at-bot e120703 small

Robo-Creator : AT-BOT ctivity book 1

AT-BOTThe 4-wheel autonomous robot

programmed with C/C++ language

Activity book

2Robo-Creator : AT-BOT activity book

AT-BOT activity book

All rights reserved under the Copyrights Act B.E. 2537

Do not copy any part of this book without our permission

Who should use this handbook?

1. Students and other people who are interested in applying to microcontrollers for

testing working process of automatic system or people who are fascinated in learning

and examining the microcontrollers in new approaches such as using an autonomous

robot as a form of an interactive media.

2. Academic institutes such as schools, colleges and universities, where provide

electronic subjects or electronic and computing engineering departments.

3. Lecturers and teachers who would like to study and prepare lesson plans for

microcontroller courses, including applied science which focuses on integrating

electronics, microcontrollers, computer programming and scientific examination in high

school education, vocational education, and bachelors degree.

Published and distributed by

Innovative Experiment Co.,Ltd.

108 Soi Sukumvit 101/2 Sukumvit Road, Bangna, Bangkok 10260 THAILAND

Details and illustrations used in this handbook are thoroughly and carefully to provide

the most accurate and comprehensive information under the conditions and time we

have before publishing. Innovative Experiment Co.,Ltd. shall not be responsible for

any damages whatsoever resulting from the information of this book as constant

revisions and updates will be published after this edition.

Robo-Creator : AT-BOT ctivity book 3

All Illustrations and Technical information found in this handbook are in our best

interest to simplify working processes and equipment principles so that it could be easily

understood by any user interested in robotics.

Therefore, The translation from THAI language to English and the usage of technical

terms may not follow the provision of the Royal Academy where they are many words

not described officially. Our team would be allowed to produce new technical terms.

The main reason of this explanation comes from data collection of equipment in

embedded computer system and robotic technology. Thai language is quite hard to

translate into English and thus our writer team gathered the required data and

investigated to make sure that the understanding in working processes has the limited

error.

When we compose the information in Thai, many technical terms have

complicated meanings. Definition of vocabulary occurred from the practice

coordinated with linguistic meaning. If there are any errors or mistakes shown, the team

of writer will accept and if we get explanation or suggestion from any expert, we will

clarify and improve those errors as soon as possible.

In order to develop the academic media especially with new technological

knowledge, it will be able to proceed continually under the participation of experts in

all fields.

Innovative Experiment Co.,Ltd.

Clarification from writer/complier team


Chapter 1 AT-BOT : The 4-wheel autonomous robot......................................5

Chapter 2 AT-BOT Development tools...............................................................17

Chapter 3 Wiring IDE introduction.....................................................................23

Chapter 4 ATX Library file....................................................................................35

Chapter 5 The ATX controller board hardware experiment..........49

Chapter 6 AT-BOT movement........................................................79

Chapter 7 Object avoiding by contact........93

Chapter 8 AT-BOT Line tracking..............................................................105

Chapter 9 AT-BOT with touchless object avoiding............................................147

Chapter 10 AT-BOT with Servo motor ......................................................155

Table of contents

Robo-Creator : AT-BOT activity book 5

Chapter 1

AT-BOT : The 4-wheel autonomous robot

AT-BOT (All-Terrain mobile robot) is an autonomous robot performed by DC motors

with the set of 4 DC motor gearboxes come with spiked wheels in order to aid passing

through rough surface more efficiently. Also, it can move up on the slope in the level of 0

to 25 degree and if it is necessary to stop immediately to change the direction of motion,

it can do. The possibility is that AT-BOT is capable of supporting any mission in either a

smooth competition court with lines appeared for determining directions of motion or

rough court with barriers or participating with the World RoboCup Junior-Rescue.

Programming development of AT-BOT robots uses C/C++ language in the open

source software are named Wiring (www.wiring.org.co).

AT-BOT controller boad is called ATX board, which is able to drive 6 of DC motors

and 6 of Servo motors together. It has many ports for interfacing with both digital and

analog sensors, basic digital outpuit port and using the data communication via 2 lined

bus system called I2C bus and the standard UART serial bus.

The main driving system is consisted of 4 DC motor gearboxes with spiked wheels.

This results the AT-BOT with four-wheel automatic robot has a high driving power and high

speed. It identifies that this is a presentation of the different robot driving system from the

old system for studying.

AT-BOT is one of the robotic activities of Robo-Creator, the robotic kit for creative

education.


1.1 AT-BOT part list1. ATX controller board

2. USB-miniB cable

3. Light reflector (ZX-03R) 4 sets

4. Touch sensor (Switch input boards) 2 sets

5. BO-1 DC motor gearbox 48:1 ratio with mounting and cable 4 sets

6. Standard servo motor x 1

7. Spike wheel sets (diameter 65mm., width 26mm. also include the hub for BO-1

gearbox) 4 sets

8. 5-AA battery holder with wire

9. Plasitc joiner set and Strip joiner set

10. Right angle metal shaft set

11. Nuts and screws set

12. CD-ROM (software, example code and documentations)

13. Activity manual and construction sheet

14. Line tracking demonstration paper

1.2 ATX controller board featuresIn the figure 1-1, it is shown components of the ATX controller board and there are

significant technical features as follows:

Main microcontroller is Atmels ATmega128. It features 8-ch 10-bit Analog to

Digial Converter, 128-KByte Flash memory , 4-KByte EEPROM, 4-KByte RAM. Operated with

16MHz clock from external crystal

Define all ports compatible with Wiring I/O standard hardware (www

.wiring.org.co). The number of port are 0 to 50.

13 programmable port in JST connector type. Includes Digital I/O port (2 :

port 14 and 15), A/D port (7 : port 40/ADC0 to port 46/ADC6), Two-wire interface or TWI (2

: port 0/SDA and port 1/SCL) and UART serial port communication (2 : port 2/RX1 and port

3/TX1). Both TWI and UART ports can config to digital input/output port for more I/O

applications.

Analog input (ADC0 to ADC6) supports 0 to +5Vdc input. The converter

resolution is 10-bit. The result value is 0 to 1,023 range.


One variable resistor is connected with the Analog input ADC7 of main

microcontroller for simple ADC experiment.

2 of button switches with resistor pull-up are connected with port 49 and 50 of

the Wiring I/O controller board for simple digital input experiment.

One LED with a current limited resistor. It is connected with port 48

One piezo speaker at port 4

16x2 characters LCD for monitoring

On-board digital compass; HMC6352 from Honeywell. It is interfaced by I2C

bus or TWI

UART port for interfacing serial module device such as camera module (ZX-

CCD, CMUCAM1, CMUCAM2, mCAM), servo controller board (Parallax servo controller,

ZX-SERVO16U), Real-time clock (ZX-17 : serial real-time clock moduel)

6-ch DC motor driver with indicators. Support 4.5V to 9V DC motor. Maximum

current output 3A and 1.2A continuous.

6-RC servo motor output; support 4.8 to 7.2V standard and continuous servo

motor types.

Motor driver power indicator; nomally turned on. It will off when motor is short-circuit.

Figure 1-1 : ATX controller board layout

ON

MOTOR

BATTERY LEVEL1312111098

SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

C r e

c o n

a t o r e > > > >

t r o l l r b o a

>

e r dR

>

4850SW249SW1ADC7KNOB

TWI UART1

0 SCL 1 SDA 2 RX1 3 TX1

44 ADC446 ADC640 ADC041 ADC142 ADC2 START

45 ADC5

> >

USB DATA

43 ADC3

32

10

45


5-status battery level monitor circuit :

- Last left yellow LED displays that the input supply voltage is 6.75V. When the

battery voltage is lower than 6.75V, this LED will start to blink.

- Next yellow LED displays the input supply voltage at 7.0V.

- First green LED displays the input supply voltage at 7.25V.

- Second green LED displays the input supply voltage 7.5V.

- Last right green LED displays that the input supply voltage is higher than at 7.75V.

Download and interface with computer via USB port by using USB to UART

converter chip; FT232RL. USB connection indicator is available.

Set the operation by Mode/Reset switch

Supply voltage range +7.2 to +9V 2400mA for 4 motor loads.

