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bot'n roll ONE A User Manual

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  • Page 2: Table Of Contents

    Bot’n Roll ONE A User Assembling Manual CONTENTS 1. Introduction...............................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 Characteristics..................5 1.1.3. Bot’n Roll ONE A General Overview....................6 1.2. Robotics...............................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. Electrolytic Capacitors......................31 4.2.19.
  • Page 4 Bot’n Roll ONE A User Assembling Manual 6.2. Installing the BnrOneA Library on Arduino..................41 6.3. Configuring Communication with the Robot..................42 6.4. Loading a Program to Bot'n Roll ONE A....................43 7. Bot'n Roll ONE A Hardware Test......................44 7.1. "L" LED...............................44 7.2. Buzzer..............................44 7.3.

  • Page 5: Introduction

    Those who wish to get started in robotics find in Bot'n Roll ONE A the ideal tool to assemble a robot while not having the basic knowledge on robotics.

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

    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 Battery voltage measurement circuit Push Buttons LCD contrast and light adjustment 16X2 alfanumeric LCD Caster Wheel and robot tilt adjustment Fig. 1: Bot’n Roll ONE A general overview ©Copyright 2023, SAR - Soluções de Automação e Robótica, Lda.

  • Page 8: Robotics

    Bot’n Roll ONE A User Assembling Manual 1.2. ROBOTICS 1.2.1. HISTORICAL INTRODUCTION The word "robot" was first 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 artificial men and used them to replace men work. It was the first time someone used this word to designate "artificial man".

  • Page 9: Main Events And Societies Related With Robotics

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

  • Page 10: Electronics - Definitions

    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 consisting 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 first open your Bot'n Roll ONE A kit verify that 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 3. BATTERY Put the battery to charge utilizing the charger included with your kit before you begin the robot assembly. This way the battery will be ready to use when you finish 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 4. 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 after assembling it is ready to use.

  • Page 14: Motors

    Bot’n Roll ONE A User Assembling Manual 4.1.1. MOTORS The setting 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 plastic with a rubber coating. 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 adjusting of the robot inclination Congratulations! You finished assembling the mechanics of your Bot’n Roll ONE A! You can move on to the electronic assembling. ©Copyright 2023, SAR - Soluções de Automação e Robótica, 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  Cutting 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 alternating). 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 locations on the printed circuit board: Description 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 traditional watches, which also use a crystal, the usage of a crystal makes the Bot'n Roll ONE A a very accurate machine to measure time. Fig. 21: Crystal Oscillator...

  • Page 21: Diodes

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

  • Page 22: Potentiometers

    A potentiometer is a variable resistor, i.e., its value can be adjusted, and this way, one can control the intensity of the current flowing in a given circuit. In Bot'n Roll ONE A, potentiometers allow adjustment of the obstacles sensor detection 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 Emitting Diode, consists of a PN junction of a semiconductor material and two terminals, the anode (A, positive terminal) and cathode (K, negative 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 Description 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 Description Component Infrared emitters are LEDs that emit infrared light. This IRE1 Infrared emitter light is not visible to the human eyes, but it causes damage IRE2 Infrared emitter to the retina as in conventional LEDs! Using a video camera, like a web cam for example, one can check whether the LEDs are working or not.

  • 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 - left) and electrolytic (with polarity - right). Fig. 36: Capacitor Bot'n Roll ONE A uses ceramic capacitors with two Description Component Inscription distinct 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 detection circuit to increase the power of the light emitted by the infrared LED's.

  • Page 29: Jumpers

    1-position jumper certain areas of the circuit. 1-position jumper Bot'n Roll ONE A has one 2-positions jumper and two 1-position jumpers. The 2-positions 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 Description Component The set of five connectors allows the connection of ICSP 2x3 male connector Arduino Compatible “shields”, like the wireless XBee A0-A5 1x6 female connector communication shield. VIN-IOREF 1x8 female connector...

  • Page 31: Power Connectors

    Bot’n Roll ONE A User Assembling Manual 4.2.16. POWER CONNECTORS Description Component The power connectors allow you to connect the MotorL Left 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: Electrolytic Capacitors

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

  • Page 33: Heat Sink

    Bot’n Roll ONE A User Assembling Manual 4.2.21. HEAT SINK Description Component A heat sink is a metallic object that reduces the working 7805 LM7805 temperature of a component. It avoids the component to be LD33 LD33CV damaged due to excessive temperature and increases its lifetime.

  • Page 34: L298 H Bridge

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

  • 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 Protection 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 resulting from the introduction and removal of the USB cable. A 3D printed PLA plastic casing was developed to ”embrace” and protect the USB-Serial converter.

  • Page 37: Wiring And Testing

    Bot’n Roll ONE A User Assembling Manual 4.3. WIRING AND TESTING 4.3.1. CONNECTING THE BATTERY VERY IMPORTANT NOTE: Short-Circuiting the battery might initiate a fire! Never connect the battery to the robot before finishing all connections! Before unscrewing the battery cable from the "Bat"...
  • Page 38 Bot’n Roll ONE A User Assembling Manual Possible cause / Inspection Solution 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 inserting 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 inserting them on the sockets. Do this...

  • Page 40: Fixing The Pcb On The Acrylic Base

    Bot’n Roll ONE A User Assembling Manual 4.3.4. 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 41: Battery Placement

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

  • Page 42: Installing The Usb-Serial (Rs232) Converter Vcp Driver

    The programming application 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 43: Configuring Communication 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 time, a COM port to communicate with the robot is automatically assigned.

  • Page 44: 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 application, you will find several example programs that you can load to your robot. Click on "File -> Examples -> 01.Basics ->...

  • Page 45: Bot'n Roll One A Hardware Test

    After your robot have successfully passed the electrical test (section 3.3.2 of this manual), it is necessary to test all Bot'n Roll ONE A devices individually and verify they are operating 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 46: 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 47: Push-Buttons

    Bot’n Roll ONE A User Assembling Manual 7.5. PUSH-BUTTONS Load the "Push-buttons" 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 48: 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 49: Obstacle Sensors

    Bot’n Roll ONE A User Assembling Manual 7.9. OBSTACLE SENSORS Load the "_02_ObstaclesRead" program located on "File -> Examples -> BnrOneA-> ObstaclesSensor -> _02_ObstaclesRead" to the robot. When the upload ends, the infrared LED’s will emit infrared light which when reflected by an obstacle will make the IRS1 and IRS2 LED's blinking.

  • Page 50: Motors Calibration

    This calibrating process must be done whenever you switch the battery for another with a different nominal voltage or the motors for others with different nominal rotation or gear ratio. Your Bot'n Roll ONE A is now complete and functional! Use your imagination and explore the fantastic world of Robotics… Congratulations!

  • Page 51: Extras

    A wide range of components can be integrated in your Bot'n Roll ONE A and thus increasing its functionalities. Arduino compatible 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 imagination is the limit! On the extras user manual you will find a detailed description of some of these components.

  • Page 52: Anex

    Bot’n Roll ONE A User Assembling Manual 9. ANEX 9.1. BOT'N ROLL ONE A ELECTRONIC BOARD COMPONENTS LIST Description Description 120 Ohm resistor LM7805CT IC 1K Ohm resistor LD33CV IC 3,3K Ohm resistor 28 pins IC socket 10K Ohm resistor...

  • Page 53: Electric Schematics

    Bot’n Roll ONE A User Assembling Manual 9.2. ELECTRIC SCHEMATICS ©Copyright 2023, SAR - Soluções de Automação e Robótica, Lda.

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