Slide 1 Intel ® Confidential Intel Design and Discovery Robotics Module Padraig O Murchu Education...
Transcript of Slide 1 Intel ® Confidential Intel Design and Discovery Robotics Module Padraig O Murchu Education...
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Slide 1Intel® Confidential
Intel Design and Discovery
Robotics Module
Padraig O Murchu
Education and Research Manager
Corporate Affairs Group
Intel Ireland
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Slide 2Intel® Confidential
Welcome to Quadrabotz
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Slide 3Intel® Confidential
Objective of Robotics Session
• Have Fun• Discover the hardware components that make up a robot• Discover the functions of Quadrabotz• Program Quadrabotz to move forward• Program Quadrabotz to move backward• Program Quadrabotz to change gait• Program Quadrabotz to beep• Program Quadrabotz to detect light• Program Quadrabotz to detect objects and take evasive action
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Slide 5Intel® Confidential
Hardware Components of Quadrabotz
• Chassis
• 3 motors-front middle back
• 4 Legs
• Left and right LED ( emit light )
• Left and Right photodetector ( detect visible and infra red light )
• Micro-controller
• Power source - battery packs
• on/off switch
• Piezo sounder
• Comms socket for PC/programming
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Slide 6Intel® Confidential
h
Light Sensor
Infra Red LED
Sensors
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Slide 8Intel® Confidential
Quadrabotz Programming
1. Introduction to Software Programming
2. The Quadrabotz can be programmed in Basic. The programs are written on a PC running Windows and downloaded into the Quadrabotz through an RS232 port.
3. When the Quadrabotz is switched on and the programming cable is plugged in then the Quadrabotz waits for communications from the PC.
4. If the programming cable is unplugged then the Quadrabotz starts to execute its current program.
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Slide 9Intel® Confidential
Quadrabotz
• If Quadrabotz is turned on, it will beep once a minute.
ZZH
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Slide 10Intel® Confidential
Plugging in the programming cable
1. Connect comms cable to comms. port on computer (The COM port should have 9 pins) and to the earphone jack port (RS 232) on Quadrabotz.
2. If necessary connect comms cable to USB adapter cable and load USB to serial minidiskette
3. To check for connectivity; Click on Options Comms. A message box appears, as follows:
4. If necessary change the comms port number and try again until you get a successful connection.
5. Turn Quadrabotz on.
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Slide 14Intel® Confidential
Quadrabotz Motors
• There are 3 motors, - front , middle and back• A Delay command must be inserted after each motor command.
(measured in jiffies: 1 jiffy = 50ms)
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Slide 15Intel® Confidential
Examples of Motor constants
• xxx all motors stop• LxR the front-left and back-right legs move forward• LLx the front-left leg moves forward; the front section twists to the
left• LLL the front-left and back-left legs move forward; the front section
twists to the left• LRx the front-left leg moves forward; the front section twists to the
rightNote: The middle and back motors cannot move in opposite directions at
the same time.
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Slide 16Intel® Confidential
Creating your first program for Quadrabotz
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Slide 17Intel® Confidential
1. Set motor position
2. Create motor command
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Slide 18Intel® Confidential
3. Set Delay value
4. Create Delay command
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Slide 19Intel® Confidential
5. Set motor position
6. Create motor command
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Slide 20Intel® Confidential
7. Set Delay value
8. Create Delay command
9. Run Program
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Slide 21Intel® Confidential
10. Say Yes!
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Slide 22Intel® Confidential
11. Program is downloaded
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Slide 23Intel® Confidential
Program execution
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Slide 24Intel® Confidential
1. Front left leg moves forward
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Slide 25Intel® Confidential
2. Do nothing for 14 jiffies (0.7 secs.)
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Slide 26Intel® Confidential
3. Front right leg moves forward
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Slide 27Intel® Confidential
4. Do nothing for 14 jiffies (0.7 secs.)
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Slide 28Intel® Confidential
5. Go back to the first instruction and do it all
again!
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Slide 29Intel® Confidential
Programming Quadrabotz to walk
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Slide 30Intel® Confidential
Programming Quadrobotz to walk.
Motor(LxR)
Delay(15)
Motor(xLx)
Delay(10)
Motor(RxL)
Delay(15)
Motor(xRx)
Delay(10)
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Slide 31Intel® Confidential
Quadrabotz walking on the floor.
• Click the Download button to download the program into the robot.
• Switch the robot off.
• Unplug the cable.
• Switch the robot on again.
• The program in the robot will start to run and will be executed repeatedly.
• Switch the robot off, plug the cable in, and switch the robot on again to await next program.
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Slide 32Intel® Confidential
Gaits
A gait is a way of walking – a sequence of motor commands.
Quadrabotz is capable of over 2000 different gaits!
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Slide 33Intel® Confidential
Gaits
The Quadrabotz has six built-in gaits:• Gait(gFwd) :execute one step forwards
• Gait(gLeft) :execute one step turning to the left
• Gait(gRight): execute one step turning to the right
• Gait(gRev) :execute one step backwards
• Gait(gRevL) :execute one step backwards to the left
• Gait(gRevR) :execute one step backwards to the right
•
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Slide 34Intel® Confidential
Gaits
• Type-in, download and run this program:• • Gait(gFwd)• • The robot will walk forwards.•
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Slide 35Intel® Confidential
Gaits
• Try different combinations of gaits, for instance three paces forwards then two backwards and to the left:
• Type-in, download and run this program:• • Gait(gFwd)• Gait(gFwd)• Gait(gFwd)• Gait(gRevL)• Gait(gRevL)
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Slide 36Intel® Confidential
Programming Quadrabotz to Sing
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Slide 37Intel® Confidential
Making Sounds
• Ensure that the robot is plugged in and switched on.• Click the beep button to select the Beep Programming page.• Click in the squared area of the dialog box • Each square corresponds to a different type of beep• Click on the test button to hear the type of beep• The robot will play the beep. • Select a beep and then press the Beep button • Beep statement is now added to the program.
