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bot'n roll ONE A Manual

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  • Page 2: Table Of Contents

    Bot’n Roll ONE A User Assembling Manual CONTENTS 1. Introducton...............................4 1.1. Bot’n Roll ONE A..........................4 1.1.1. Bot’n Roll ONE A - To Whom Is It For?..................4 1.1.2. Bot’n Roll ONE A Main Characteristcs..................5 1.1.3. Bot’n Roll ONE A General Overview....................6 1.2. Robotcs...............................7 1.2.1.
  • Page 3 Bot’n Roll ONE A User Assembling Manual 4.2.8. Infrared Emitters........................24 4.2.9. Push Buttons..........................24 4.2.10. Main Switch..........................25 4.2.11. Buzzer............................25 4.2.12. Ceramic Capacitors........................26 4.2.13. Bipolar Transistors........................27 4.2.14. Jumpers............................28 4.2.15. Arduino connectors.........................29 4.2.16. Power Connectors........................30 4.2.17. Fuse and fuse holder........................30 4.2.18. Electrolytc Capacitors......................31 4.2.19.
  • Page 4 6. Arduino Programming Environment......................44 6.1. Arduino IDE Installaton........................44 6.2. Installing the BnrOneA Library on Arduino..................44 6.3. Confguring Communicaton with the Robot..................45 6.4. Loading a Program to Bot'n Roll ONE A....................46 7. Bot'n Roll ONE A Hardware Test......................47 7.1. "L" LED...............................47 7.2. Buzzer..............................47 7.3.

  • Page 5: Introducton

    Those who wish to get started in robotcs fnd in Bot'n Roll ONE A the ideal tool that allows them to assemble a robot while not having the basic knowledge.

  • Page 6: Bot'n Roll One A Main Characteristcs

    Bot’n Roll ONE A User Assembling Manual 1.1.2. BOT’N ROLL ONE A MAIN CHARACTERISTICS Microcontrollers: 1 ATmega328 + 1 PIC18F45K22 Supply Voltage: 7V to 15V DC Digital I/O's: 14 (6 of which allow PWM) Analog Inputs: 6 (ATmega328) + 8 (PIC18F45K22)

  • Page 7: Bot'n Roll One A General Overview

    ON/OFF switch Batery voltage measurement circuit Push Butons LCD contrast and light adjustment 16X2 alfanumeric LCD Caster Wheel and robot tlt adjustment Fig. 1: Bot’n Roll ONE A general overview ©Copyright 2018, SAR - Soluções de Automação e Robótca, Lda.

  • Page 8: Robotcs

    Bot’n Roll ONE A User Assembling Manual 1.2. ROBOTICS 1.2.1. HISTORICAL INTRODUCTION The word "robot" was frst used in a theatre play "RUR" (Rossum's Universal Robots) written in 1920 by Karel Capek, a Czech playwright. In this piece, a character built several artfcial men and used them to replace men work. It was the frst tme someone used this word to designate "artfcial man".

  • Page 9: Main Events And Enttes Related With Robotcs

    Bot’n Roll ONE A User Assembling Manual 1.2.3. MAIN EVENTS AND ENTITIES RELATED WITH ROBOTICS RoboCup® - http:////www.robocup.org// The RoboCup is a Robot World Wide initatve for research and educaton, whose main objectve is to promote artfcial intelligence and robotcs in general. Having a football game as the main challenge, new technologies are developed in all areas of robotcs, so that a team of robots can win the human world champions in the year 2050.

  • Page 10: Electronics - Defnitons

    Bot’n Roll ONE A User Assembling Manual 1.3. ELECTRONICS – DEFINITIONS The electronics is the branch of science that studies the use of circuits consistng of electrical and electronic components, with the main aim to transform, transmit process and store energy.

  • Page 11: Bot'n Roll One A Components

    Bot’n Roll ONE A User Assembling Manual BOT’N ROLL ONE A COMPONENTS When you frst open your Bot'n Roll ONE A kit, you should check it contains the following components: Fig. 5: Bot'n Roll ONE A electronic components 1- Two driving wheels...

  • Page 12: Battery

    Bot’n Roll ONE A User Assembling Manual BATTERY Put the battery to charge before you start the robot assembly. This way the battery will be ready to use when you fnish building your robot! The provided battery is a Ni-MH (nickel metal hydride), 12V rated voltage and 800mAh rated current.

  • Page 13: Bot'n Roll One A Assembly

    Bot’n Roll ONE A User Assembling Manual BOT’N ROLL ONE A ASSEMBLY The Bot'n Roll ONE A assembly is carried out in three steps: 1 – Mechanical Assembly 2 – Electronic Assembly 3 – Electrical Wiring TIP: Put the battery to charge when you start building up your robot, so that afer assembling it is ready to use.