2 voltage regulator on-board; +5Vdc for microcontroller and all digital circuit,

+6Vdc for all motor driver circuits. By using voltage regulator; the motor driver circuit can

drives DC motor with constant speed when battery voltage is full and reduce to 60%. It

features constant speed without effect by battery voltage until it is lower 60% of full.


1.3 Output device features

1.3.1 DC motor gearbox

DC motor gearbox of Robo-Creator kit is the BO1 model. The technical features are as

follows :

Requires the supply voltage +4.8 to +9Vdc 130mA @6V and no load

Gear ratio 48:1

Speed 250 round per minute @6V and no load

Weight 30 gram

Torque 0.5kg.-cm.

Figure1-2 : Details and gear diagram of BO-1 DC motor gearbox

Follower gear (1)36 teeth

Driver gear (1) 8 teeth








1.3.2 Standard servo motor

Servo motor has 3 wires; Signal (S), Supply voltage(+V) and Ground (G) The technical

features is as follows :

Requires the supply voltage +4.8 to +6Vdc

Weight 45 gram

Torque 3.40kg-cm. or 47 oz-inches.

Size (width x length x height) 40.5 x 20 x 38 mm. or 1.60 x 0.79 x 1.50 inches.

DATAR3220

R210k

R1510

LED1

S1

Switch GND

+V

Figure 1-4 : The touch sensor or Switch input board picture andschematic diagram

1.4 Sensor features

1.4.1 Touch sensor/Switch input board

The circuit is shown in the figure 1-4 including a switch with a LED and considered

output as logic 0 when switch is pressed.

If the switch is pressed : the logic 0 will be sent and the red LED is on.

If no press : LED is off and the logic is 1.

(A)(B) (C)

Figure 1-3 : Details of standard RC servo motor of Robo-128

(A) outside body (B) Gear system (C) Electronic circuit board


Figure 1-5 : Light reflector sensor layout andshcematic diagram

10k

LED1

220

+V

GND

OUTSFH310

1.4.2 The light reflection sensor : ZX-03R

The circuit and layout of this sensor are displayed in the figure 1-5. The circuit is used

to detect the reflected lights from surface or lines.

During apply the power supply, the red LED is bright at all the time. Meanwhile, the

light receptor is SFH310 photo-transistor and it will get red lights from the reflection of objects

or surface. The amount of the reflected light will be more or less depending whether there is

an obstacle or not and how well the object can reflect red light. The reflection of red lights

is based on the surface texture and colour of objects. It is said that the white smooth objects

are able to reflect light well so the infrared receptor gets a lot of reflected light and the

output voltage will be high. As black objects reflect less light, the light receptor sends low

voltage. With such features, the sensor circuit board is often used to trap the reflected light

on the surface and lines. It is necessary to install the circuit at the lower part of a robot.

With the use of red light as a main light to detect, this allows the sensor to measure

the colour difference on the surface printed by IR or UV resistant ink.

Due to ZX-03R light detection circuit gives the result as DC voltage, applying on AT-

BOT robot has to connect the signal to 7 channels of analog input on the ATX controller

board, from ADC0 to ADC6. After reading the analog signal value, use this value to check

the value on reflected light detection circuit and then apply to detect lines.

1.4.3 GP2D120 module detecting distance with Infrared

GP2D120 is a module that detects distance with Infrared and with the packet of 3

extension parts, including 3 pins; +Vcc, GND and Vout. Reading voltage value from GP2D120

must do after the preparation period of the module, which takes 32.7 to 52.9 millisecond (1

millisecond equal 0.001 second). So reading the value should wait for the suitable time as

mentioned above and shown the basic data in the figure 1-6.

Output voltage of GP2D120 at the distance of 30 centimetres, the power supply at

+5V as in the range of 0.25 to 0.55V has the mean as 0.4V and the range of output voltage

change at the distance of 4 centimetres is 2.25V0.3V.

Light reflection sensor

Output port LED


How to measure distance

The infrared light is sent out from a transmitter to the object

in front, by passing through a condense lens so that the

light intensity is focused on a certain point. Refraction

occurs once the light hits the surface of the object. Part of

the refracted light will be sent back to the receiver end, in

which another lens will combine these lights and determine

the point of impact. The light will then be passed on to an

array of photo-transistors. The position in which the light falls

can be used to calculate the distance (L) from the

transmitter to the obstacle using the following formula:

L F

A X

Therefore, L equals

F AL

X

Thus, the distance value from the phototransistors will be

sent to the Signal Evaluation Module before it is changed

to voltage, resulting in a change of voltage according to

the measured distance.

Figure 1-6 : shown shape, arrangement of pins, diagram of time ofoperation, and graph shown the operation of GP2D120 sensor

Infrared LED transmitter Infrared Receiver

GNDVout Vcc

GP2D120

4 8 12 16 20 24 28 3200

0.4

0.8

1.2

1.6

2.0

2.4

2.8

Output voltage (V)

Distance (cm)

1st measure 2nd measure

Not stable 1st output 2nd output n output

n measure

38.39.6 ms

5 ms

Measurement

Vout

Supply

* Use Kodak R-27 gray-white paper.

The white side has a 90%

reflection rate, made from a

material that reflects light for range

measurement.

L

A

F

X

Object

GP2D120

Transmit LED Photo array


1.5 Mechanical compoments

1.5.1 Plastic wheels for BO-1 DC motor gearbox and rubber tire

A circular wheel has the diameter of 65 millimeters. It is able to fit with the axis of BO-

1 gear motor directly without any additional modification and tighten with a 2 mm tapping

screw. A wheel tire is made up of rubber and its texture has treads in order to enhance in

sticking over the surface.

1.5.2 Spike wheel

The wheels are unique. The wheel surface is rubber and has triangular buttons with

rounded end and thorn-like protrusions to aid in adhesion and movement across smooth

surface, rugged surface, slope or zippers with the slope less than 20 degree.

To install this kind of plastic wheels with the axis of the gear motor of model BO-1 will

be required to use special joints to help and attach with a screw and 3 mm nuts.

1.5.3 Track and wheel set

It is a track set constructed for track with

wheels or crawler track with wheels in different

sizes and it is compatible with a plate set. The

set includes tracks with 30 joints (2 pieces), 10

joints (4 pieces), 8 joints (4 pieces), driving

wheels (2 pieces), large support wheels (2

pieces), medium support wheels (10 pieces),

poly caps (12 pieces), stainless axis with the

diameter of 3 mm, length of 110 mm (4 pieces)

and necessary screw set.


1.5.4 Base plate and Plate set

It is a multi-purpose material set for making the base or the chassis frame. The set

provides plastic plates produced from 2 types of ABS materials. The first type is called AT-

plate in black and the other is a plate with the size of 160 x 60 mm. There are holes on the

plates and each hole is 3 mm in size and they are seperated by 5 mm in distance and the

total holes are 341. The set also contains brackets for long axis (2 pieces), brackets for

short axis (2 pieces) and a screw set necessary for fastening.

1.5.5 Grid plates

Plates are plastic manufactured from ABS materials in the size of 80 x 60 mm and 80 x

80 mm each. Each hole has the size of 3 mm and the distance between each hole is 5 mm.

1.5.6 Plastic joiners

They are stiffed plastic components and there are three designs, including, straight

joiners, right angle joiners, and obtuse angle joiners. Each piece can be inserted together

and they are used to construct a decorated structure (or decoration). A set contains all

three types, available 5 colors and 4 pieces for each, and 60 pieces in total.


1.5.7 Plastic strip joiners

They are rigid and tough and there are holes in the size of 3 mm for each piece for

installing or connecting with other structure components by a screw. At the end of each

rod can insert with plastic joiners. There are three different sizes including 3, 5 and 12 holes

and each size has 4 pieces in a set.

1.5.8 Metal angle bar

Metal angle bars are metal components with the width of 7.5 mm and they are

cut into the right angle shape. There are holes with the size of 3 mm for using a screw to

install or construct with other structure parts. Three different sizes are provided in a set,

including 1x2 holes, 1x2 holes, and 2x5 holes and each size contains 4 pieces.

