </tbody></table><font size="2" face="verdana">
432
433 </font></div><font size="2" face="verdana">
434 </font></td>
435 </tr>
436 <tr>
437 <td valign="top" colspan="2">&nbsp;<a name="gp2d1202"></a></td>
438 </tr>
439 <tr>
440 <td valign="top"><b><font size="2" face="Verdana">8. Using
441 GP2D12 to Seek Out Opponents</font></b>
442 <p align="left"><font size="2" face="verdana">Download the opponent
443 detection code from table 8-1 and load it into the editor. Program the
444 Atom chip. (This program also has the stay-in-the-ring functionality and
445 alternate startup behaviors of previous programs.)</font></p>
446 <p align="left"><font size="2" face="verdana">Now when you run this code,
447 your bot will be able to detect and chase an opponent.</font></p>
448 <p align="left"><font size="2" face="verdana">This code also includes the
449 GP2D12 testing code from the previous step. However, you'll need to remove
450 the apostrophes from in front</font><font size="2"><font face="verdana">
451 of "</font><font face="Courier New"><font color="#0000FF">goto</font>
452 <font color="#000080">test</font></font><font face="verdana">" and
453 "</font><font color="#0000FF" face="Courier New">end</font><font face="verdana">"
454 </font></font><font size="2" face="verdana">if you want to use it. When
455 you want to run the rest of the program, just put the apostrophes back in.</font></p></td>
456 <td align="center" valign="middle" >
457 <div align="center">
458 <center>
459 <font size="2" face="verdana">
Eric Nantel 18.1 460 </font><table border="1" bordercolor="#FFFFFF">
Eric Nantel 10.1 461 <tbody><tr>
462 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 18.1 463 <p align="center"><font face="Verdana" size="2">Bot Board Pin
Eric Nantel 10.1 464 Number</font></p></td>
465 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 18.1 466 <p align="center"><font face="Verdana" size="2">Connects to...</font></p></td>
Eric Nantel 10.1 467 </tr>
468 <tr>
Eric Nantel 18.1 469 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P0
Eric Nantel 10.1 470 / AX0</font></td>
Eric Nantel 18.1 471 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Left
Eric Nantel 10.1 472 Opponent Sensor (Watches bot's Left side)</font></td>
473 </tr>
474 <tr>
Eric Nantel 18.1 475 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P1
Eric Nantel 10.1 476 / AX1</font></td>
Eric Nantel 18.1 477 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Right
Eric Nantel 10.1 478 Opponent Sensor (Watches bot's Right side)</font></td>
479 </tr>
480 <tr>
481 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 18.1 482 <p align="center"><font face="Verdana" size="2">Download</font></p>
Eric Nantel 10.1 483 </td>
484 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 18.1 485 <p align="center"><font face="Verdana" size="2">Description</font></p></td>
Eric Nantel 10.1 486 </tr>
487 <tr>
Eric Nantel 24.1 488 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo04.zip" target="_blank">Opponent
Eric Nantel 10.1 489 Detect Program</a></font></td>
Eric Nantel 18.1 490 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC
Eric Nantel 10.1 491 Atom Pro code</font></td>
492 </tr>
493 <tr>
Eric Nantel 24.1 494 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo14.zip" target="_blank">Opponent
Eric Nantel 10.1 495 Detect Program</a></font></td>
Eric Nantel 18.1 496 <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC
Eric Nantel 10.1 497 Atom 28 code</font></td>
498 </tr>
499 <tr>
Eric Nantel 18.1 500 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs01.mpg" target="_blank">Sees
Eric Nantel 10.1 501 Left Side Video</a></font></td>
Eric Nantel 18.1 502 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot
Eric Nantel 10.1 503 sees opponent on Left side and reacts</font></td>
504 </tr>
505 <tr>
506 <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="verdana">Table
507 </font><font face="Verdana" size="2">8</font><font size="2" face="verdana">-1</font></td>
508 </tr>
509 </tbody></table><font size="2" face="verdana">
510 </font></center><font size="2" face="verdana">
511 </font></div><font size="2" face="verdana">
512 </font></td>
513 </tr>
514 </tbody></table>
515 </body>
Eric Nantel 1.1 516 {{/html}}
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