  • Page 14: Motors

    Bot’n Roll ONE A User Assembling Manual 4.1.1. MOTORS The setng of each motor is performed using a motor support with two M3 embedded nuts, three M3x6mm PH1 screws and two M3x12m PH1 screws. You need a 1.5mm hex wrench included in the mechanical components bag and a Phillips PH1 Fig.

  • Page 15: Driving Wheels

    Bot’n Roll ONE A User Assembling Manual 4.1.2. DRIVING WHEELS The Bot'n ONE A roll moves around using two drive wheels that are connected to the motors. They are made of plastc with a rubber coatng. In order to attach each wheel it is necessary to use an engagement "hub", a hexagon M3x3mm bolt and an...

  • Page 16: Caster Wheel

    Fig. 14: Assembling the caster wheel and adjustng of the robot inclinaton Congratulatons! You fnished assembling the mechanics of your Bot’n Roll ONE A! You can move on to the electronic assembling. ©Copyright 2018, SAR - Soluções de Automação e Robótca, Lda.

  • Page 17: Electronics Assembly

    Bot’n Roll ONE A User Assembling Manual 4.2. ELECTRONICS ASSEMBLY For the electronics assembly you require the following tools (not supplied with the robot):  Soldering iron  Soldering wire  De-soldering pump  Cutng pliers Fig. 15: Required material for electronics assembly IMPORTANT NOTE: In this stage, all electronic components are soldered to the Printed Circuit Board.

  • Page 18: Resistors

    Bot’n Roll ONE A User Assembling Manual 4.2.2. RESISTORS Electrical resistance is the name given to an element that opposes the passage of electric current (direct or alternatng). Usually resistance is represented by the letter R and its unit of measurement by the Ohm (Ω).
  • Page 19 Bot’n Roll ONE A User Assembling Manual Taking as reference the following table, solder the resistors in the corresponding locatons on the printed circuit board: Descripton Component 1 KΩ 3,3 KΩ Solder the resistors value 1KΩ ±5% 10 KΩ on R1, R6, R7, R8, R13, R14, R16,...

  • Page 20: Crystal Oscillator

    IC ATmega328 to operate at a 16MHz clock frequency. Like traditonal watches, which also use a crystal, the usage of a crystal makes the Bot'n Roll ONE A a very accurate machine to measure tme. Fig. 21: Crystal Oscillator...

  • Page 21: Diodes

    The Zener diode has an associated reverse voltage that remains constant in a situaton where the current fows in the opposite directon. This allows it to be used in Bot'n Roll ONE A as a protecton element in the battery measurement circuit. It works as a voltage limiter.

  • Page 22: Potentometers

    A potentometer is a variable resistor, i.e., its value can be adjusted, and this way, one can control the intensity of the current fowing in a given circuit. In Bot'n Roll ONE A, potentometers allow adjustment of the obstacles sensor detecton distance, the contrast and brightness of the LCD display.

  • Page 23: Coloured Leds

    Bot’n Roll ONE A User Assembling Manual 4.2.6. COLOURED LEDS An LED – Light Emitng Diode, consists of a PN juncton of a semiconductor material and two terminals, the anode (A, positve terminal) and cathode (K, negatve terminal). The colour of the light emitted by the LED depends on the semiconductor material.

  • Page 24: Integrated Circuit Sockets

    Bot’n Roll ONE A User Assembling Manual 4.2.7. INTEGRATED CIRCUIT SOCKETS The sockets for integrated circuits allow easy replacement of the Descripton Component integrated circuits in case they are damaged. Never solder 28 pins socket integrated circuits directly on the PCB!

  • Page 25: Infrared Emitters

    Bot’n Roll ONE A User Assembling Manual 4.2.8. INFRARED EMITTERS Infrared emitters are LEDs that emit infrared light. This Descripton Component light is not visible to the human eyes, but it causes damage IRE1 Infrared emitter to the retna as in conventonal LEDs!

  • Page 26: Main Switch

    The main switch allows you to power the robot ON and OFF. It must be soldered on SW "Switch". Bot'n Roll ONE A will be powered ON when you slide the switch to the front side of the robot. It will be OFF if you slide the switch back! Fig.

  • Page 27: Ceramic Capacitors

    There are monolithic capacitors (no polarity - lef) and electrolytc (with polarity - right). Fig. 36: Capacitor Bot'n Roll ONE A uses ceramic capacitors with two Descripton Component Inscripton distnct values: 22pF and 100nF.

  • Page 28: Bipolar Transistors

    4.2.13. BIPOLAR TRANSISTORS A transistor is a semiconductor device used to amplify or switch electrical signals. On Bot'n Roll ONE A it is used in the obstacles detecton circuit to increase the power of the light emitted by the infrared LED's.

