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Bizintek Innova, S.L. mOway Beginners Manual

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MOWAY'S
BEGINNER MANUAL

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Summary of Contents for Bizintek Innova, S.L. mOway

  • Page 1 MOWAY’S BEGINNER MANUAL...
  • Page 2 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 2 of 65 Copyright (c) 2010 Bizintek Innova, S.L. Permission is granted to copy, distribute and/or modify this document under the terms of the GNU Free Documentation License, Version 2.0 or any later version published by the Free Software Foundation;...

  • Page 3: Table Of Contents

    Start and End ....................56 5.3.4. Arrow ......................56 5.3.5. Erase Arrow....................57 5.3.6. Subroutines ....................57 5.3.7. Recording ..................... 57 Moway RC Center ....................58 6.1. Description of the mOway RC Center ............. 59 6.1.1. RF configuration ..................59 www.moway-robot.com...
  • Page 4 Page 4 of 65 6.1.2. Radio control ....................60 6.1.3. LED ......................60 6.1.4. Speaker ......................60 6.1.5. Info ....................... 60 6.1.6. Sensor status ....................60 6.1.7. Keyboard control ..................60 MowayCam ......................61 Moway RC CAM Center ..................62 www.moway-robot.com...

  • Page 5: Prologue

    applications.
  • Page 6 This manual is divided in two parts. The first part includes a description of the elements which form part of the robot and their functioning. The second part of the manual includes a series of practical exercises that can be executed with mOway. www.moway-robot.com...

  • Page 7: What Is Moway

    The mOway robot is equipped with a series of sensors which aid it to move in a real environment. It also includes a drive unit which allows it to move over smooth terrain commanded by a I2C communications bus.

  • Page 8: Robot Moway

    Page 8 of 65 3. Robot mOway This chapter describes each of the parts that constitute the mOway. It is important to highlight that it is not necessary to know the total functioning of the robot to be able to program it, at least not at the level of detail explained here.

  • Page 9: Drive System

    3.2. Drive system To be able to move the mOway uses a double servo-motor group. It includes both an electronic part and a mechanical one. The electronic part is mainly in charge of controlling the motor’s speed and the mechanical part allow the mOway to move unhindered over different terrains with adequate power.

  • Page 10: Sensor And Indicators Group

    Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 10 of 65 acts on the motors. This way, the mOway will be able to keep the speed constant on any surface. Image 3. Motor control To send a movement command to the robot, via the main microcontroller, all we need to do is send the movement command parameters.

  • Page 11: Line Sensors

    Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 11 of 65 • Accelerometer. • Battery level. Image 4. Sensors and indicators group 3.3.1. Line sensors The line tracking sensors are two reflection optocouplers mounted on the top front part of the robot.
  • Page 12 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 12 of 65 Image 5. Line tracking sensor on a clear surface. • Colored surface: A colored surface reflects part of the emitted light obtaining an intermediate voltage at the microcontroller’s analog channel input.

  • Page 13: Obstacle Detection Sensors

    Obstacle detection sensors Similar to line tracking sensors, obstacle detection sensors also use infrared light to detect objects located in front of the mOway. The sensor includes two infrared light- emitting source (Kingbright KPA3010-F3C) and four receivers placed on both sides of mOway.

  • Page 14: Light Sensor

    3.3.3. Light sensor This sensor allows mOway to recognize the light intensity that enters through a small half moon-shaped opening on the top part of the chassis. Since it is facing forward it enables it to detect where the light source is located and to act accordingly.

  • Page 15: Temperature Sensor

    3.3.5. Temperature sensor mOway has installed as a temperature measurer an NTC thermistor from Murata, a semiconductor whose electrical variable resistance decreases as temperature increases. The sensor is located in the front part of the robot, very close to obstacle sensor.

  • Page 16: Accelerometer

    An easy way to create an accelerometer is measuring changes in a capacitor. Capacitors can work as sensors or as actuators. In the case of mOway, it is a capacitive accelerometer, which consists of two capacitors displaced in differential mode whose electrical capacity changes as the acceleration varies.

  • Page 17: Brake Led

    Image 13. Robot with Front LED and red LED switched on 3.3.12. Brake LED The brake LED is double indicator placed on the back side of mOway. The output is connected to one digital outputs of the microcontroller. Image 14. Brake LED location. Switch on green LED.

  • Page 18: Rf Module And Rfusb

    Power supply system controls two LED located in the back part of the robot Green LED indicates that mOway is switched on and red LED indicates that the battery is charging. When the battery is full red LED will switch off Image 15.
  • Page 19 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 19 of 65 RF module is connected in expansion connector and it is very easy to use with mOwayGUI. The best way to start working with the module is using an example project provided in mOwayPack.

  • Page 20: Camera Module And Moway Videocap

    The basic functions are the camera ON and OFF, and the selection of the transmission channel from de camera to the video Moway Videocap. User have to select the same channel (from 1 to 4) both in program and Moway Videocap.

