Transcript 4 RC or PC PPM and digital outputs

PC based Robot Controller
Updated 5.1.05
Copyright, Mark Hamester
[email protected]
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Two PCB Subsystem block diagram
Two PCB Overlays
I/O Detail and suggested R2D2 mappings
Other functions on PCBs
Software routines available
– PC and OS requirements
• Note, whilst this document focuses on implementation with R2D2, the
PCB/Software may be employed in any PC controlled Robot…
4 x IR leds
IR LED Osc.
pcb2
2 x 8 ohm Speaker output
2 x 2.5 watt
Audio
Stereo Audio
Amp
16x2 Char
LCD status
Display
16x2 Char
LCD header
11 x analogue
Inputs
LPT1
Parallel
Port
Laptop
Or
PC
Com1
8 Chan
Serial
To
PPM PIC
Cont.
Ser.
Port
PWR
16 x digital
outputs
3 clock source sel
4
16 PC only out
Decade Counter outputs 10 LED only out
4 Chan
PPM
Switch
2 PPM Chan
to 4xHigh load
Outputs
2
Switch select
RC or PC
Control
4
0-5V
4 out
2 normal PPM servo outputs
Ribbon Connector
4
28V DC Charging
Plug-pack
4 Chan
PPM
Switch
pcb1
4
Switch select
RC or PC
Control
3 Amp 5 Volt
Reg.
PWR
PC controlled low current
Lights/solenoids
Motors and other devices
For driving Dome LEDs
4 x high current MosFet
Digital Outputs For
driving Motors, Lights
& Relays
Ext. Servo Ext. Servo
1
2
End run sense per motor (4)
4
Ant.
Std.
8 Chan
RC
Rec.
Input from 11
Sensor devices inc. 4x IR
receivers (See next slide)
3 Amp
3-21 Volt
Reg.
4 Chan fwd/rev 20amp
Fused DC
Motor
Outputs
Controllers
3 Amp
12 Volt
Reg.
1.2 Amp
Batt
Charger
Left & Right leg motors
Dome rotation motor
2-3-2 motor or other
24V
Batteries
+
Pwr
switch
28V DC +
1 amp plug
pack
Mains AC
ant
Four (or more)
channel receiver
Each is a 3 way
Female-female RC
Plug cable carrying
Gnd, 5V and Signal
RC receiver 5v pwr is provided
By pcb1 and carried in each 3way
Cable. Separate receiver pwr cable
Is not required.
Chan1
Chan2
Chan3
Chan4
RC header
On pcb1
B+
SW1
CHG
SW1
GND
M1
M1
M2
M2
GND
GND
GND
24V
24V
5V
5V
12V
12V
3-22V
3-22V
M3
M3
M4
M4
+
-
12V battery
12V battery
M
M
Connections for Gnd returns
24V unregulated battery voltage
3amp fuse protected
5V regulated voltage
3amp fuse protected
12V regulated voltage
3amp fuse protected
3-22V variable regulated voltage
3amp fuse protected
M
M
Pcb1
Pcb1 wiring diagram
4 x Regs on edge of PCB for easy Heatsink Mount
16 PIN
CONNECTOR
TO PCB 2
Revised
Design
RC/PC SWITCH
PCB 1
New Regulator PCB edge layout, Fuses and LEDs for all
regulated outputs and 2 x LEDs for each Motor output
PWR IN FROM PCB 1
STEREO AUDIO AMP
4 X HIGH CURRENT DIGITAL OUT
16 PIN CONNECTOR
TO PCB 1
16 X DIGITAL OUTPUTS
RC/PC SWITCH
RC IN
4 X IR OUT
PCB 2
8 CHAN SERIAL
SERVO CONT.