  • Page 29: Jumpers

    1-positon jumper certain areas of the circuit. 1-positon jumper Bot'n Roll ONE A has one 2-positons jumper and two 1-positon jumpers. The 2-positons jumper SPOW "Servo Power" allows you to select whether the servos are powered by the 7805 voltage regulator or the PWR voltage regulator dedicated to the servos.

  • Page 30: Arduino Connectors

    Bot’n Roll ONE A User Assembling Manual 4.2.15. ARDUINO CONNECTORS Descripton Component The set of fve connectors allows the connecton of ICSP 2x3 male connector Arduino Compatble “shields”, like the wireless XBee A0-A5 1x6 female connector communicaton shield. VIN-IOREF 1x8 female connector...

  • Page 31: Power Connectors

    Bot’n Roll ONE A User Assembling Manual 4.2.16. POWER CONNECTORS Descripton Component The power connectors allow you to connect the MotorL Lef motor connector battery and motors to the PCB. Screws secure the Battery connector wires. MotorR Right motor connector Join the connectors using the slots so that you have a six links unique connector.

  • Page 32: Electrolytc Capacitors

    Bot’n Roll ONE A User Assembling Manual 4.2.18. ELECTROLYTIC CAPACITORS Electrolytc capacitors have polarized terminals! As such, when Descripton Component placed on the printed circuit board, you have to respect their 100µF polarity. 100µF They should be placed on C4 and C5 with the longest terminal inserted into the locaton identfed by the symbol "+"...

  • Page 33: Heat Sink

    Bot’n Roll ONE A User Assembling Manual 4.2.21. HEAT SINK A heat sink is a metallic object that reduces the working Descripton Component temperature of a component. It avoids the component to be 7805 LM7805 damaged due to excessive temperature and increases its...

  • Page 34: L298 H Bridge

    Bot’n Roll ONE A User Assembling Manual 4.2.23. L298 H BRIDGE The L298N component corresponds to a double H bridge to Descripton Component drive, independently, each motor of the robot, allowing control L298N of speed and directon. This component allows a maximum current of 2A on each H Bridge for contnuous operaton.

  • Page 35: Lcd

    The Bot'n Roll ONE A LCD is alphanumeric, has 2 lines with 16 characters each. It has adjustable contrast and brightness. To hold the LCD a 16 pins header connector, two M3x10 PH1 screws, two nylon spacers and two M3 nuts are provided.

  • Page 36: Usb-Serial Converter Protecton Casing

    Bot’n Roll ONE A User Assembling Manual 4.2.26. USB-SERIAL CONVERTER PROTECTION CASING The USB-Serial converter is a component that is subject to constant physical stresses resultng from the introducton and removal of the USB cable. A 3D printed PLA plastc casing was developed to ”embrace” and protect the USB-Serial converter.

  • Page 37: Wiring And Testng

    Bot’n Roll ONE A User Assembling Manual 4.3. WIRING AND TESTING 4.3.1. CONNECTING THE BATTERY VERY IMPORTANT NOTE: Short-Circuitng the battery might initate a fre! Never connect the battery to the robot before fnishing all connectons! Before unscrewing the battery cable from the "Bat"...
  • Page 38 Bot’n Roll ONE A User Assembling Manual Possible cause / Inspecton Soluton The battery is not properly inserted on Insert the battery correctly and check that the connector the connector. tab is latched. The battery wires are not properly Check whether the wires are securely fastened to the connected to the Bot’n Roll ONE A...

  • Page 39: Integrated Circuits Placement

    ATmega328: 28 pins processing unit (Arduino). NOTE: Before insertng the integrated circuits ensure that the Bot'n Roll ONE A is powered OFF. It may be necessary to align the pins of integrated circuits before insertng them on the sockets. Do this...

  • Page 40: The Line Follower

    4.3.4. THE LINE FOLLOWER The Line Follower (Pololu© QTR-8A) has 8 analog infrared sensors which Bot’n Roll ONE A can use to follow a line. Cables previously prepared and two KK connectors establish the link between the Line Follower and Bot’n Roll ONE A.

  • Page 41: Placing The Line Follower

    The back confguraton allows Bot'n Roll ONE A to easily overcome steep ramps because the line follower is placed very close to the wheels. However, it is more difcult to control the robot, in terms of sofware, to follow the line.

  • Page 42: Fixing The Pcb On The Acrylic Base

    Bot’n Roll ONE A User Assembling Manual 4.3.7. FIXING THE PCB ON THE ACRYLIC BASE Fixing the robot board to the acrylic base is carried out by using 6 sets of one 12mm nylon spacer, one M3x8 PH1 screw and one M3x4 PH1 screw.