1.5.9 Screws and nuts

Screws and nuts are equipment for fastening many components together. They

compose of 2 mm-tapping screws (4 pieces), 3x8 mm-tapping screws (4 pieces), 3x10 mm-

tapping screws (30 pieces), 3x15 mm-tapping screws (4 pieces), 3x40 mm-tapping screws

(4 pieces), 3x8 mm-flat head screws (4 pieces), 3x5 mm-hand driven screws (4 pieces), 3x20

mm-hand driven screws (2 pieces), and 3 mm-nuts (30 pieces).

1.5.10 Metal stands-off

This kind of materials helps to hold different components together and support

boards, grid plates and base plates. They are made of rustproof nickle-plated metal and

have a characteristic of cylinder with the length of 25 mm. Inside of a cylinder, there is a

spiral hole along its body for a 3 mm-screw to fasten and 3 poles are provided in a set.


1.5.11 Plastic stands-off

Plastic stands-off help fasten different parts and prop up boards, grid plates, and

base plates. They are made from cohesive ABS plastic but able to be cut. The shape of

the rod is cylindrical and there is a hole throughout the rod to insert 3 mm-screws. You can

get different sizes and number of support poles, including, 3 mm. (4 pieces), 10 mm. (4

pieces), 15 mm. (4 pieces), and 25 mm. (4 pieces) in the set.

1.5.12 5-AA Battery holder

It is used to carry 5 AA batteries. There is a wire which connects the anode and the

cathode to the main controller board immediately.

1.5.13 JST3AA-8 cable

This is an INEX standard cable, 3-wires combined with 2mm. The JST connector is at

each end. 8 inches (20cm.) in length. Used for connecting between controller board and

all sensor modules in the Robo-Creator kit. The wire assignment is shown in the diagram

below.

2mm. pitch

GNDS

+5V

2mm. pitchGND

S/Data

+5V


Robo-Creator robot kit supports the operation controller program which can be

developed from Assembly, BASIC or C programming languages. For here, we will use

C/C++ programming language with the open-source software called Wiring, which is

the name of a development project of a small control system in order to apply the

software and hardware together.

We focus on concrete utilization as well as the connection of devices with

electronic system so that the system can work according to the statement written

correctly, collectively, Physical computing or the computer system which concentrates

on physical signal connection, connecting external sensor devices or controlling display

of LEDs, light, and sound, etc.

The official website of Wiring here is www.wiring.org.co. At this website, there is

data of both hardware and software allowed to download with free of charge. Also, it

is the open-source project to give an opportunity to developers who will be able to join

the project and expand the project freely.

The founder of Wiring is Hernando Barragan (Architecture and Design School,

Universidad de Los Andes, Comlumbia). Wiring started at the Interaction Design Institute

Ivrea in Italy and it is currently developed at the Universidad de Los Andes, Architecture

and Design School in Colombia.

2.1 Supported operating systemThe software for the program development is Wiring Development Environment

or sometimes called Wiring IDE and it can work with these operating systems or platforms.

Mac OS X 10.4 or higher (both models using Powerpc and Intel CPU)

Windows XP, Windows Vista and 7

Linux, both Fedora Core and Debian (including Ubuntu as well)

Other platforms which support the operation of Java 1.4 up

2.2 Wiring hardware The main hardware of Wiring is Wiring I/O board which is a small circuit board

with ATmega128 microcontroller. ATmega microcontroller is very important to control

all kinds of work in which the main controller or microcontroller will be programmed

Chapter 2

AT-BOT Development tools


through USB port in Wiring IDE software. There is a connection point to recieve signals

from both analog and digital external sensors that allows the board to acquire information

from the surrounding environment (temperature, light, distance to an object etc.).

Moreover, there is another point to send signals out to control external devices, such

as LEDs, loudspeakers, servo motors, and liquid crystal display or LCD, etc.

Robo-Creator robot kit provides the hardware of controller board compatible

with Wiring hardware and the system of Wiring IDE so you will be able to develop the

program comfortably.

2.3 Introduction to Wiring 1.0 IDEWiring 1.0 is the software for developing C/C++ programming language in order

to create a program controlling ATmega1281 microcontroller on Wiring I/O hardware

and then use the program in AT-BOT robot in Robo-Creator kit as well.

In the kit, tools used in development of the program are contained completely in

the format of IDE (Integrated Development Environment), either the text editor for coding

or C complier. Downloading the program and the window of serial monitor for receiving

and sending serial information to AT-BOT robot. Wiring is designed to use easily and the

C/C++ language is for programming which can work on the operating system of

Windows XP up, Linux and MAC OSX and installation files for each platform are separated.

2.3.1 Software installation

(1) Insert the CD Rom, come with Robo-Creator robot kit. Click the file named

Wiring1000_RoboCreatorR1_Setup.exe (the number of the installation file may be

changeable) and then the window of welcoming to the Wiring 1.0 setup will appear.


(2) Next, click to agree in each step of the setup as installation of other applications

of Windows until completion.

(3) Installing the Wiring 1.0 software by using the CD rom is bundled with Robo-

Creator robotic kit is the setup of both Wiring 1.0 software and USB driver to connect

with ATX controller board in the same time.

(4) Test to start the program by select START > All Programs > Wiring. Then for a few

moment, the window of Wiring IDE will be present.

After That you can use the Wiring IDE in the program development for AT-BOT

robots.


2.3.2 Checking the USB Serial port for the AT-BOT

(1) Plug the USB cable connecting ATX control board with the USB port of the

computer. Turn on and wait for the blue LED at the position of USB on the circuit board

is on as the figure 2-1.

(2) Click the START button and go to the Control Panel.

(3) Then double-click the System

(4) Go to the tab of Hardware and click on the Device Manager button

Figure 2-1 : The steps of preparation for checking USB serial portpositions of AT-BOT robot

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

R o b

> o R

o - C r e a o r >

u n n i n . . o a

t

g r d.

>


TWI UART1


44 ADC446 ADC640 ADC041 ADC142 ADC2 STAR

T

45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Connect with USB port

Turn on power

2

4 Display RUN mode

1

Wait until the USB LED is on3


(5) Check the hardware listing at Port. You should see USB Serial port . Check the

position. Normally it is COM3 or higher (for example; COM10). You must use this COM

port with the Wiring IDE software.


2.3.3 AT-BOT with Wiring IDE interface

(1) Open Wiring IDE. Wait for a while. The main window of Wiring IDE will appear.

(2) Choose the suitable hardware by select menu Tools > Board > INEX > Robo-

Creator R1 > ATmega1281 @16MHz

(3) Select menu Tools > Serial Port to choose the USB serial port of AT-BOT. It is

COM4 (for example).

Must do this step for every new connection of the AT-BOT with Wiring IDE

Now the AT-BOT is ready for interfacing and code development with the Wiring

IDE.


This chapter presents preliminary information of Wiring, which is the software tool

for developing the operation of AT-BOT robots or one of the activities to build robots in

Robo-Creator kit. For the details of program structure of C/C++ language Wiring supports,

you can read in the Wiring IDE help.

3.1 Components of Wiring IDEWiring IDE consist of two important parts which are text editor and C/C++

compiler. There are many tools and command buttons to help the program

development as appeared in the figure 3-1.

3.1.1 Menu bar

Including File, Edit, Sketch, Tools and Help menu, will affect work files doing at

the present only.

Figure 3-1 : Main window of Wiring IDE software used in theprogram development

Chapter 3

Wiring IDE introduction


3.1.1.1 File

New (Ctrl+N) : Create new files. This is called sketch in Wiring and given name

following the recent date in the format sketch_YYMMDDa, such as sketch_080407a or

click the button on the tool bar.

Open (Ctrl+O) : Open the exist sketch file or click on the button .

Close (Ctrl+W) : Choose to close the sketch file.

Save (Ctrl+S) : Save the open sketch file in the old name and work similarly to

click the button on the tool bar.

Save as(Ctrl+Shift+O) : Save the open sketch file in the new name and the old

file will not disappear.

Upload to Wiring hardware (Ctrl+U) : Exports the program to the Wiring I/O Board

(inthis document is the ATX controller board). After the files are exported, the directory

containing the exported files is opened. There is more information about uploading

below. It works in the same way as click the button on the tool bar.

