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iNeXT Robo-CIRCLE Manual

Programmable robot kit
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The fi rst programmable robot kit for everyone
Fun with learning the programmable
Fun with learning the programmable
Fun with learning the programmable
Fun with learning the programmable
Fun with learning the programmable
robotic kit. Includes building the robot
robotic kit. Includes building the robot
robotic kit. Includes building the robot
robotic kit. Includes building the robot
robotic kit. Includes building the robot
platform and learning the programming
platform and learning the programming
platform and learning the programming
platform and learning the programming
platform and learning the programming
by Logo language with iconic and text-
by Logo language with iconic and text-
by Logo language with iconic and text-
by Logo language with iconic and text-
by Logo language with iconic and text-
based software.
Light sensor
Switch sensor
Refl ect sensor
LED Light
Step by step from starting to the intelligent robot with sensors.
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Summary of Contents for iNeXT Robo-CIRCLE

  • Page 1 The fi rst programmable robot kit for everyone Fun with learning the programmable Fun with learning the programmable Fun with learning the programmable Fun with learning the programmable Fun with learning the programmable robotic kit. Includes building the robot robotic kit. Includes building the robot robotic kit.

  • Page 2: System Requirements

    System requirements Hardware You will need either a PC or laptop computer to run the Robo-CIRCLE software. Getting started with Robo-CIRCLE is easiest if your PC or laptop has the followingfeatures: • COM port Harddisk space 15MB • 800 x 600 Resolution Color Monitor. 1024 x 768 recommended.
  • Page 3 Getting started with the Computer has only USB port Optional Install batteries USB<>COM port CX-4 cable Notebook computer UCON-232S USB interface Serial (COM) port interface CX-4 cable AA size Battery i-BOX III supports simple Alcaline batteries and Desktop computer Rechargeable batteries.Use 4 “AA”(not included).