  • Page 21: First Steps

    Following setup steps you will have all the resources: • Beginner’s and User manual. o Beginner’s manual includes all you need to start working with mOway. o User manual contains detailed description of the robot. • mOwayGUI software.

  • Page 22: Download A Program To Moway

    (compiled with Mplab o gputils) and C (C18 compiler) projects. Steps to download a program to mOway: • Connect mOway to the PC through USB. The robot doesn´t need any driver. • Open mOwayGUI application.

  • Page 23: Rf Modules

    Image 21. Windows xp driver installation • Assistant will then indicate that the hardware is installed. Image 22. Driver installed in Windows xp • Check if Moway’s software has detected the RFUsb 4.4. RF modules RF modules are very useful tool to introduce RF concept.

  • Page 24: Moway Videocap Drivers Installation

    As with RFUsb device, a driver that it´s included in mOwayPack is required to use video capturer: • The first time the Moway Videocap is connected, the PC will detect it as a new device. Driver installation runs automatically. If it doesn´t, an “Assistant for new hardware found”...

  • Page 25: Mowaygui Programming

    The only thing you have to do is to click on the new project icon. Image 24. mOwayGUI screen 5.2. First programme in mOwayGUI In order to develop your first programme, first you must create a project (previous chapter). This first basic programme will make mOway avoid obstacles. www.moway-robot.com...
  • Page 26 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 26 of 65 1. Next step is to add a 1-second delay: delay_ms(1000). Just add a module and double click in order to configure it. The Pause option is selected and configured as may be seen in the following image.
  • Page 27 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 27 of 65 Image 26. First mOwayGUI program: Pause and blinking www.moway-robot.com...
  • Page 28 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 28 of 65 6. In order to detect obstacles, the Condition modules are configured to check both sensors individually. Image 27. Check obstacles configuration 7. Condition modules have a true output and false output. If the condition is true (obstacle detected) the corresponding LED lights up, otherwise it remains off.
  • Page 29 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 29 of 65 Image 28. First mOwayGUI program: obstacle detection www.moway-robot.com...
  • Page 30 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 30 of 65 9. We add movement to the robot: straight on indefinitely until an obstacle is found. 10. When an obstacle is found, a command is sent to the robot to rotate 180º. The robot will continue to move in a straight line when the rotation is completed.
  • Page 31 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 31 of 65 Image 30. End of first program in mOwayGUI www.moway-robot.com...

  • Page 32: Mowaygui

    Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 32 of 65 5.3. mOwayGUI 5.3.1. Modules Modules are actions in which the output is unconditional: turn on a LED, send a movement command, etc. With modules, the following actions can be carried out: Image 31.
  • Page 33 Image 34. Choose the variable to assign and the sensor • Expansion control Control of the expansion connector of the mOway robot. It can be used with the mOway expansion module. www.moway-robot.com...
  • Page 34 • Speaker This function enables mOway to emit tones from 250 Hz to 65 KHz in pair sequences of 100 ms. This is possible because of the speaker installed on the robot.
  • Page 35 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 35 of 65 Image 36. Choose the frequency and the time of the tone ENGINES Image 37. Choose the type of module (Engines) www.moway-robot.com...
  • Page 36 Rev: v2.1.3 – March 2011 Page 36 of 65 • Movement mOway has two motors in each wheel. These give it a great flexibility in its movements. The movement commands allow the speeds of each motor to be controlled individually and to restrict movements in certain time or distance.
  • Page 37 • Rotation The rotation module is another specific case of the movement module. With this command, mOway will rotate either on its centre or on one of its two wheels. We can configure the turning direction and the rotation speed.
  • Page 38 "Wait until end of command" option. • Stop The Stop module is another specific case of the movement module. With this command, mOway will stop moving. Image 41. Stop mOway www.moway-robot.com...
  • Page 39 Rev: v2.1.3 – March 2011 Page 39 of 65 • Consult movement info mOway keeps a record of the data of the movements it makes. This module enables you to consult this record: Current speed, Distance covered, Angle of turn, etc.
  • Page 40 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 40 of 65 RADIO FREQUENCY Image 44. Choose the type of module (Radio Frequency) • RF Control This activates or deactivates the RF module. When you activate this control, you must select which address the robot will use and in which channel you wish to operate.
  • Page 41 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 41 of 65 CAMERA Image 46. Choose the type of module (Camera) • Camera Control This activates or deactivates the camera module. When you activate this control, you must select which channel the camera will send images to the video Moway Videocap .
  • Page 42 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 42 of 65 OPERATIONS Image 48. Choose the type of module (Operations) • Assignment This function is to assign a value (a constant or variable) to a previously created variable. This variable can be used to configure different aspects of the robot.
  • Page 43 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 43 of 65 • Mathematical This is used to carry out arithmetic operations to add or subtract to or from a variable. The first parameter must be a variable in each case and this will be used to store the result of the operation.

