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Arduino Robotics
John-David Warren, Josh Adams, Harald Molle
Verlag Apress, 2011
ISBN 9781430231844 , 621 Seiten
Format PDF, OL
Kopierschutz Wasserzeichen
Title Page
2
Copyright Page
3
Dedication Page
4
Contents at a Glance
5
Table of Contents
6
About the Authors
20
About the Technical Reviewers
22
Acknowledgments
23
Introduction
25
Prerequisites
25
CHAPTER 1 The Basics
26
Electricity
27
Electrical Analogy
28
Electrical Basics
29
Circuits
31
Measuring Electricity
32
Multi-Meters
32
Measuring Voltage
33
Measuring Amperage
34
Measuring Capacitance
34
Measuring Resistance
35
Calculating Resistor Power Using Ohm’s Law
36
Oscilloscope
37
Loads
38
Inductive Loads
38
Resistive Loads
38
Electrical Connections
39
Series Connections
39
Parallel Connections
39
Series and Parallel Connection
40
Electronics
40
Semi-Conductors
41
Datasheets
41
Integrated Circuits
42
Packages
43
Through-Hole Components
43
IC Sockets
44
Surface-Mount Components (SMT or SMD)
44
Arduino Primer
45
Arduino Variants
45
Standard Arduino
46
Arduino Mega
47
Clones
47
Arduino IDE
48
The Sketch
49
Variable Declaration
49
The Setup Function
49
The Loop Function
50
Signals
51
Digital Signals
52
Digital Inputs
52
Digital Outputs
52
Special Case: External Interrupts
53
Analog Signals
55
Analog Inputs
55
Analog Outputs (PWM)
56
Duty-Cycle
57
Frequency
58
Homemade PWM Example
59
Building Circuits
60
Circuit Design
60
Schematics
61
Prototyping
65
Breadboard
65
Perforated Prototyping Board (Perf-Board)
66
Printed Circuit Boards
67
Soldering
68
Soldering Shortcuts
70
Building a Robot
71
Hardware
71
Basic Building Tools
71
Materials
73
Work Area
73
Summary
74
CHAPTER 2 Arduino for Robotics
75
Interfacing Arduino
75
Relays
76
Types of Relays
76
Relay Configurations
77
Uses
79
Calculating Current Draw
79
Back-EMF Considerations
81
Solid-State switches
81
Transistors
82
Bipolar Junction Transistor (BJT)
82
Mosfets
84
Logic-Level vs. Standard
85
Mosfet Capacitance
85
On-State Resistance—Rds(On)
86
Calculating heat using Rds(On) and amperage of DC motor
86
Parallel Mosfets
87
Photo-Transistors
88
Interfacing a Motor-Controller
89
Motor-controller ICs
89
Electronic Speed Controllers (ESCs)
90
User Control
92
Tethered (Wired) Control
92
Infrared Control (IR)
92
Radio Control Systems
93
Amplitude Modulation (AM)
94
Frequency Modulation (FM)
94
Spread Spectrum 2.4gHz
95
Xbee
95
Sensor Navigation
96
Contact Sensing
96
Bump Switch
96
Distance and Reflection Sensing
97
IR Sensor
97
Ultrasonic Range Finder
99
Laser Range Finder
99
Orientation (Positioning)
100
Accelerometer
100
Gyroscope
101
Inertial Measurement Unit (IMU)
101
Global Positioning Satellite (GPS)
102
Real Time Kinetic (RTK) GPS
102
Non-Autonomous Sensors
103
Camera
103
Current Sensor
104
Summary
105
CHAPTER 3 Let’s Get Moving
107
Electric Motors
107
Brushed DC Motor (Permanent Magnet Type)
108
Brushless Motors
109
Stepper Motors
110
Gear Motors
112
Servo Motors
112
Continuous Rotation
114
Linear Actuators
114
Calculating Power
115
Driving
115
Finding the Right Motor
116
The H-Bridge
116
Generating a Brake
117
Implementation
118
Method 1: Simple Switches
119
Method 2: DPDT Relay with Simple
120
Method 3: P-Channel and N-Channel Mosfets
121
Method 4: N-Channel H-Bridge
122
H-Bridge ICs
122
Changing PWM Frequencies
123
Back EMF
125
Current Sensing
127
Commercial H-Bridges (Motor-Controllers)
128
Small (Up to 3amps)
128
Medium (Up to 10amps)
129
Large (Over 10amps)
130
The Open Source Motor Controller (OSMC)
130
Batteries
131
Nickel Cadmium (NiCad)
131
Nickel Metal Hydride (NiMH)
132
Lithium Polymer (LiPo)
133
Lead-Acid
134
Charging
137
Materials
138
Wood
138
Metals
138
Nuts and Bolts
139
Plastics
140
Chain and Sprockets
140
Wheels
140
Summary
140
Chapter 4 Linus the Line-Bot
142
Parts List for Linus
143
How Linus Works
145
The Track
146
Building the IR Sensor Board
146
Modifying a Servo for Continuous Rotation
155
Method 1: Direct DC Drive with External Speed Controller
156
Method 2: Servo Pulse Drive with Internal Motor Driving Circuitry
158
Fitting the Drive wheels
160
Making a Frame
164
Making Connections
171