  • Page 4: Software Installation

    Software installation (1) Insert Robo-CIRCLE CD-ROM into your drive. Double-click on i-BOX III V133 setup.exe. You will see the Installation Welcome page. Click on the “NEXT” button to Continue installation. (2) If do not need to change any specifications, click on the “NEXT” button continue.
  • Page 5 How does the i-BOX interface with my computer Direct serial connection to COM port of your computer with the CX-4 cable. Direct connect to working COM port Connect USB port using the UCON-232S USB to Serial converter device. Using the USB port, you will fi rst need to install the driver provided by the USB to Serial converter device that is optional.
  • Page 6 How to choose the COM port interfacing Search and choose by i-BOX III Center software USB<>COM port CX-4 cable UCON-232S Notebook computer CX-4 cable Desktop computer (1) Connect the CX-4 cable between i-BOX and computer’s COM port. (2) Run the i-BOX III center from Start > i-BOX III > i-BOX III Center. (3) i-BOX III Center software will search the COM port available of your computer and connect with i-BOX automatically.
  • Page 7 Does the code run correctly ? Incorrect Correct Ending Robo-CIRCLE development is divided into 3 parts. Part-1 : Prepare and construct the Robot from chassis, motors, wheels and other mechanical parts Part-2 : Learn about i-BOX controller and Sensors Part-3 : Controlled program...
  • Page 8 Command block summary of LogoBlocks LogoBlocks is a unique software that lets you create iconic programs to control the i-BOX III controller. To create programs, you just drag blocks form the palette (on the bottom left of the screen) and snap them together on the canvas (on the right side of the screen).
  • Page 9 Command block summary of LogoBlocks Number functions and arithmetic command Declare variable Set number Random numerical Numerical comparison (Less than statement) Numerical comparison (Equal statement) Numerical comparison (More than statement) AND : logical block operation OR : logical block operation XOR : logical block operation NOT : logical block operation Adding...
  • Page 10 ZX-LED : The LED output board introduction How it work ? The ZX-LED is digital output device module. The LED will lit when get the logic “1” Signal connector 8mm. LED Transistor current amplifier for driving LED ZX-LED schematic diagram A light emitting diode (LED) emits light when current passes through it.
  • Page 11 Fun with LED Connection diagram Dual LED blinking Cricket Logo example code (LED.lgo) Program development procedure with Cricket Logo (1) Connect i-BOX III controller to the computer. (2) Open the Cricket Logo software. (3) Type in LED.log listing into the Cricket Logo editor. (4) Type in start on into the Run this box.
  • Page 12 Fun with LED Program development procedure with LogoBlocks (1) Connect i-BOX III controller to the computer. (2) Open the LogoBlocks software. (3) Drag and drop the command blocks as follows. (3.5) Double-click (3.7) Double-click to change value to change value to 50.
  • Page 13 Introduction to Switch /Touch sensor Basic operation of Switch The Touch / Switch Sensor module consist of 3 main components, the Wire input, LED Indication light and the Switch. It will be give 2 status as Press and Release switch. Switch LED indicator Signal connector...
  • Page 14 Play with Switch sensor The Touch / Switch Sensor module acts as a digital sensor. Connect the sensors to IN0 to IN3 respectively. Testing (1) Connect Switch sensor to IN3 ofi-BOX III controller (2) Create the code Switch.lgo in Cricket Logo or Switch.lbk in LogoBlocks (3) Download the code to i-BOX III controller (4) Press RUN switch.
  • Page 15 Swith control LED activity This example shows how to create the code to control LED at output port of i-BOX III controller. Switch sensor at IN1 controls ZX-LED on P0 port. Other switch sensor is connected to IN3 of controller board and controls ZX-LED at P0 port.
  • Page 16 Building Robo-CIRCLE Part list i-BOX3.0 controller Box holder Wheels and Tires 2 of 33mm. metal spacer 4 of 3x8mm. 2 of 2mm. flat-head screws self-tapping screws 2 of 120:1 DC motor Circle chasis Gearboxes with mounting Construction (1) Attach 2 of DC motor gearboxes with the Box holder by 3x8mm. flat-head screws at the position following the picture below.
  • Page 17 Building Robo-CIRCLE (2) Attach 2 of 33mm. metal spacers on the Box holder by 3x8mm. flat-head screws at the position following the picture below. 33mm. metal spacer 33mm. metal spacer (3) Fix on the 2 wheels with rubber tires and attach them to the DCGearbox with the 2 of 2mm.
  • Page 18 Building Robo-CIRCLE (4) Attach the motor construction from step (3) with the Circle chasis at the position following the picture below. Tighten with 3x6mm. screws at 33mm. metal spacer position. Screw position * specific position of screw is hole of metal spacer Screw position (5) Place i-BOX into the holder.
  • Page 19 DC motor Gearbox operation Robo-CIRCLE is moved by 2 of DC motor gearboxes. This topic explains about the DC motor gearbox operation. Gears are used in tons of mechanical devices. They do several important jobs, but most important, they provide a gear reduction in motorized equipment. This is key because, often, a small motor spinning very fast can provide enough power for a device, but not enough torque.
  • Page 20 The Robo-CIRCLE gearbox ratio is 120:1. The inside gear system is shown in the picture below. Calculation : Robo-CIRCLE gearbox includes 5 of gears and 4 parts following the fi gure below. First driving gear is 8-teeth gear. The gear ratio of this system is :...
  • Page 21 Robo-CIRCLE movement (1) Moves forward and backward Robo-CIRCLE robot is moved by 2 of DC motor gearboxes. Must drive both motors following the table below : Direction Motor A Motor B Forward Backward Turn Left Stop Turn Right Stop Rotate Left...
  • Page 22 Robo-CIRCLE movement (2) Program development steps with LogoBlocks (1) Connect i-BOX III controller to the computer. (2) Open the LogoBlocks software. (3) Drag and drop the command blocks. Start with choose Action group (4) Drag thisway block to connect with start block. This block name will change to ab<< block. It means set the motor A and B to move forward direction.
  • Page 23 Robo-CIRCLE Speed behavior (1) Robo-CIRCLE allows you to select different speed levels. The different speed means that the distance the robot moves is dependant on this and relative to the time taken as well. Motor driving signal is PWM (Pulse-Width Modulation). If the width of signal more, means more voltage applied to motor.
  • Page 24 Robo-CIRCLE Speed behavior (2) Program development steps with LogoBlocks (1) Connect the Robo-CIRCLE with computer. Open LogoBlocks software. (2) Select Action group. (3) Drag setpower block to connect with start block. (4) The setpower block will change to ab,pwr 1 block . It is set the slowest speed at level 1.