Preference : Customize the operation of Wiring IDE

Quit (Ctrl+Q) : Quit the Wiring program and close all windows of Wiring program.


3.1.1.2 Edit

The menu contains commands used to edit the sketch file that develops on the

Wiring IDE.

Undo (Ctrl+Z) : cancel the previous action of a command or the lastest typing.

You can cancel Undo command by click Edit > Redo.

Redo (Ctrl+Y) : To return to make a statement made before the Undo command

is available only when done Undo already.

Cut (Ctrl+X) : Delete and copy the selected text to store at the clipboard, which

functions as the temporary memory unit to preserve information.

Paste (Ctrl+V) : Place the data in the clipboard on the desired position or replace

the selected text.

Select All (Ctrl+A) : Select all letters or text in the open file in the text editor at that

time.

Find (Ctrl+F) : Search for any text in the open file in the text editor. In addition, it is

also able to find and replace another text.

Find Next (Ctrl+G) : Find text or words we use to search for the next one within

the open file in the text editor.


3.1.1.3 Sketch

Sketch menu is a command menu relating to compile a sketch file.

Verify/Compile (Ctrl+R) : It is a command of program compilation and its function

is similar to pressing the button on the tool bar.

Import Library : Open the included library of Wiring.

Show Sketch Folder : Show the folder of the current sketch file.

Add File: Add the required program file to the sketch file.

3.1.1.4 Tools

Tools menu is a command menu relating to selection of tools helped to develop

a program. Important commands you should know are as follows.

Auto Format : Try to format program code in the completed form.

Serial Monitor : Open the serial data terminal.

Board : Choose the interfaced hardwarere with the Wiring 1.0.

Serial Port : Choose the interfaced port of the Wiring I/O hardware.


3.1.1.5 Help

Getting Started : Open the window about the using Wiring of the Wiring website.

Examples : Open a sketch file of an example program.

Reference : Open Reference window of the Wiring website. It consists of

language, programming environment, libraries, and language comparison. You have

to connect with the internet if you would like to see the information.

Find in Reference (Ctrl+Shift+F) : Choose text in your program code. Here you will

drag black bar and click on it. The program will take the text you have chosen to find in

reference and if it cannot find anything, there will be a warning message in the window

of the program.

Wiring Hardware : Browse the information of Wiring I/O hardware via internet.

Troubleshooting : Open the window about solutions in performance of the Wiring

of the Wiring website.

Visit wiring.org.co (Ctrl+5) : Open the web browser to visit the homepage of

Wiring at http://wiring.org.co.

About Wiring : Show the copyright on the Wiring software


3.1.2 Toolbar

There are six buttons of basic functions and initial operation as follows.

Run or Compile : This button is used to compile the program code.

New : This button is used to create a sketch file.

Open : Open the exist sketch file

Save : Save the open sketch file in the old name. If would like to

change filename, use Save As command instead.

Upload to Wiring hardware : Exports the program to the ATX

controller board). This procedure is called UPLOAD.

Serial monitor : opens the serial data communication between the

Wiring I/O hardware and the monitor of Wiring IDE through serial ports (or COM port) to

check the information sent back from Wiring I/O hardware (here it is ATX control board,

which is very useful for the detection of the programs operation).

3.1.3 Serial monitor

Wiring IDE has a Serial monitor. It is a serial data communication tool. User can

transmit, receive and show the serial data via this monitor with USB serial port of computer.

In the developed sketch code, must put two imporatant commnands as follows :

1. Serial.begin() : Set the baud rate of serial data communication. Normally the

baud rate value is 9600 bit per second. Must add this command into Setup() of sketchbook.

2. Serial.println() : Assign the sending message to Serial monitor on the Wiring IDE.

Openning the Serial monitor is very easy. Click on the button at Toolbar. The

Serial monitor window is appeared following the figure below.


3.2 How to develop the program(1) Check the installation of the hardware and software of Wiring. Include the

setting USB serial port that connected with Wiring I/O hardware; the ATX control board

of AT-BOT robot in Robo-Creator kit.

(2) Create a new sketch file by a click of the New button on the Tools bar or

choose from menu File > New

(3) Type the example code as as follows :

#include // Include main libraryint ledPin = 48; // LED connected to pin 48 (bootloader)void setup(){

lcd("Hello Robot!"); // Title message on LCDpinMode(ledPin, OUTPUT); // Sets the digital pin as output

}void loop(){

digitalWrite(ledPin, HIGH); // Sets the LED ondelay(1000); // Waits for a seconddigitalWrite(ledPin, LOW); // LED offdelay(1000);

}

This program is used to test a basic hardware of AT-BOT robot. At the LCD display

shows message Hell Robot ! and blink the LED at port 48 of the ATX controller board with

one second rate.


(4) Go to the File menu to choose the Save as command to save the file in the

name of Test. Now, there is test.pde file happening in the folder called test.

(5) Verify the sketch by click onthe Run button of choose from menu Sketch >

Compile/Verify

If there is any error occurring from compilation, a warning message will

be appeared in the messsage area. Therefore, you will have to correct the program.

If all are correct, the message area will display Done compiling message.


After the compilation is finished, in the folder of test there will be a new

folder are in named Build and within this folder it contains the source file of C++

programming language and a supplementary file.

(6) Connect the ATX board with USB port. Turn-on power. Wait until USB connection

is completely ( blue LED at USB is turned-on) .

(7) Press and hold the START button on the ATX controller board 3 seconds. The

LCD module shows Entry program mode message following the figure 3-2.

(8) Click on the Upload to Wiring Hardware. Code uploading is started. Wait

until uploading complete. The message Done uploading. RESET to start the new program.

is shown in the status bar of Wiring IDE.

Figure 3-2 : Illustration of AT-BOT robot controlled to enter theprogram mode

MOTOR


SERVO PORT

7.2-9

V B

ATT

.

E2

RESET

+

-S

14 15PC6 PC7

R o b

> o B

o - C r e a o r >

o o t l o d r o a

t

a r de

>


TWI UART1



45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Connect to USB port

Turn-on power

2

5 Display the programming mode

Press and hold the START button3 seconds.The robot enter to programmingmode

4

1

The blue LED of USB ready is on3

LED at port 48 is onfor programming mode


If there is error occurring from uploading, a warning message will be

appeared in the messsage area as follows

This mostly occurs if the serial port is invalid or not selected the board to

work in the program mode. Correction can be read in the topic of Troubleshooting of

uploading error.

(9) Press on the START button on the ATX control board to start the operation of

the program.

At the display of ATX board; it shows message Hello Robot! and the LED at

the port 48 lights up.


3.3 Troubleshooting of uploading error.

3.3.1 In case that you have clicked the Upload buttonalready but no any action

Cause :

Wiring software cannot link with ATX control board of AT-BOT robot because it is

not in the program mode.

Solution :

(1) Press the Ctrl, Alt and Delete key simultaneously and then the Window Security

window will pop up. Next, click on Task Manager to choose. In some computers, the

program may lead to the Window Task manager window immediately, in this case, you

can choose the Processes tab and search for the file named avrdude.exe. Finally, click

on that file and the End Process button respectively.

(2) Wiring IDE program will resume in a normal status and supply power to the

board again. Select the correct COM port and then set the ATX board to the

programming mode in order to upload the program again.


3.3.2 In case if you click the Upload button, there is an errormessage that not find any hardware for uploading

Cause :

Wiring software cannot connect with ATX control board or AT-BOT robot because

selecting a COM port is not correct.

Solution :

You need to choose an another COM port used for the connection again and

correctly by doing at the Tools > Serial port.


Developing C/C++ programming language with Wiring for AT-BOT robots is managed

under the support of atx.h library file in order to reduce steps and complexity in programming

to control parts of the hardware because it is required to give the priority for the program

development controlling AT-BOT robots to programming to support competitions.

The structure of atx.h library file shown as the diagram and details of all sub files are

consisted of as follows.

atx.h library file

Chapter 4

ATX Library file


4.1 lcd.h library file of LCD module displayingThis library file supports the instruction set about the display of messages at the LCD

module. Before activating the function of this library, you should append the library file in

the first part of the program with the statement.