Installing Batteries
173
Install Power Switch
173
Loading the Code
173
Making the Track
179
Testing
180
Add-ons
181
LED Lights
181
Painting
183
Adding Speed Regulator (Potentiometer)
187
Summary
190
CHAPTER 5 Wally the Wall-Bot
191
How Wally Works
192
Parts List for Wally
194
The Motor-Controller
195
The High-Side Switches
196
The Low-Side Switches
196
Building the Circuit
198
Building the Frame
204
Installing the Sensors
209
Installing the Battery and Power Switch
212
Installing a Power Switch
213
The Code
214
Code Objectives
215
Summary
223
CHAPTER 6 Making PCBs
224
PCB Basics
224
What You Need to Get Started
225
Circuit Design
227
Searching for Open-Source Designs
228
Making Your Own Designs
229
Schematics
229
Board Layouts
229
Working with the Schematic Editor
232
Working with the Board Editor
237
Transferring the Design
247
Let’s Make an Arduino Clone: the Jduino
248
Making the Transfer
249
Etching
257
Measuring the Solution
258
Etching: Method 1
259
Etching: Method 2
260
Removing the Toner
263
Drilling
266
Soldering
267
Building the Arduino Clone
268
Building the BJT H-Bridge
271
Testing
274
Summary
277
CHAPTER 7 The Bug-Bot
278
Reading a Switch with Arduino
279
How the Bug-bot Works
280
Antennae Sensors
280
Bumper Sensors
281
Parts List for the Bug-bot
281
The Motors
282
Modifying the Servo Motors
282
Controlling the Servo Motors
285
Converting the Pulse Value to Degrees
286
Mounting the Wheels to the Servos
287
Building the Frame
288
Marking the PlexiGlass
288
Cutting the PlexiGlass
290
Mounting the Motors
292
Mounting the Caster Wheels
293
Mounting the Arduino
295
Installing the Battery
296
Making the Sensors
298
The Front Antennae Sensors
298
The Rear Bump Sensors
299
Making Wire Connections
302
Loading the Code
304
Creating a Delay
304
Variables
305
The Code
306
Making a Top Hat
313
Summary
315
CHAPTER 8 Explorer-Bot
316
How the Explorer-Bot Works
317
R/C Control
317
Powerful Motors
318
Current Sensing
318
Video-Enabled
318
Xbee-Enabled
318
Parts List for the Explorer-Bot
319
Building the Frame
321
Specs
321
Adding Battery Bracket
322
Cut Top Frame Brackets
324
Cut Top Frame Braces
324
Cut and Bend Main Frame Piece
325
Add Crossbar and Mount Caster Wheel
327
Plexiglass Deck (Optional)
329
Building the Motor Controller
329
Current Sensing and Limiting
330
H-bridge Design
330
Setting Up the Arduino
334
Connecting the H-Bridges
335
Setting Up Xbee
336
Testing the Xbees
338
Adding a Camera
339
Pan and Tilt
340
Make First Bracket
340
Make Second Bracket
342
Loading the Code
342
Summary
350
CHAPTER 9 RoboBoat
352
Some Words in Advance
353
Parts List for the RoboBoat
353
Polystyrene Foam
356
Epoxy Resin
357
Gloves
357
Fiberglass Fabric
357
Glue
359
Styrofoam Cutter and Razor Knife
359
Miscellaneous
359
The RoboBoat Design
359
Assembling the Boat
361
The Templates
361
Gluing the Templates on the EPS/XPS Board
363
Cutting Out the Segments
364
Gluing the Segments Together
367
Inserting the Foam Anchors
368
The Coating
369
Applying the Finish
371
The Fins
371
Painting
372
The Deck
372
Completing the Assembly
373
The Propulsion Assembly
377
The Baseplate
378
The Pivot
379
The Tube
380
The Rudder Horns
381
The Motor
381
The Servo
382
The Pushrods
382
Electronics
382
The Heart of the System: The ArduPilot PCB
383
The GPS Module
384
The Electronic Speed Controller (ESC)
385
The Motor
386
The Rudder Servo
386
The Battery Pack
386
Assembling the Electronics
386
The Programming Adapter
388
Software and Mission Planning
389
GPS Receivers
389
The Software
390
AP_RoboBoat Module
391
Debug Module
393
Init Module
395
Navigation Module
396
PID_control Module
403
Servo_control Module
405
Header Files
407
Installing the Software
408
Installing the Arduino IDE
408
Configuring the Arduino IDE
409
Compiling and Uploading the Code
410
Customizing the Code
411
Customizing the Rudder Control
412
Customizing the PID Constants
412
Customizing the Motor Speed
412
Customizing the Waypoint Timeout
413
Customizing the Waypoint Radius
413
Customizing the Rudder Extents
413
Mission Planning
413
Employing Google Earth for the Coordinates
414
Putting It All Together
417
Integrating the System
418
Ships Ahoy!