  • Page 25 Program development steps with Cricket Logo LogoBlocks (1) Connect i-BOX III controller to the computer. (1) Connect the Robo-CIRCLE with computer. (2) Open the Cricket Logo software. (2) Open LogoBlocks software. Select Action group. (3) Create the logo code; CircleMove.lgo (3) Drag and drop the command block to create the code following the code below.
  • Page 26 Robo-CIRCLE turning movement How to change direction ? There are 2 kinds of turning that your robot can maneuver. 1. A curve like turn : The curve turn usually comprises 2. A pivot like turn : The pivot turn on the other of one motor stop and the other move.
  • Page 27 Robo-CIRCLE with 90 degree turning Demonstrate the special robot movement as square shape. For this movement, the time of turning is main factor. Each robot may be requires the different value. Code operation : The code runs continuous. It starts with control robot to move forward 2 seconds.
  • Page 28 Robo-CIRCLE with Touch sensor Touch sensor installation Obtuse joiner Must make 2 sets. Switch/Touch sensor LED indicator 3mm. nut 3x10mm. screw Right-angle joiner IN0 port IN1 port Left touch sensor (connect with IN0) Straight joiner Right touch sensor (conenct with IN1) Example code Create the code to test the switch operation.
  • Page 29 Robo-CIRCLE object avoiding This is an example of a Robo-CIRCLE to Object avoiding LogoBlocks example code allow both of its touch sensors to detect (Bumper.lbk) obstacles in front of them if encountered. Object avoiding Cricket Logo example code (Bumper.lgo) Testing Prepare the test area by placing obstacles wherever you want.
  • Page 30 Light sensor introduction (1) Introduction to LDR : the photoresistor LDR is made from a chemical compound called cadmium sulfide (CdS). This compound changes resistance depending on how bright the light is that shines on its collecting surface. Bright light causes low resistance values between the two leads while dim light causes higher resistance values.
  • Page 31 Light sensor introduction (2) Calculation Please refer to the Light sensor schematic, it is a voltage divider circuit. You can calculate to find relation between LDR resistance and Output voltage. The supply voltage or +V is +5V. The formula can shown below : x 5V Output voltage = LDR resistance + R1...
  • Page 32 Light-controlled Robo-CIRCLE (1) Light sensor installation Must make 2 sets. 3mm. spacer 3mm. nut 3x10mm. screw LDR the light sensing device Obtuse joiner Right-angle joiner Right-angle joiner Light sensor Right light sensor connect to SENSOR0 Left light sensor connect to SENSOR1 Reading light sensor data to computer Create the code to test the light sensor operation.
  • Page 33 Light-controlled Robo-CIRCLE (2) Concept Robo-CIRCLE reads both light sensor’s data and stores for comparison. The robot will move following the higher value from the sensor. Left light sensor detects Both sensors detect similar Right light sensor detects more light density...
  • Page 34 Light-controlled Robo-CIRCLE (3) Example code The demonstration code will read both sensor’s data and keep for reference in ldr0 and ldr1 variable. After that, loops to read the current sensor’s data and compare with the reference value. Which sensor’s data is more than reference, robot will move to that direction.
  • Page 35 Infrared reflector sensor introduction (1) How it work ? The Infrared Reflector consist of 2 parts, the Emitter and the Detector. This simple circuit shows how its functions. It shoots out an LED light and bounces off the surface which in turns returns back to the detector processing and then giving a digital data value back to the i-BOX it is connected to.
  • Page 36 Infrared reflector sensor installation (1) Insert a 3x10mm. screw through the Infrared Reflector sensor, followed by a 3mm. spacer and a suitable hole at front of Robo-CIRCLE chasis. Tighten with 3mm. nut. Attach both side left and right. 3mm. nut Robot chasis 3mm.
  • Page 37 How to use Infrared reflector sensor (2) Testing (1) Create the example code below and download to the robot. Infrared reflector sensor testing example code Infrared reflector sensor testing example code for Cricket Logo (Reflect.lgo) for LogoBlocks (Reflect.lbk) (2) Stiill connect the download cable with computer during testing the operation. Open the Cricket monitor to observe the result.
  • Page 38 (3) Place robot far from the black tape 1 metre and set the front of robot (sensor attaching side) to follows the black line. SENSOR2 (4) Press the RUN switch of i-BOX III. Robo-CIRCLE moves forward and stop on the black line and drive the sound at once.
  • Page 39 (3) Place robot far from the white tape about 1 metre and set the front of robot (sensor attaching side) to the white line. (4) Press the RUN switch of i-BOX III. Robo-CIRCLE moves forward and stop on the white line and drive the sound at once.
  • Page 40 (2) Make the demonstration lane following the picture on the right. (3) Place robot at START point. Press the RUN switch of i-BOX III. Robo-CIRCLE moves forward and changes direction when detect the black border. Robot moves within the lane to FINISH point.
  • Page 41 Making the line tracking field Tools & Materials 2cm. or 1-inches width black tape (3M brand White polypropylene board (PP board) Cutter Pencil is recommended) 60 x 90cm. or bigger Procedure (1) Clean the PP board. Sketch the line with pencil (2) Stick the black tape following line sketched.
  • Page 42 Thus, the program is written for the robot to move back to the right to resume its normal path. Line tracking with junction You can improve the Robo-CIRCLE robot so that it moves along the black line and detects the junction or line with the same 2 sensors.
  • Page 43 Line tracking example code for Cricket Logo Line tracking example code for LogoBlocks (TrackLine.lgo) (TrackLine.lbk) (2) Download the code to the robot. Place robot over the black line in the field. (3) Press the RUN switch of i-BOX III. Robo-CIRCLE moves along the black line.
  • Page 44 (2) Create the code above and download to the robot. (3) Place robot over the black line in the field. (4) Press the RUN switch of i-BOX III. Robo-CIRCLE moves along the black line and drive a beep when detect the T junction.
  • Page 45 ! (1) With a simple change of the position of the sensors and a simple program, you can adapt the Robo-CIRCLE to edge detection. Start assembling the mechanical parts place the sensors in the right position.
  • Page 46 You can use this behavior to make the code to control the Robo-CIRCLE robot to move on the table and detect the table’s edge.

  • Page 47: Part List

    Part list Download cable : COM port interface cable for i-BOX controller board Controller board Circle chasis SENSORS : ZX-01 Switch/Touch sensor x 2 ZX-03 Infrared reflector x 2 ZX-LED x 2 ZX-02 Light sensor x 2 MECHANICAL PARTS : Circle wheel with tire x 2 3x33mm.
  • Page 48 Light sensor Switch sensor Reflect sensor LED Light w w w . i n e x g l o b a l . c o m Innovative Experiment Co.,Ltd www.inexglobal.com...

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