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Jazzing Up You r Microp rocesso r/Microcon trol lerCourse Through the Infus ion o f Mobi le Robo t ic

Agents Ut i lizing Basic Stamp IIMicrocont ro l lersfor Autonomous Navigat ion

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Emphasis of the Presentation

(1) How you can infuse the use of a BasicStamp microcontroller into a microprocessoror microcontroller course in electronics.

A) Lab Experiments

B) Boe-Bots

C) Custom Ground-up Mobile Robots

(2) How to construct and integrate this type ofproject into the ITEC curriculum beyond theformal curricula.

A) Independent Studies

B) Honors Theses

C) Student Organization Competitions

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Programming Languages

High-Level LanguagesBASIC, C, C++, etc.

Assembly LanguageUse of mnemonics

Hex Machine LanguageThe programmer writes the program using hex codes torepresent the op codes, operand addresses, and data(Trocci & Ambrosio, 2003, p 171).

Machine Language

Remember, the microprocessor does not processmnemonics, op codes, or hexadecimal numbers; it workson binary words (Gilmore, 1996).

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Laboratory Exercises (Before)

HeathKit 6800 Trainers

Hex!Programming Experiments

Binary/Decimal Conversion

Hex/Decimal Conversion

Straight Line Programs

Arithmetic and LogicInstructions

Program Branching

Additional Instructions(ADC, SBC, etc.)

Other Addressing modes(Extended & Indexed)

Interfacing Experiments Memory Circuits

Clock

Address Decoding Data Output

Data Input

D/A & A/D

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High-Level Language NeedCoupled with the Need for

Better I/O Capability

The Contenders

Bot Board featuring the Motorola 68HC11/12More powerful, faster, more I/O, Industry Standard

Boe-Bot featuring the BASIC STAMP 2Popular with Educational Technology/Engineering

Institutions, very user friendly, curriculum and trainingavailable, many expandable features

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The Decision!

When choosing a processor it is important toavoid religious wars. Yes, some processorsare faster than others for a given application,and some have very irritating instruction sets.Nevertheless the bottom line is, Can it do the

job and can you get the parts for anappropriate cost? Beyond that, there are goodand bad aspects to every processor family(Morton, 2001, p 19).

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Advantages to Parallax, Inc.

Ease of Use

PBASIC

Training

Documentation (Books & Manuals)

Accessories

Sensors

Support

Sample Code

Online Groups

Customization of Packages

BOE-Bot Kit

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Available Books (Curricula)Great for Lab Experiments

Whats a Microcontroller*

Basic Analog & Digital

Digital

Robotics*Advanced Robotics

Applied Sensors

Industrial Controls**More

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Parallax Stamps in Class Educational CurriculumDownload the individual texts at the related information link. Includes allcurricula from What's a Microcontroller through Industrial Control.

Matlab-Based Graphical User Interface Developmentfor BASIC Stamp 2 Microcontroller Projects.

The name Matlab is derived from Matrix Laboratory. Matlab is a powerfulsoftware package that allows for plotting data in multiple dimensions. Thisarticle demonstrates it's usage.

Internet-Based Remote Control using a Microcontrollerand an Embedded Ethernet Board.This article shows a developed DC motor position control experimentalsetup that can be accessed via the Internet. The experiment consists of

two primary elements communicating with each other: i) a serverconsisting of a low-cost microcontroller, Parallaxs 40-pin Basic Stamp 2module (BS2P40), interfaced with an embedded ethernet IC, CirrusLogics Crystal CS8900A, and ii) a client computer.

Available Downloads(examples)

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Some Powerful Stamp 2Accessories

Stepper Motor ControllerBoards

Bluetooth Technology

Field ProgrammerGraphing Software (StampPlot)

Real Time Data AcquisitionSoftware

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What About Industry Grade?

Parallax offersBasic Stamp 2 Industrial Module - Our industrialversion of the BASIC Stamp 2 module has an extended

temperature range of -40 C to +85 C (-40 F to +185 F).

This module normally has no shortage of program space

or I/O pins. Serial PC interface provides enhanced debug

features.

Industrial boards -

16 or 32 I/O

Optically Isolated (Opto22)

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Laboratory Exercises (After)

HeathKit 6800 Trainers

Hex!Binary/Decimal Conversion

Hex/Decimal Conversion

Straight Line Programs

Arithmetic and Logic Instructions

Program Branching

Calculator Challenge

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Laboratory Exercises (After)PBASIC!Boe-Bot (BS2)

Whats a Microcontroller

- Basics

- Set-up

Detecting the Outside World

- Inputs

- Variables (bit, nib, byte, word)

Micro-controlled Movement- Servo Motor Control

- For/Next Loops

- Time Delays

Simple Automation

- Debug (Print)

- Tying it all together

Measuring an Input- Interfacing to Integrated Circuits (555)

Assembling & Testing Your Boe-Bot

- Basics

- Set-up

- Tuning the servos (calibration)

Programming the Boe-Bot to go Places

- Low battery indicator

- Distance control

- Turning/Maneuvers

- Ramping Speeds

- EEPROM Navigation

- Branching/SubroutinesTactile Navigation

- Navigation with whiskers

- If/Then Statements

- Logic (XOR, Not, etc.)