  • Page 43: Electrical Wiring Of The Line Follower

    “LF2”. ATENTION: Always perform the electrical wiring with the robot powered OFF! Fig. 64: Line follower electrical connecton Fig. 65: Bot'n Roll ONE A with Line Follower ©Copyright 2018, SAR - Soluções de Automação e Robótca, Lda.

  • Page 44: Battery Placement

    Glue the two velcro strips to the battery pressing hard for proper attachment. Aferwards, remove the stckers protecton to place the battery on the robot. Put the battery on the Bot'n Roll ONE A pressing again for a good grip. Attenton not to damage the components on the robot board!

  • Page 45: Installing The Usb-Serial (Rs232) Converter Vcp Driver

    The programming applicaton environment uses the port to communicate with Bot'n Roll ONE A and therefore transfer your programs to the robot. The USB-Serial converter used by Bot'n Roll ONE A is a PoUSB12 product from PoLabs and uses the Bridge CP2102 device from Silicon Labs.

  • Page 46: Confguring Communicaton With The Robot

    Before proceeding with this step, ensure you have installed the VCP driver correctly. Connect the Bot'n Roll ONE A to your computer using the supplied USB cable. At this tme, a COM port to communicate with the robot is automatcally assigned.

  • Page 47: Loading A Program To Bot'n Roll One A

    Bot’n Roll ONE A User Assembling Manual 6.4. LOADING A PROGRAM TO BOT'N ROLL ONE A On the Arduino IDE applicaton, you will fnd several example programs that you can load to your robot. Click on "File -> Examples -> 01.Basics ->...

  • Page 48: Bot'n Roll One A Hardware Test

    Afer your robot have successfully passed the electrical test (secton 3.3.2 of this manual), it is necessary to test all Bot'n Roll ONE A devices individually and verify they are operatng correctly. You will have to program the robot with the corresponding sample codes and perform the test described on each of the following points listed, in the presented order! 7.1.

  • Page 49: Debug "Led

    Bot’n Roll ONE A User Assembling Manual 7.3. DEBUG "LED" Load the program "LED" located on "File -> Examples -> BnrOneA -> Basic -> LED" to the robot. When the upload ends, you should see the LED blinking each second.

  • Page 50: Push Buttons

    Bot’n Roll ONE A User Assembling Manual 7.5. PUSH BUTTONS Load the "PushButtons" program located on "File -> Examples -> BnrOneA-> Basic -> PushButtons" to the robot. When the upload ends, you can see on the LCD the button number you are pressing: ...

  • Page 51: Motors

    Bot’n Roll ONE A User Assembling Manual 7.7. MOTORS Load the "Motors" program located on "File -> Examples -> BnrOneA -> Basic -> Motors" to the robot. When the upload ends, the motors might start moving and a message is shown on the LCD describing the movement being carried out.

  • Page 52: Obstacle Sensors

    Bot’n Roll ONE A User Assembling Manual 7.9. OBSTACLE SENSORS Load the "ObstaclesCalibraton" program located on "File -> Examples -> BnrOneA-> Basic -> ObstaclesCalibraton" to the robot. When the upload ends, the infrared LED’s will emit infrared light which when refected by an obstacle will make the IRS1 and IRS2 LED's blinking.

  • Page 53: Obstacle Detecton Circuit Calibraton

    Dark objects refect less light than clear objects. Adjustng the detecton distance for a clear object will not suit a dark object detecton! Your Bot'n Roll ONE A is now complete and functonal! Use your imaginaton and explore the fantastc world of Robotcss Congratulatons!

  • Page 54: Line Follower Testng

    Load the sample program "_01_SensorRead" located on "File -> Examples -> BnrOneA-> LineSensor -> _01_SensorRead" to your Bot’n Roll ONE A. When the program starts you will be able to see the analog to digital conversion values of each of the 8 sensors, on the LCD. The values vary between 0 and 1023.

  • Page 55: Extras

    A wide range of components can be integrated in your Bot'n Roll ONE A and thus increasing its functonalites. Arduino compatble shields as wireless XBee, Bluetooth, RF, GPS, GPRS and sensors like line follower, sonar, compass, encoders and any I2C device can be added to your Bot'n Roll ONE A and imaginaton is the limit! On the extras user manual you will fnd a detailed descripton of some of these components.

  • Page 56: Anex

    Bot’n Roll ONE A User Assembling Manual ANEX 9.1. BOT'N ROLL ONE A ELECTRONIC BOARD COMPONENTS LIST Descripton Descripton 120 Ohm resistor LM7805CT IC 1K Ohm resistor LD33CV IC 3,3K Ohm resistor 28 pins IC socket 10K Ohm resistor 40 pins IC socket...

  • Page 57: Electrical Schematcs

    Bot’n Roll ONE A User Assembling Manual 9.2. ELECTRICAL SCHEMATICS ©Copyright 2018, SAR - Soluções de Automação e Robótca, Lda.

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