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Slide 38Intel® Confidential
Sounds
• Type-in, download and run this program
Beep(184)
Beep(131)
Beep(109)
Beep(91)
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Slide 39Intel® Confidential
Sounds• Type-in, download and run this program
Beep(184)Delay(14)Beep(131)Delay(14)Beep(109)Delay(14)Beep(91)Delay(14)
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Slide 40Intel® Confidential
Testing the obstacle sensors
• Quadrabotz has 2 light sensors • The robot’s chip measures the light level seen by the light sensor and
assigns it a base value• Quadrabotz has 2 light emitting diodes• When these are turned on and • If there is an obstacle nearby, then infra red light will be reflected off it
back to the light sensors.• The difference between the two readings is what is shown on the
Measure dialog chart.• The sensitivity of the light sensors depends on how much infra red light
the obstacle reflects and on the background light level.
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Slide 41Intel® Confidential
h
Light Sensor
Infra Red LED
Sensors
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Slide 42Intel® Confidential
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Slide 43Intel® Confidential
Testing the obstacle sensors• Switch the robot off, make sure the cable is plugged in and switch the robot
on again.• Click the measure button to display the Measure dialog.• Watch the Obstacle Left and Obstacle Right charts. Wave your hand in front
of the robot’s sensors – the white lines on the chart move up and down.•
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Slide 44Intel® Confidential
Testing the light sensors
• Switch the robot off, make sure the cable is plugged in and switch the robot on again.
• Click the measure button to display the Measure dialog.• The light sensors on each corner of quadrabotz are sensitive to white and red
light• Watch the Light Left and Light Right charts as you point the robot towards and
away from a window or light source• The white lines on the chart move up or down due to the differing light intensity.
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Slide 45Intel® Confidential
Threshold Level
• The red line shows the threshold level above which an Event will be triggered.
• Click and drag the mouse over the Light charts to alter the threshold value.
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Slide 46Intel® Confidential
Sensors in basic
• You can test the value measured by the obstacle detectors and light sensors in If,While and Repeat statements.
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Slide 47Intel® Confidential
Sensors in basic
• The Quadrabotz has the following sensors• • LeftObs Left obstacle sensor• RightObs Right obstacle sensor• LeftLight Left light-level sensor• RightLight Right light-level sensor• FrontMotor Front motor sensor• BackMidMotors Mid/Back motor sensor• Timer timer
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Slide 48Intel® Confidential
Sensors in Basic
Type in and download the following program
If LeftLight > 20 then
Beep(189)
end
The robot measures the light level seen by the left light sensor
It beeps if the level is greater than 20.
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Slide 49Intel® Confidential
Sensors in basic
• If you click the if Left Bright button on the If programming page, the editor inserts:
• If LeftLight > 20 then• else• end
•
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Slide 50Intel® Confidential
• You could compare 2 sensor values as follows:
• Type-in, download and run this program
• If LeftLight > RightLight then
Beep(240)
• else
Beep(87)
• end
Sensors in basic
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Slide 51Intel® Confidential
Sensors in Basic• Timer is a variable that is incremented 4 times a second.
• Type-in, download and run this program
• If Timer > 20 then
• Timer=0
• Beep(240)
• end
• This program beeps every 5 seconds
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Slide 52Intel® Confidential
Events
An event (something happening in the outside world) allows a program to respond quickly to a sensor.
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Slide 53Intel® Confidential
1. Select event dialogue
Gait(gFwd)
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Slide 54Intel® Confidential
2. Select Left Obstacle event
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Slide 55Intel® Confidential
3. Select motor dialogue
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Slide 56Intel® Confidential
4. Tilt middle motor to the left and create the
command
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Slide 57Intel® Confidential
6. Tilt middle motor to the right and create the
command
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Slide 58Intel® Confidential
7. Just one more delay…
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Slide 59Intel® Confidential
8. Select beep dialogue and choose a beep type and create the command
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Slide 60Intel® Confidential
9. Now run the program and observes what
happens when you put your finger in front of the
left sensor
5. Now do a 6 jiffy delay (0.3 secs.)
6. Tilt middle motor to the right and create the
command
7. Just one more delay…
8. Select beep dialogue and choose a beep type and create the command
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Slide 61Intel® Confidential
10. The robot continuously executes
the ‘Main’ program. When it detects a left obstacle it stops whatever it is doing
in the ‘Main’ program, jumps to the ‘Event LetObs’ program, executes all of the
commands and returns to where it left off in the
‘Main’ program
Motor (xLx)Delay(6)Motor(xRx)Delay(6)Beep(169)
Gait(gFwd)
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Slide 62Intel® Confidential
Gait(gFwd)
Beep(168) Beep(189)
Gait(gRev)
Gait(gRev)
Gait(gRevL)
Gait(gRevL)
Gait(gRevL
Beep(187)
Gait(gRev)
Gait(gRev)
Gait(gRevR)
Gait(gRevR)
Gait(gRevR)
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Slide 63Intel® Confidential
Beep(100)
Gait(gRev)
Beep(106)
Gait(gRev)
![Page 59: Slide 1 Intel ® Confidential Intel Design and Discovery Robotics Module Padraig O Murchu Education and Research Manager Corporate Affairs Group Intel Ireland.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649e9f5503460f94ba1179/html5/thumbnails/59.jpg)
Slide 64Intel® Confidential
Advanced Programming