Light Sensitive Navigation with Photoresistors

- Measuring RC time

- DeadbandObject Detection Using Infrared

- Frequency manipulation (Freqout)

- Real-time Navigation

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Suggested Course Lectures

What is a Microprocessor?Basic Microprocessor Architectural Concepts (part I)

Basic Microprocessor Architectural Concepts (part II)

Inside the Microprocessor

An Introduction to Microprocessor InstructionsCommunicating with the Microprocessor

Memory

Mass Storage

Introduction to MicrocontrollersThe Basics of PBASIC

Advanced PBASIC Instructions

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Why Dont We Just EliminateTeaching Assembly?

An assembly language program makes very compactcode, but it takes a great deal of programming time.High-level languages take much less development time

but take much more memory space than assemblyprograms (Gilmore, 1996).

However, semiconductor memory costs continue to drop.

Its a question of whats more expensive:

Extra MemoryExtra Engineering Development Time

Product quantity plays a huge role!

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Beyond the TraditionalClassroom

Honors Thesis Topic:

Independent Study

MU Robotics Team

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Honors Thesis Topic

Honors Thesis: Creating an equation todetermine of the optimum number of IRsensors needed for object detection.

The basis for this study was to prove that theoptimal number of IR sensors (timed efficiencyvs. cost) is directly related to an objects size ina given array.

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Major Components Used

BASIC Stamp 2 with carrier boardThis allows for powerful capabilities of interfacing sensorsto control your output but the PBASIC is simple enoughto program with limited programming background.

Parallax S.S.I.R SensorsInfrared detection unit which is made to be used with thestamp directly with no other interfacing.

BOE Bot

Board of Education Bot carries the stamp carrier boardand allows for movement with virtually no fabrication.

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Reason For Using TheseComponents

Object of the study was to determine sensoroptimization in general. The Stamp is a simple wayto draw conclusions that can be later transferred tomore advanced systems.

The Parallax S.S.I.R is designed specifically for usewith the stamp therefore all the circuitry foroperation is already included on the chip.

Although the BOE bot is simple, it is also extremelyreliable. All components can be bought in a kit andassembled quickly. The only fabrication needed isfor the sensor mounting.

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Using IR

The S.S.I.R. is an infrared detection unitUses an LED to emit infrared light, which whenbounced off an object can be detected.

Both the emitter and the detector use the sameport which gives added efficiency.

Tuning the S.S.I.R. is possible by changing the

frequency of the LED.Frequency changes your range of detection.

O /Off l

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BOE BOT

On/Off control in two zones

Nine sensors will be placed in an array infront of the BOE bot.

When an object is detected by a sensor,

the Stamp sets a variable as high todesignate detection on that side.

The stamp then turns the oppositedirection of which ever zone the objectwas detected in.

The BOE bot turns until the center IRdetects the object. The BOE Bot thendrives forward until it reaches the object.

The array field is divided up into two zones

each with on/off control logic.

Left Zone Right Zone

Al i h

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Algorithm

No

Start

BOE bot Drives

forward for .2

seconds

BOE Bot checks

status of sensors

Is there

detection in

the left zone?

Is there

detection in

the right

zone?

BOE bot turns right

for .2 seconds

Yes

BOE Bot checks

status of sensors

Does the

center IR

detect the

can?

No

No

Yes

Yes

No

BOE bot turns left

for .2 seconds

BOE Bot checks

status of sensors

Does the

center IR

detect the

can?

No Yes BOE bot Drivesforward for .2

seconds

BOE Bot checks

status of Limit

Switch

Is the limit

switch

touched?

Yes

Object Found

Initial Search Centering the BOE bot on the Object Driving to the Object

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Experiment SetupTo test our hypothesis we will need to set up

an experiment:An object will be placed within the arrays arc butout of its range.

A number of sensors will be turned on starting

with three in the first trial and ending with ninein the last trial.

The three sensors include a middle sensor, one at theleft limit, and one at the right limit.

Each trial will increase the number of sensors turnedon by two (one for each side) spaced equally apart.

The sensors will be turned on and off within the code.

The operation will then be started and timed.

E i t S t C ti d

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Experiment Setup Continued

We will perform all four trials 10 times each and

come up with an average time for each trial.This will be done with several objects of differentsizes (TBD).

Graphs will be formulated using the averagetimes, number of sensors and object size.

These graphs will be used to draw conclusionsabout the relationship between object size and

number of sensors, based on time.

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Assumptions/LimitationsAssumptions:

Objects will always beplaces in the sameposition in relation to theBOE Bot.