#include or #include

The main function of this library is lcd., which contains the function for message

display at the LCD module in the type of 16 characters and 2 lines.

Syntax

void lcd(char *p,...)

Parameter

p - Type of display data. Support the special character for setting display method.

Command Operation

%c or %C Display 1 character

%d or %D Display the decimal value -32,768 to +32,767

%l or %L Display the decimal value -2,147,483,648 to +2,147,483,647

%f or %F Display floating point 3 digits

#c Clear message before next display

#n Display message on the second line (bottom line)

Example 4-1

lcd(Hello LCD); // Displays Hello LCD message at LCD module

Result :

Hel

Wir

l ooLCD boa

i ngI/ b obo

r

O tdR

rdr

Example 4-2

lcd(abcdefghijklmnopqrstuvwxyz);

// Display string. If over 16 charactes, the next character will// show on the second line automatically.

Result :

abc

qrs

d efghi klm

t uvwx z obo

j

y tdR

nop


Example 4-3

lcd(Value: %d unit ,518);// Display message with number date (518)

Result :

Val

qrs

u e:g51 kun

t uvwx z obo

8

y tdR

itp

Example 4-4

lcd(Value: %d ,analog(4));

// Display analog value from analog port 4 (PA4)

Result :

Val

qrs

u e:gxx kun

t uvwx z obo

x

y tdR

itp

therefore xxx as reading value 0 to 1023

Example 4-5

char c_test=j;

lcd(abcd%cxyz,c_test);

// Display character j with any message

Result :

abc

qrs

d jxyzx kun

t uvwx z obo

x

y tdR

itp

Example 4-6

lcd(Value: %f ,125.450);

// Display message with floating number 3 digit

Result :

Val

qrs

u e:g12 .45

t uvwx z obo

5

y tdR

0tp


Example 4-7

lcd(count1: %d #ncount2: %d,12,48);// Display message with 2 control code and special key #n

// for moving all message after #n to line 2 or bottom line of// LCD screen

Result

cou

cou

nt1:11 .45

nt2:x 8 obo

2

4 t dR

0t p

4.2 sleep.h : The delay time libraryThis library file supports all instructions for time delaying. This library must be included

at the top of the program with the command #include as follows :


The important function is sleep . It delay time in millisecond unit.

Syntax

void sleep(unsigned int ms)

Parameter

ms - Set the delay time in millsecond unit. Range is 0 to 65,535.

Example 4-8

sleep(20); // Dealy 20 miliisecond

sleep(1000); // Delay 1 second


4.3 in_out.h : Digital input/output port libraryThis library file supports all instructions for readind and writing data to digital port of

controller board. This library must be included at the top of the program with the command

#include as follows :


Important functions of this library file are consisted of :

4.3.1 inRead data from the specific digital port

Syntax

char in(x)

Parameter

x - Choose digital port number. it is 0 to 50

Return value

0 or 1

Example 4-9

char x; // Declare x variable for keeping reading input data

x = in(49); // Read port 49 and store data to x variable.

Example 4-10

char x; // Declare x variable for keeping reading input data

x = in(50); // Read port 50 and store data to x variable.

4.3.2 outWrite or send the data to the specific digital port

Syntax

out(char _bit,char _dat)

Parameter

_bit - Choose digital port number. it is 0 to 50

Example 4-11

out(43,1); // Write port 43 with logic 1

out(45,0); // Write port 45 with logic 0

4.3.3 sw1_pressThis function loops to check the SW1 pressing. It returns value after switch is released.

Syntax

void sw1_press()

Example 4-12

................

sw1_press(); // Wait until the SW1 is pressed and released

................


4.3.4 sw2_press

This function loops to check the SW2 pressing. It returns value after switch is released.

Syntax

void sw2_press()

Example 4-13

..................

Sw2_press(); // Wait until the SW2 is pressed and released

.................

4.3.5 sw1

This function check the SW1 pressing in any time.

Syntax

char sw1()

Return value

0 - SW1 is pressed

1 - SW1 is not pressed

Example 4-14

char x; // Declare x variable for keeping the value

x = sw1(); // Get SW1 status and store to x variable

4.3.6 sw2

This function check the SW2 pressing in any time.Syntax

char sw2()

Return value

0 - SW2 is pressed

1 - SW2 is not pressed

Example 4-15

char x; // Declare x variable for keeping the value

x = sw2(); // Get SW2 status and store to x variable


4.4 analog.h : Analog port libraryThis library file supports all instructions for reading the analog input port of the ATX




4.4.1 analog

This gets digital data from the analog to digital converter module of any analog

port; ADC0 to ADC7.

Syntax

unsigned int analog(unsigned char channel)

Parameter

channel - Analog input (ADC0 to ADC7)

Return value

Digital data from analog to digital converter module. The value is 0 to 1023 (in

decimal)

4.4.2 knob

This function gets data from ADC7 port. This port isconnected with variable resistor

on-board. It is called KNOB.

Syntax

unsigned int knob()

Return value

Digital data from analog to digital converter module. The value is 0 to 1023 (in

decimal)

Example 4-16

int val=0; // Declare variable to keep the converted data

val = analog(2); // Get data from analog input ch. 2 (ADC2)// and store data to val variable.

Example 4-17

int val=0; // Declare variable to keep the converted data

val = knob(); // Get data from analog input ch. 7// (ADC7 or KNOB) and store data to val// variable


4.5 motor.h : DC motor driving libraryThis library file supports all instructions for driving and controlling 6 DC motor outputs

of the ATX controller board. This library must be included at the top of the program with

the command #include as follows :


4.5.1 motor

It is DC motor driving function.

Syntax

void motor(char _channel,int _power)

Parameter

_channel - DC motor output of ATX board; value is 0 to 5

_power - Power output value; it is -100 to 100

If set _power as positive value (1 to 100); motor is driven one direction.

If set _power as negative value (-1 to -100); motor is driven opposite direction.

If _power as 0; motor is stop. This value is not recommended. Use motor_stop

function to stop motor better.

Example 4-18

motor(1,60); // Drive motor ch.1with 60% of maximum power

motor(1,-60); // Drive motor ch.1with 60% of maximum power and turn back

direction.

Example 4-19

motor(2,100); // Drive motor ch.2 with maximum power

4.5.2 motor_stop

This function is driving off a motor or stop.

Syntax

void motor_stop(char _channel)

Parameter

_channel - DC motor output of ATX board; value is 0 to 5 and all (for driving off

all channels)

Example 4-20

motor_stop(1); // Stop motor ch.1

motor_stop(4); // Stop motor ch.4

Example 4-21

motor_stop(ALL); // All motor are stop


4.6 servo.h : Servo motor libraryThis library file supports all functions for controlling 6 servo motor outputs of the ATX



#include or #inclue

There is one function. It is servo.

Syntax

void servo(unsigned char _ch, int _pos)

Parameter

_ch - Servo motor output (8 to 13)

_pos - Set the sevo motor shaft poistion (0 to 180 and -1)

If set to -1, disable selected servo motor output

4.7 sound.h : Sound generating libraryThis library file supports all functions for sound generating of the ATX controller

board and AT-BOT. This library must be included at the top of the program with the

command #include as follows :

#include or #inclue

4.7.1 beep

It is beep sound generating function. The beep frequency is 500Hz and 100

millisecond duration time.

Syntax

void beep()

4.7.2 sound

This is programmable sound generating function.

Syntax

void sound(int freq,int time)

Parameter

freq - Set frequency with value 0 to 32,767

time - Set duration time in millisecond unit from 0 to 32,767

Example 4-22

beep(); // Drives beep sound with 100 millisecond duration

sound(1200,500); // Drives sound with 1200Hz 500 millisecond


4.8 serial.h : Serial data communication libraryThis library file supports all functions for sending and receiving the serial data via

UART port of the ATX controller board and AT-BOT. This library must be included at the top

of the program with the command #include as follows :


4.8.1 Hardware connection

UART0 port

UART0 port is connected via USB to Serial converter chip; FT232RL. For connecting

with computer, must connect via USB port on the ATX controller board. This connector is

same port for downloading.

UART1 port

Connect via RXD1 (port 2 ) and TXD1 (port 3)

4.8.2 uart

This is serial data sending function via UART0 port. The default baudrate is 115,200

bit per second.

