Sumo for Bot Board & BASIC Atom or Pro with Scorpion

Step 1. 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

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.</td>

Figure 1-1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" >2. Wiring

47

Power to the Electronics

48

Step 1. 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.

</td>

Figure 2-1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" >Step 2.

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!

Screw Terminal

</td>

Batt. / Motor Wire</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Battery

+</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Battery

-</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

Motor +</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

Motor -</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

Motor +</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

Motor -</td>

</tr>

<tr>

<td bordercolor="#FFFFFF" align="center" colspan="2">Table

2-2</td>

</tr>

</tbody></table>

</center>

</div>

</td>

Figure 2-2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" >3. Setting Up

124

and Installing the Bot Board and Atom

125

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

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

3.</td>

Figure 3-1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" >4. Preparing

142

the Single Line Detectors

143

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.</td>

Figure 4-1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" >5. Using

158

Single Line Detectors to stay in the ring

159

Download the latest version

160

of the Basic Atom or Pro editor from Basic Micro's.

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.

166

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

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

opponent</a>.</td>

Bot Board Pin

Number

</td>

Connects to...

</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">P0

192

- P1</td>

193

<td bordercolor="#C0C0C0" align="center">Not

used</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

Edge Sensor</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

Edge Sensor</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">P4,

208

P5, P6</td>

209

<td bordercolor="#C0C0C0" align="center">Push

buttons</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Not

used</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">(Internal

speaker)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">P10

224

- P13</td>

225

<td bordercolor="#C0C0C0" align="center">Not

used</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

Motor</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

Motor</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">9vdc

battery</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Not

used</td>

</tr>

<tr>

Download</td>

Description</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.zip" target="_blank">Line

256

Detectors Program</a></td>

257

<td bordercolor="#C0C0C0" align="center">BASIC

Atom Pro code</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo11.zip" target="_blank">Line

262

Detectors Program</a></td>

263

<td bordercolor="#C0C0C0" align="center">BASIC

Atom 28 code</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.mpg" target="_blank">Without

268

Opponent Video</a></td>

269

<td bordercolor="#C0C0C0" align="center">Bot's

270

behavior without opponent in ring</td>

271

</tr>

272

<tr>

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">With

274

Opponent Video</a></td>

275

<td bordercolor="#C0C0C0" align="center">Bot's

276

behavior with opponent in ring</td>

277

</tr>

278

<tr>

279

<td bordercolor="#FFFFFF" align="center" colspan="2">Table

5-1</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top">6. Alternate

292

Startup Behaviors

293

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.)

297

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

the ring.</td>

Download

</td>

Description</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo03.zip" target="_blank">Alt

320

Startup Program</a></td>

321

<td bordercolor="#C0C0C0" align="center">BASIC

Atom Pro code</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo13.zip" target="_blank">Alt

326

Startup Program</a></td>

327

<td bordercolor="#C0C0C0" align="center">BASIC

Atom 28 code</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsa01.mpg" target="_blank">BehaviorA

332

Video</a></td>

333

<td bordercolor="#C0C0C0" align="center">Bot

334

reverses in a Right arc, then goes forward</td>

335

</tr>

336

<tr>

337

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsb01.mpg" target="_blank">BehaviorB

338

Video</a></td>

339

<td bordercolor="#C0C0C0" align="center">Bot

340

turns in place to the Right, then does a half circle around the

ring</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsc01.mpg" target="_blank">BehaviorC

345

Video</a></td>

346

<td bordercolor="#C0C0C0" align="center">Bot

347

goes forward at start; "normal" sumo startup</td>

348

</tr>

349

<tr>

350

<td bordercolor="#FFFFFF" align="center" colspan="2">Table

6-1</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top">7. Setup of

363

Sharp GP2D12 Sensor

364

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.

369

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.

374

Table 7-1 holds a nifty

375

little bit of code that you can use to adjust the position of your Sharp

376

GP2D12 sensors. Just make a new .zip file for it.

377

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,

change "temp*10"

to "temp2*10"

and run the code.

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.

388

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 serout

391

line.</td>

392

393

<center>Figure 7-1.</center>

</center>

Code Snippet

</td>

</tr>

<tr>

temp

var word

temp2 var word

test:

adin AX0,2,ad_ron,temp

413

'For Atom 28

414

adin AX1,2,ad_ron,temp2

415

'For Atom 28

416

'adin 0,temp  'For Atom Pro

417

'adin 1,temp2 'For Atom Pro

418

' serout S_OUT,i57600,[dec3 temp\3,"

419

",dec3 temp2\3," ",13]

temp = temp*10

sound 9,

[10\temp]

goto test

end</td>

</tr>

<tr>

<td bordercolor="#FFFFFF" align="center">Table

7-1</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top">8. Using

441

GP2D12 to Seek Out Opponents

442

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.)

446

Now when you run this code,

447

your bot will be able to detect and chase an opponent.

448

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

of "goto

test" and

"end"

if you want to use it. When

455

you want to run the rest of the program, just put the apostrophes back in.</td>

Bot Board Pin

Number</td>

Connects to...</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">P0

470

/ AX0</td>

471

<td bordercolor="#C0C0C0" align="center">Left

472

Opponent Sensor (Watches bot's Left side)</td>

473

</tr>

474

<tr>

475

<td bordercolor="#C0C0C0" align="center">P1

476

/ AX1</td>

477

<td bordercolor="#C0C0C0" align="center">Right

478

Opponent Sensor (Watches bot's Right side)</td>

</tr>

<tr>

Download

</td>

Description</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo04.zip" target="_blank">Opponent

489

Detect Program</a></td>

490

<td bordercolor="#C0C0C0" align="center">BASIC

Atom Pro code</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo14.zip" target="_blank">Opponent

495

Detect Program</a></td>

496

<td bordercolor="#C0C0C0" align="center">BASIC

Atom 28 code</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs01.mpg" target="_blank">Sees

501

Left Side Video</a></td>

502

<td bordercolor="#C0C0C0" align="center">Bot

503

sees opponent on Left side and reacts</td>

504

</tr>

505

<tr>

506

<td bordercolor="#FFFFFF" align="center" colspan="2">Table