  • Page 44: Conditionals

    0.05 seconds. The pause parameter may be a constant or a variable. Image 52. Choose the time • Subroutine call Subroutine call, which can be reused in other mOway projects. Image 53. Choose the subroutine 5.3.2. Conditionals Conditionals are actions in which the output is important in order to operate with them: comparisons, sensor verification, etc.
  • Page 45 Image 54. Set of mOwayGUI conditionals SENSORS Image 55. Choose the type of conditional (Sensors) • Check line It checks the digital value of line sensors. This module is very useful for making mOway follow a line (black or white) on the floor, www.moway-robot.com...
  • Page 46 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 46 of 65 detect boundaries, etc. User has to check the AND or OR boolean operation. With AND option both conditions must be true and on the other hand, with OR one of the two condition has to be true.
  • Page 47 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 47 of 65 • Accelerometer With the accelerometer you can check if the mOway has been beaten once (tap) or twice (Double tap). Image 58. Choose the interrupt type • Sound This sensor checks if there is a loud sound or not.
  • Page 48 • Sensor comparative It compares the analogue value of obstacle, line, battery, temperature, accelerometer or microphone sensors. All mOway sensors return an analogue value. For example, the light sensor gives a value of 0 to 100 according to the intensity of the incident light, and obstacle sensors give a value of 0-255.
  • Page 49 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 49 of 65 Image 62. Choose the variable to be compared ENGINES Image 63. Choose the type of conditional (Engines) www.moway-robot.com...
  • Page 50 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 50 of 65 • Movement info comparative A comparison is made with the information from the drive system. The drive system provides information about the total distance covered, partial distance, etc.
  • Page 51 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 51 of 65 RADIO FREQUENCY Image 66. Choose the type of conditional (Radio Frequency) • RF transmission It transmits a frame to a specific address. The address of the recipient and the data, which can consists of constants or variables, must be indicated in the frame.
  • Page 52 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 52 of 65 Image 67. Choose the first data to be transmitted Image 68. Choose the second data to be transmitted www.moway-robot.com...
  • Page 53 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 53 of 65 Image 69. First and second data ready to be transmitted • RF Reception It receives a frame from a specific address. It must be indicated at least two variables: one for collecting the transmitter address and the other for the data.
  • Page 54 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 54 of 65 Image 71. Choose the second data to transmit OPERATIONS Image 72. Choose the type of conditional (Operations) www.moway-robot.com...
  • Page 55 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 55 of 65 Comparative • It makes a comparison on a variable. The variable can be compared with a constant or with another variable. This is very useful when comparing a variable used to carry out a mathematical operation.

  • Page 56: Start And End

    Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 56 of 65 5.3.3. Start and End Any program must have a Start element, but it does not need to have an End element (an infinite loop can be created).

  • Page 57: Erase Arrow

    Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 57 of 65 5.3.5. Erase Arrow This tool is very useful to create the diagram. Erase Arrow is used to delete the link between the element and the next one. It can be done clicking on the element.

  • Page 58: Moway Rc Center

    Its functioning concept is as follows: the application transmits commands by means of the USB to the RFUsb, which transmits them to Moway, where a recorded program interprets those commands (Moway_RC_Client included in Moway Pack).

  • Page 59: Description Of The Moway Rc Center

    RF configuration In this part the RFUsb module is configured with a 0x02 default address and 0x00 for the communications channel (default mOway RC program channel). The Radio Control’s indicator (dispatch status) on the left lower part will glow red when configuring the module with the robot switched off.

  • Page 60: Radio Control

    When mOway captures the transmitted data a small green indicator will light on the lower left side. On the contrary, when no data is captured its color changes to red. 6.1.3. In this section Moway’s four LEDs are switched on and off.

  • Page 61: Mowaycam

    Image 80. MowayCam access from mOwayGUI Before MowayCam starts, a message indicates that mOwayGUI application will close. Therefore, Moway should be programmed with an user’s camera program. This can be easily done in mOwayGUI by adding a camera module and selecting “Activate camera”.

  • Page 62: Moway Rc Cam Center

    Image 81. MowayCam window 8. Moway RC CAM Center Moway RC CAM Center is an upgraded version of Moway RC Center, with a window to display images from Moway camera. RF window has the same functionality of RC Center (sensor status, radio control).
  • Page 63 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 63 of 65 Image 82. Moway RC CAM window • Videocap channel: Selects the transmission channel of the camera. It should be the same of Moway Videocap. • Activation time: Seconds that camera will be activated. During this time, images are displayed on the camera window.
  • Page 64 Image 83. Access from mOwayGUI IMPORTANT: Video Moway Videocap MUST NOT be disconnected from USB port while Moway RC CAM Center is running. If it is, some computers could restart. To disconnect it, please close Moway RC CAM Center. www.moway-robot.com...
  • Page 65 Title: mOway Beginner Manual Rev: v2.1.3 – March 2011 Page 65 of 65 www.moway-robot.com...

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