Syntax

void uart(char *p,...)

Parameter

p - Type of data. Support the special character for setting display method.

Command Operation

%c or %C Display 1 character

%d or %D Display the decimal value -32,768 to +32,767

%l or %L Display the decimal value -2,147,483,648 to +2,147,483,647

%f or %F Display floating point 3 digits

\r Set the message left justify of the line

\n Display message on the new line

4.8.3 uart_set_baud

This is baud rate setting function for UART0.

Syntax

void uart_set_baud(unsigned int baud)

Parameter

baud - Baud rate of UART0 2400 to 115,200

Example 4-23

uart_set_baud(4800); // Set baud rate as 4,800 bit per second


4.8.3 uart_available

This is receiveing data testing function of UART0.

Syntax

unsigned char uart_available(void)

Return value

- 0 : no data received

- more than 0 : received character

Example 4-24

char x =uart_available();

// Check the recieving data of UART0.

// If x value is more than 0; it means UART0 get any data.

// Read it by using uart_getkey function in the order next immediately.

4.8.4 uart_getkey

This is data reading function from receivers buffer of UART0

Syntax

char uart_getkey(void)

Return value


- data : received character in ASCII code

Example 4-25

#include // Get functionvoid setup(){}void loop() // Main loop{

if(uart_available()) // Check incoming data{

if(uart_getkey()==a) // Is key a pressed ?{

lcd(Key a Active!); // Display message when get asleep(1000); // Delay 1 second

}else{

lcd(#c); // Clead display}

}}

Note : Default baud ratre of UART library is 115,200 bit per second. Data format

is 8-bit and no parity.


4.8.5 uart1

This is serial data sending function via UART1 port. The default baud rate is 9,600 bit

per second.

Syntax

void uart1(char *p,...)

Parameter

p - Type of data. Support the special character for setting display method. See

details in uart0 function.

4.8.6 uart1_set_baud

This is baud rate setting function for UART1.

Syntax

void uart1_set_baud(unsigned int baud)

Parameter

baud - Baud rate of UART0 2400 to 115,200

Example 4-26

uart1_set_baud(19200); // Set baud rate as 19,200 bit per second

4.8.7 uart1_available

This is receiving data testing function of UART0.

Syntax

unsigned char uart1_available(void)

Return value


- more than 0 : received character

Example 4-27

char x =uart1_available(); // Check the receiving data of UART1.

4.8.8 uart1_getkey

This is data reading function from receivers buffer of UART1.

Syntax

char uart1_getkey(void)

Return value


- data : received character in ASCII code


4.9 Digital compass libraryIt is compass.h file. This library file is not included in robot.h library file. Must include

the specific library file before using.

This library file supports all functions for interfacing the HMC6352 digital compass of

the ATX controller board. This library must be included at the top of the program with the

command #include as follows :

#include

4.9.1 compass_read

This reads the angle of the HMC6352 digital compass.

Syntax

int compass_read()

Return value

Angle value 0 to 359 defree

4.9.2 compass_set_heading

This is reference angle setting function. With this function, the current angle that

read from digital compass is set to 0 degree reference.

Syntax

void compass_set_heading()

4.9.3 compass_read_heading

This is reference angle reading function. Use this function after set the new reference

angle from compass_set_heading function.

Syntax

int compass_read_heading()

Return value

1 to 180 : positive angle (clock wise direction) of digital compass.

-1 to -180 : negative angle (Counter-Clockwise direction) of digital compass.


This chapter presents examples of the hardware experiment with the ATX controller

board of the Robo-Creator robotic kit. There are 7 experiments as follows.

Experiment 1 Shows message on the display of the ATX board

Experiment 2 Using SW1 and SW2 switch

Experiment 3 Reading analog from KNOB button of the ATX board

Experiment 4 Sound activity

Experiment 5 DC motors control

Experiment 6 Servo motor control

Experiment 7 Serial data communication with computers

Chapter 5

The ATX controller board

hardware experiment


Programming and Hardware experiment steps(1) Open Wiring IDE and create a new sketch file.

(2) Type the code on the test editor of the sketch file

(3) Compile by click at the button or choose at the menu Compile > Verify.

(4) Connect the ATX controller board with a USB port. Turn on power and wait until

the connection between the computer and ATX board is completed. This can be noticed

from the blue LED at the position of USB power on.

(5) Set the ATX board to program mode by pressing START switch and hold it for 3

seconds.

At the ATX board display, it shows messages

Robo-Creator

> Bootloader

and the red LED at the port 48 is powered on.

(6) Upload the code by click at the button or click at the menu file > Upload to

Wiring hardware.

(7) Wait until the uploading is successful. Then press the START switch again. Finally,

the ATX controller circuit board will be running the latest uploaded program immediately.


Experiment 1

Shows message on the display of the ATX board

Experiment 1.1 Simple message displaying on the ATX board

This experiment demonstrates the simle programming for showing the message at

the display of the ATX board.

Procedure

L1.1.1 Create the new sketch file. Type the Listing L1-1 and save as lcd_01.pde file

L1.1.2 Compile and upload the sketch to the ATX board.

L1.1.3 Run the program.

At the LCD display of the ATX controller board show message Hello Robot! as follows.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Hel

> o B

loCRob t!>

o o t l o d r o a

o

a r de

>


TWI UART1



45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Listring L1-1 : lcd_01.pde, the sketch file for simple displaying

message on the ATX board.

#include // Include the main libraryvoid setup(){ lcd("Hello Robot!"); // Display mesage on the ATX display}void loop(){}

Code explanation

This code runs within the setup function. There is one command. Display the message;

Hello Robot! on the screen. After that the program will jump to run in the loop function. No

any command in this function. The operation is stop finally.

Program L1-1


Experiment 1.2 Display message 2 lines of the ATX boarddisplay

This experiment demonstrates the displaying message 2 lines of the ATX board

display.

Procedure




At the LCD display of the ATX controller board show message as follows :

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Lin

Lin

e1CRob t!>

e2t l o d r o a

o

a r de

>


TWI UART1



45 ADC5

> >

USB DATA

43 ADC3

32

10

45

#include // Include the amin libraryvoid setup(){}void loop(){

lcd(Line1#nLine2); // Display message 2 lines}

Code explanation

The program starts running in the setup function then it repeats working in the loop function

to display message on both lines of the LCD. The result comes from the operation of control

code #n. The overall results have been shown the display of 2-line text.

Listring L1-2 : lcd_02.pde, the sketch file for displaying message 2

lines on the ATX board display.


Experiment 1.3 Shows message and number

This experiment demonstrates showing messages mixed with numbers at the ATX

board display. It shows the values of counting in every 1 second.

Procedure





Count: xxx

therefore xxx is counting value that increse every second.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Cou

Lin

nt:R20 t!>

e2t l o d r o a

0

a r de

>


TWI UART1


44 ADC446 ADC640 ADC041 ADC142 ADC2 STA

RT

45 ADC5

> >

USB DATA

43 ADC3

32

10

45

#include // Include the main libraryint i = 0; // Declare the counting variablevoid setup(){}void loop(){ lcd("Count: %d ",i); // Display the counter on the ATX board display sleep(1000); // Delay 1 second i++; // Increase counter}

Code explanation

The program starts running in the setup function and then it repeats working in the loop

function. It shows the counting value that increased every 1 second. The variable i stores the

count values.

Listring L1-3 : lcd_03.pde, the sketch file for displaying

message and number on the ATX board.


Experiment 2

Using SW1 and SW2 switch

Experiment 2.1 Using SW1 to start the counter

This expeirment demonstrates how to use the SW1 on the ATX controller board to

start the counter. The counting values also should be display on the ATX board display.

Procedure

L2.1.1 Create the new sketch file. Type the Listing L2-1 and save as switch_01.pde file

L2.12 Compile and upload the sketch to the ATX board.