Power supply is constant

Timing will be from startof motion to the end ofmotion.

Code will not be altered(Except for turningsensors on and off).

Limitations:Experiment is to be doneon a flat smooth indoorsurface.

Object will be a solidcolor.

Sensor range is limited toapproximately two feet.

All servo and wheelcomponents will bestandard Parallaxcomponents that havecome with the BOE botkit.

I P

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In Progress

This study is currently in progress.The exact code has not been finalized norhave any of the trials been run.

I expect the trials to be run and myconclusions to be drawn in the Spring of2005 at which time I will defend myfindings in front of my thesis committee atMillersville University.

d h d l

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Honors Theses Topic:

Independent Study

MU Robotics Team

I d d t St d

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Independent Study

The purpose of this study was to establish asemi-autonomous mode in order to control arobotic device and then complete an assignedtask.

The integration of the two modes allow forboth tele-operated functions from the user andautomated control when the Basic Stamp II

was in operation.

S i A C l

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Semi-Autonomous ControlScheme Overview

2.4 GHz

(Bluetooth/Stamp)

75.51 MHz (RF/Manual)

2.4 GHz (Vision)

h d d

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The New Communication Standard

Bluetooth is a wireless communication technologythat was chiefly employed for data transfer andcontrol during the study.

Bluetooth class one technology has a range of 100m

or about 330ft.The use of Bluetooth technology as a low cost, lowpower, high data rate transfer mechanism helped tomake the real time control and semi-autonomousmodes a reality.

Th C l Li k

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The Control Link

Bluetooth technology allowed for the seamlessintegration of control.

Information was sent through theEmbeddedBlue 500. which is available

through parallax Inc.The Bluetooth technology allows forcommunication through any other class I

Bluetooth device.

l S l

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Virtual Serial Port

The program is first downloaded into the stamp via

hardwire connection.All of the Bluetooth code must be preprogrammed into facilitate communication between computer andBasic Stamp II.

Once the code is downloaded into the Basic Stamp IIthe user opens up HyperTerminal.

HyperTerminal communication must be configured

and then the virtual serial port link can be established.

R l Ti M it i

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Real Time Monitoring& One Key Control

Real Time Monitoring:With the serial communication establish information can besent and received through the uplink.

This allows for Real Time Monitoring of any sensors interfaced with

the basic Stamp II.

One Key Control:The User can then initiate the Basic Stamp IIspreprogrammed functions by a single key stroke.

In the study for example subroutines were used to check for userinput and then execute a set of instructions.

User-override feature utilized.

S i Si l St th

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Superior Signal Strength

Interfacing the Basic Stamp II, motor speed controller

and tele-operated receiver was interesting.Wiring the entire system in parallel turned out to bethe answer because of the Basic Stamp IIs superiorsignal strength it was able to lock-out functions from

the tele-operated receiver.The Basic Stamp II only locks-out outputs which theprogram sends digital signals to this means that atruly semi-autonomous state can be achieved thus

Real time monitoring was developed.

B d th T diti l

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Honors Theses Topic:

Independent Study

MU Robotics Team

Latest Design (SA 1)

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Latest Design (SA-1)

Semi-Autonomous One

2004 MU Robotics Team

T t Cit d

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Texts Cited

Gilmore, C. M. (1996). Microprocessors Principles and

Applications 2nd

Edition. Glencoe McGraw-Hill, New York.Morton, T. D. (2001). Embedded Microcontrollers. PrenticeHall, Upper Saddle River, New Jersey.

Tocci R. J. (2003). Microprocessors and MicrocomputersHardware and Software 6th Edition. Prentice Hall, Columbus,

Ohio.

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P ll St (A di A)

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Parallax Stamps (Appendix A)

BS2 (Low-end Model)

Processor Speed 20 MHzProgram Execution Speed ~4,000 instructions/sec.

RAM Size 32 Bytes (6 I/O, 26 Variable)

EEPROM (Program) Size 2K Bytes, ~500 instructions

Number of I/O pins 16 + 2 Dedicated Serial

Cost $49 each

BS2p40 (High-end Model)

Processor Speed 20 MHz Turbo

Program Execution Speed ~12,000 instructions/sec.

RAM Size 38 Bytes (12 I/O, 26 Variable)

EEPROM (Program) Size 8x2K Bytes, ~4,000 instructionsNumber of I/O pins 32 + 2 Dedicated Serial

Cost $89 each

Motorolas Microcontrollers

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Motorola s Microcontrollers(Appendix B)

68HC11512 bytes of RAM

2K bytes EEPROM

40 I/O pins

2 MHz45-100 Million Instructions per Second

Used with the BOT Board

68HC121024 bytes of RAM

4K bytes EEPROM

96 I/O pins

8 MHz

Note: Both can be

programmed with SBASIC

developed by Karl Lunt

Documents

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