420
Troubleshooting
421
The Thrust of the Motor/Propeller Is Not Sufficient
421
The Motor Does Not Start
422
Summary
423
CHAPTER 10 Lawn-Bot 400
424
How the Lawn-bot 400 Works
425
Lawn Mower Deck
426
High-Capacity Batteries
427
Steel Frame
427
Dump-Bucket
427
Pneumatic Tires
427
Headlights
427
Failsafe
428
Tools and Parts List
428
Lawnmower
428
Parts Lists
428
The Wheels
429
Front Caster Wheels
430
Rear Drive Wheels
430
Installing Sprockets
431
The Frame
433
The Drive-Train
441
Motor Mount Brackets
441
Installing the Chain
445
The Motor Controller
448
Buying a Motor Controller
448
Sabertooth 2x25
448
Cooling Fans
450
Motor Controller feedback
450
Current sensor IC
451
The Arduino
451
Securing Connections for a Bumpy Ride
452
Building a Breakout Board
452
The Failsafe
456
R/C Toggle Switch
457
Power Relays
460
Avoiding an R/C Failsafe
461
Making Connections
462
The Code
463
Adding Cosmetics and Accessories
468
Painting
468
Headlights
469
Dump Bucket
470
Lawnmower Kill-Switch
472
Summary
472
CHAPTER 11 The Seg-Bot
474
How the Seg-Bot Works
476
Inertial Measurement Unit
476
Steering and Gain
476
Engage Switch
476
Parts List for the Seg-Bot
477
Selecting the Right Sensors
478
3.3v Power
480
Accelerometer
480
Gyroscope
482
Cycle Time
483
Gyro Starting Point
483
Gyroscope Drift
483
Gyroscope Versus Accelerometer Summary
484
Filtering the Angle
484
Weighted Average
484
Making the IMU Adapter Board
485
Selecting the Motors
486
Electric Brake Removal
488
Motor Mounting Position
492
Selecting the Motor Controller
493
SoftwareSerial Library
494
Sabertooth Simplified Serial
495
The Batteries
496
Sealed Lead-Acid
496
Charging
497
12v Supply
497
The Frame
498
Frame Design
499
Building the Frame
500
Inputs
504
Steering
504
Gain
504
Engage Switch
504
Level-Start
504
Mounting the Inputs to the Frame
505
Installing the Electronics
509
Soldering the Inputs
512
Wiring the Connections
513
Reviewing the Code
514
Checking the Angle Readings
517
The read_pots() Function
518
The auto_level() Function
519
The update_motor_speed() Function
520
The time_stamp() Function
522
The serial_print_stuff() Function
523
The Full Code
524
Testing
530
Summary
532
References
532
CHAPTER 12 The Battle-Bot
533
Robotic Combat Is Born
535
Battle-Bot Rules and Regulations
535
No Price Limit!
536
Is This Going to Be Expensive?
537
Parts List for the Battle-Bot
537
Input Control
540
Fly Sky CT-6: The $32, 5-ch*, 2.4GHz Radio Alternative
540
Attention Hackers
543
The Electronics
543
The Arduino
543
The Motor Controllers
544
The Frame
545
To Buy or Build?
546
Modifying the Wheels
547
Building the Frame
548
The Drive Train
552
Gearing
553
Calculating Gear Ratio
553
Modifications
553
Chain Tensioning Nut
554
Threading Sequence
555
Measuring the Chain
556
Adding Spacers
557
Batteries
558
Securing Electronics
560
Protecting Your Brains
561
Making Connections
562
The Code
565
Armor
570
Weapons
572
Additional Information
581
Summary
582
CHAPTER 13 Alternate Control
583
Using Processing to Decode the Signals
583
Parts List for Alternate Control
584
Selecting the Input
585
Processing Prerequisites
586
Following Protocol
586
Examining the Processing Sketch
587
Explanation
590
Testing Processing
592
Examining the Arduino Sketch
594
Summary
599
Index
601