#include // Include the main libraryint i=0; // Declare the counter variablevoid setup(){ lcd("SW1 Press!"); // Display the title message sw1_press(); // Wait the SW1 pressing lcd("#c"); // Clear display before show the next message}void loop(){ lcd("Count: %d ",i); // Display the counting value sleep(1000); // Delay 1 second i++; // Increase counter}

Code description

The program starts running in the setup function to wait for the pressing of SW1 and

there is an alert by the text of SW1 Press! at the display after the switch is pressed. The

program will repeat working in the loop function to display the count value that is increased

in every 1 second. The i variable is used to stores the count values.

Listing L2-1 : switch_01.pde, the sketch file for checking the SW1

of the ATX board pressing to start the counter




SW1 Press!

L2.1.4 Press the SW1 on the ATX board and release.

Counting is start. The counter value is displayed on the ATX board display as follows.

Count: xxx

therefore xxx is counting value that increase every second.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Cou

Lin

nt:R20 t!>

e2t l o d r o a

0

a r de

>


TWI UART1



RT

45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Press the switchSW1 to start

Experiment 2.2 Checking the SW1 and SW2 pressing anytime

This experiment demonstrates the checking of SW1 and SW2 of the ATX board

pressing. It used to increase and decrease the variable value. Also display the value on

the LCD module of ATX board.

Procedure

L2.2.1 Create the new sketch file. Type the Listing L2-2 and save as switch_02.pde file




Count: xxx

therefore xxx is the counting value. Start from 10.


#include // Include the main library

int i=10; // Declare the counter variable

// and set to start from 10

void setup()

{}

void loop()

{

lcd("Count: %d ",i); // Display the counting value

if(sw1()==0) // SW1 is pressed ?

{

i++; // If SW1 is pressed, increase counter.

sleep(200); // Delay for switch debouncing

}

if(sw2()==0) // SW2 is pressed ?

{

i-- ; // If SW2 is pressed, decrease counter

sleep(200); // Delay for switch debouncing

}

}

Code description

The program begins operating in the setup function. Then it repeats in the loop function.

It loop to check up pressing the switch of SW1 and SW2 all the time and display the count

values of the variable I at the LCD module as well.

Conditions of verification in the loop as following these:

1. If the SW1 is pressed ( sw1 ( ) function returns the value as 0)

The program responds by increase value of the variable i

2. If the SW2 is pressed (sw2 ( ) function returns the value as 0 )

The program responds by decrease value of the variable i.

Listing L2-2 : switch_02.pde, the sketch file for checking both SW1

and SW2 of the ATX board pressing anytime


L2.2.4 Press the SW1 switch on the ATX board. Observe the operation of the ATX board

display.

Each time you press the SW1, the count value is added up one value

L2.2.5 Press the SW2 switch on the ATX board. Observe the operation of the ATX board

display.

Each time you press the SW2, the count value is deduct one value.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Cou

Lin

nt:R20 t!>

e2t l o d r o a

0

a r de

>


TWI UART1



45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Press SW1 to increase value

Press SW2 todecrease value


Experiment 3

Reading analog from KNOB button of the ATX board

Experiment 3.1 Knob value reading

This experiment demonstrates how to read the analog value from KNOB button of

the ATX controller board. It is basic example of analog sensor reading. The result is 0 to

1023.

Procedure

L3.1.1 Create the new sketch file. Type the Listing L3-1 and save as knob_01.pde file




KNOB: xxx

therefore xxx as KNOB position value from 0 to 1023

- Adjust to last left position. Value is 0.

- Adjust to last right position. Value is 1023.

- Adjust to center position. Value is 512.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

KNO

Lin

B::101 t!>

e2t l o d r o a

0

a r de

>


TWI UART1



RT

45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Adjust the KNOBshaft to reading


#include // Include the main libraryvoid setup(){}void loop(){ lcd("KNOB: %d ",knob()); // Display the KNOB value sleep(100); // Delay 0.1 second for displaying}

Code explanation

The program begins operating in the setup function. Then it repeats in the loop function

to display the readable values from KNOB at the LCD module.

Knob value is read by using knob function of the atx.h library. It is analog to digital

converter function.

Listing L3-1 : knob_01.pde, the sketch file for reading the KNOB

button of the ATX board value.

Experiment 3.2 Use KNOB button to Mode selector

This experiment demonstrates about programming to use KNOB as the directional

determinant of counting value. If KNOB is adjusted to the left to compare with the middle

position, this will be the selection to count down values but if it is opposite, it will be the

selection to count values up. Additionally, the display of the count value is shown at the

LCD module.

Procedure

L3.2.1 Create the new sketch file. Type the Listing L3-2 and save as knob_02.pde file




Count: xxx

Count Up

in the Count up mode or

Count: xxx

Count Down

in the Count down mode

therefore xxx is thge counting value. Start from 100.


#include // Include the main libraryint i=100; // Declare the counter variable. Start from 100int k; // Declare the KNOB value variablevoid setup(){}

void loop(){ lcd("Count: %d ",i); // Display counter k = knob(); // Read the KNOB value to store to the k variable if(k>512) // Check the KNOBs value is through

// the middle to right or not ? { i++; // Increase the count value lcd("#nCount Up "); // Display the Count up mode message

// on the lower line of LCD } else { i--; // If the KNOBs value is through

// the middle to left, count down lcd("#nCount Down "); // Display the Count down mode message

// on the lower line of LCD } sleep(1000); // Delay 1 second}

Code explanation

The program begins operating in the setup function. Then it repeats in the loop function

to verification of adjustment position of KNOB continually. At the same time, the count value of

the variable i and the counting mode at the LCD module as well. There are conditions for the

verification as follows:

1. If the KNOB value is greater than 512

The program will respond to adding up the count value of the variable i to one value

and show the Count up mode message on the display.

2. If the KNOB value is less than 512 (working in the section of else).

The program will respond to deducting the count values of the variable i to one value

and show the Count down mode message on the display.

Listing L3-2 : knob_02.pde, the sketch file for using the KNOB button

of the ATX board to Mode selector


The program wil count up and down depending on the value of KNOB, which is

result from the rotation of spindle of the variable resistor at the position of KNOB of ATX

board.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Cou

Cou

nt:120 t!>

nttUp d r o a

0

a r de

>


TWI UART1



RT

45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Adjust the KNOB shaft tochange the counting mode

Left direction to countdown mode

Right direction to countup mode

L3.2.4 Adjust the KNOB shaft to go through the middle to the left (or may adjust to the left)

This will be found that the counter is in Count down mode. The count value will be

deducted 1 value in each second.

L 3.2.5 Adjust the KNOB shaft to go through the middle to the right (or maybe adjust to the

far right)

The counter is in Count up mode. The count value will be added up 1 value in

each second.


Experiment 4

Sound activity

Exeperiment 4.1 The signal selector

This experiment demonstrates about using the SW1 and SW2 on the ATX controller

board to generate the different sound frequency. If SW1 is pressed, ATX board drives

500Hz signal with 0.1 second duration. If the SW2 is pressed, it generate 2000Hz (2kHz)

signal with 0.5 second instead.

Procedure

L4.1.1 Create the new sketch file. Type the Listing L4-1 and save as sound_01.pde file


L4.1.3 Run the program. Press the SW1 on the ATX controller board.

Everytime to press the switch SW1, you will hear the sound with the frequency of

500 Hz for 0.1 second from the piezo speaker on the ATX board.

L 4.1.4 Press the switch SW2

Everytime to press the SW2, you will hear the sound of frequency 2000Hz for 0.5

second.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Cou

Lin

nt:R20 t!>

e2t l o d r o a

0

a r de

>


TWI UART1



45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Press SW1 to generate 500Hz signal

Press SW2 togenerate 2000Hzsignal


#include // Include the main libraryvoid setup(){}void loop(){

if(sw1()==0) // The SW1 is pressed ?{

beep(); // If SW1 is pressed,// generate the 500Hz signal 0.1 second duration

sleep(100); // Delay for switch debouncing}if(sw2()==0) // The SW2 is pressed ?{

sound(2000,500); // If SW2 is pressed,// generate the 2000Hz signal 0.5 second duration

sleep(100); // Delay for switch debouncing}

}

Code explanation

The program operates in the loop function to check the pressing of the SW1 and SW2

switches and there are conditions as follows.

1. If the SW1 is pressed (sw1( ) function returns the value as 0)

The program will respond to generate the 500Hz signal for 0.1 second.

1. If the SW2 is pressed (sw2( ) function returns the value as 0)

The program will respond to generate the 2000Hz signal for 0.5 second.

Listing L4-1 : sound_01.pde, the sketch file for using the SW1 and

SW2 on the ATX board to set the condition for signal generating


Experiment 4.2 Tuning frequency by KNOB

This experiment demonstrates about using KNOB button to adjust the sound

frequency and show the frequency value at the ATX board display

Procedure

L4.2.1 Create the new sketch file. Type the Listing L4-2 and save as sound_02.pde file




Freq: xxx Hz

therefore xxx is the generated signal frequency

L4.2.4 Asjust the KNOB button slowly from left to right direction. See the display operation

and listen the sound signal from ATX board.

The frequency of the sound displaying at the LCD module will increase from 0 to

2046Hz (as 2 times of the value read from KNOB). The sound you have listen will be

dramatically sharpened following the adjustment of frequency increasing.

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

Fre

Lin

q::120 tHz

e2t l o d r o a0a r de

>


TWI UART1



45 ADC5

> >

USB DATA

43 ADC3

32

10

45

Adjust the KNOB button to change the sound frequency



int k; // Declare the KNOB value variable

int f; // Declare the frequency variable

void setup()

{

}

void loop()

{

k = knob(); // Read the KNOB value to store in the k variable

f = 2*k; // Increase the value 2 times

lcd("Freq: %d Hz ",f); // Display the sound frequency

sound(f,200); // Generate the sound signal// from the variable data for 0.2 second

sleep(1000); // Delay 1 second

}

Code explanation

The program starts working in the setup function and repeats to work in the loop function

to repeat reading from the KNOB button. Then, the value you have got multiply by 2 to use for

the frequency value desired so the value will be in the range of 0 to 2046Hz and the frequency

value will be shown at the LCD module.

For the sound generation at the Piezo speaker, the program will space in each second

briefly.

Listing L4-2 : sound_02.pde, the sketch file for using the KNOB button

on the ATX board to adjust the sound signal frequency


Experiment 5

DC motors control

Experiment 5.1 Direction control for DC motor driver

This experiment demonstrates about direction control for DC motor driver output 0

and 1 of the ATX board. The motor driver will be drive DC motor forward and backward

every 3 seconds continually.

Hardware connection

Connect the DC motor #1 with Motor-0 output of the ATX board.


ON

MOTOR


SERVO PORT

7.2-9

V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

ATX

con

1.0r>> >>>

troll r boa

>

e rdR

>


TWI UART1



45 ADC5

>>

USB DATA

43 ADC3

32

10

45

DC motor #2

DC motor #1

Procedure

L5.1.1 Create the new sketch file. Type the Listing L5-1 and save as motor_01.pde file



DC motor at output 0 and 1 start and reverse direction every 3 seconds.



void setup()

{

}

void loop()

{

motor(0,70); // Drive motor-0 with 70% power


sleep(3000); // Delay 3 seconds before change the direction

motor(0,-70); // Drive motor-0 backward with 70% power

motor(1,-70); // Drive motor-1 backward with 70% power

sleep(3000); // Delay 3 seconds before change the direction

}

Code explanation

The program repeats to work in the loop function to drive the DC motor of the channel 0

and 1 simultaneously with 70% power equally both. And every 3 seconds reversing direction of

rotation will be operated continuously.

Listing L5-1 : motor_01.pde, the sketch file for direction control of

DC motor driver of the ATX board. DC motor will reverse direction

every 3 seconds continually

Experiment 5.2 Timing control motor

In this experiment demonstrates the programming for driving both DC motor at the

Motor-0 and 1 output of the ATX board with timing control. Both motors will operate 3

seconds and then stop 3 seconds alternately and continuously.

Hardware connection



Procedure

L5.2.1 Create the new sketch file. Type the Listing L5-2 and save as motor_02.pde file



DC motors at output 0 and 1 start and stop 3 seconds alternately and continually.



void setup()

{

}

void loop()

{



sleep(3000); // Delay 3 seconds

motor_stop(0); // Stop motor-0

motor_stop(1); // Stop motor-1


}

Code explanation

The program repeats to work in the loop function to drive the DC motor at channel 0 and

1 simultaneously with the 90% power driving equally both. After 3 seconds, all motors will stop

for 3 seconds also and start to rotate again. This will work together seamlessly.

Listing L5-2 : motor_02.pde, the sketch file for timimg control of DC

motor driver of the ATX board. DC motor will start and stop every 3

seconds continually


Experiment 6

Servo motor control

Experiment 6.1 Control position of the servo motor

This experiment demonstrates about programming to control the servo motor shaft

position. The servo motor is driven to move the shaft to 60 degrees position and stop to

lock at this position for 5 minutes. Next, change to the position to 120 degrees and stop to

lock at this position for 5 minutes as well. Then, the shaft will be moved to the position of 60

degrees again so that the positions will be switched back and forth like this constantly.

Hardware connection

Connect a standard servo motot to servo motor output port 12 of the ATX board

ON

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

ATX

con

1.0r >> >>>

troll r boa

>

e rdR

>


TWI UART1



45 ADC5

>>

USB DATA

43 ADC3

32

10

45

STANDARDSERVO MOTOR

Servo motor

Procedure

L6.1.1 Create the new sketch file. Type the Listing L6-1 and save as servo_01.pde file



The servo motor shaft will move between 60 and 120 degrees position every 5

seconds



void setup()

{}

void loop()

{

servo(12,60); // Drive the servo motor at port 12 to move its shaft to// 60 degrees position


servo(12,120); // Drive the servo motor at port 12 to move its shaft to// 120 degrees position


}

Code explanation

The program repeats to work in the loop function to drive a servo motor to move its shaft

between the position of 60 and 120 degrees in every 5 seconds.

Experiment 6.2 Switch-controlled the servo motor position

This experiment demonstrates about control the servo motor shaft position by 2 of

switch on the ATC board. The SW1 is used to increase the position angle ans SW2 is used to

decrease the position angle.

Hardware connection

Connect a standard servo motot to servo motor output port 12 of the ATX board

Procedure

L6.2.1 Create the new sketch file. Type the Listing L6-2 and save as servo_02.pde file




Servo: xxx

therefore xxx is servo motor shaft position. Start at 90

Listing L6-1 : servo_01.pde, the sketch file for driving a servo motor

to control the movement position


#include // Include the main libraryint p=90; // Declare the position variable

// and set the default value as 90void setup(){}void loop(){ servo(12,p); // Drive a servo motor to move the shaft to position

// that defined by the p variable lcd("Servo: %d ",p); // Show the current position of servo motor shaft if(sw1()==0) // Is the SW1 switch pressed ? { p++; // Increase the position value if(p>180) // Is the position more than 180 ? { p=0; // If the position value more than 180,

// set the position value back to 0 } sleep(100); // Delay 0.1 second } if(sw2()==0) // Is the SW2 switch pressed ? { p-- ; // Decrease the postion value if(p


L6.2.4 Press the SW1 switch

The shaft position of the servo motor will be increased 1 value. At the same time,

the servo motor shaft will be moved according to the increasing value. When adding the

value to 180, the position value will be back to start at the new 0.

L6.2.5 Press the SW2 switch

The shaft position of the servo motor will be decreased 1 value. At the same time,

the servo motor shaft will be moved according to the decreasing value. When the value

is lower than 0, the position value will be back to start at the new 0.


Experiment 7

Serial data communication with computers

Experiment 7.1 Transmit the serial data to computer

This experiment demonstrates about computer interfacing of the ATX controller

board. Begins with transmitting the serial data to USB port via the USB to serial converter

circuit on the ATX board. The data will be display on the Serial Monitor of Wiring IDE.

Connect to USB port

ON

MOTOR


SERVO PORT

7.2

-9V B

ATT.

E2

RESET

+

-S

14 15PC6 PC7

ATX

con

1.0r >> >>>

troll r boa

>

e rdR

>


TWI UART1


44 ADC446 ADC640 ADC041 ADC142 ADC2 STAR

T

45 ADC5

>>

USB DATA

43 ADC3

32

10

45

Procedure

L7.1.1

at-bot e120703 small

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