4 X PPM
SWITCHES
IR TRANSMITTER
PC based
Controller
pcb
SERIAL PORT
16 X 2 LCD CONN
SOUND
SENSOR
LCD CONTRAST
ADJUST
PARRALLEL PORT
11 ANALOG IN
4 X IR RECEIVER
PCB1 I/O Detail with suggested Device mapping
• Fwd/Rev 20 amp proportional 4 x DC motor drive driven
from either 4 channel RC receiver or serial to PPM input
from PCB2 (or any 3rd party device)
• 2 x main drive on left and right legs
• 1 x Dome Rotation
• 1 x 2/3/2 up/down or periscope motor
• Motor drive end run sense inputs
– Each of the fwd/rev motor controllers has a end run sense switch to
stop drive at end of run
– These sensors need to be connected to external Normally Closed
micro-switches positioned to go Open Circuit at the end run of the
motorised device.
PCB2 I/O Detail with suggested Device mapping
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4 RC or PC PPM and digital outputs
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open/close R2 body panels with a suitable
low power solenoid
Drive Dome LEDs if not using decade
outputs
Drive low current DC motor
Drive low current relays
4 x Infra-red LED driver outputs
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16 digital low current (100mA) digital
outputs 5V or 12V selectable
Can be used to;
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These provide oscillator signal suitable for
driving 4 x IR LEDs
11 analogue Inputs
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Standard servo output x 1 for moving front
HP
Standard servo output x 1 for open/close
claw
High Current digital outputs x 2 for moving
claw in/out (or another std servo output)
High Current digital outputs x 2 for
switching front/top/rear HP lights on/off (or
another std servo output)
PC only digital outputs
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4 x conditioning ccts for external IR
Collision avoidance inputs
2 x inputs for external Darlington light
sensor inputs
2 x inputs for external miniature PIR
movement sensor in dome
1 x LM 380 amplified sound sense input
from external electret mic.
1 x 24v Battery Voltage sense input to
provide low battery warning
1 x Dome Position sense using external
POT feedback input. Note; If using PPM
20amp servo pot for dome position
feedback, then above Dome Position input
could be used for another function e.g a 3rd
PIR sensor, or RC on/off sense input
10 Decade Counter low current digital
outputs
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Suitable for sequencing Dome logic
displays
Can drive up to 30 LEDs if 3 ganged of
single output
Other Devices on PCBs
PCB2
• 2.5 Watt Stereo Audio Amplifier
– Connects to speaker out on LT
– Drive 2 x 8 ohm speakers
– Volume control ?
• 16 x 2 LCD display
– To provide status of Qbasic
program and i/o sensors e.g.
• Show Batt voltage
• Show voltage of any analogue
input
• Show Function currently selected
in the program
- Dome Sense, Random Sound,
autonomous mode etc.
- Human version of current R2
sound
PCB1
• 1.2 amp constant current Charger
• 3 x 3 amp Voltage Regulators
– 5v, 12v, 3-22v
• 4 x 20 amp glass fuses i.e. 1 per
PPM controller
• 1 x 30 amp Glass fuse for main
24v power to motor drives
• 4 x 3 amp glass fuses for 24V and
12V, 5V and 3-22V regulated
outputs
• Screw type connectors for power
and Motor connections
• Standard 3 pin headers for RC
and analogue inputs
Included Qbasic Software routines
486 based system – DOS 6.2 only
required for these functions
• Qbasic Routines
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40 Random R2 sounds triggered from sound/light/PIR sensed
40 Random movie sounds – sound/light/PIR sensed
HP light and data LEDs triggered from sound/light/PIR sense
HP servo movement triggered from sound/light/PIR sense
Monitor analogue voltage inputs
Display R2 message concurrently with a particualar R2 sound
Keyboard driven motor routines – main drive/dome
Follow the light
Move dome towards PIR movement
Sound sensed LED sequences
• This list is incomplete and will be added to as I or others think of new
functions
• Functions are also dependant on optional Hardware in R2
– E.g. retractable Claw, Periscope, servo or switch controlled panels
Included Qbasic Software routines
486 66 with 32Mbyte minimum
Windows 95 or 98
• Speech recognition control of R2’s
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Movement
Lights
Sounds
Modes
• Note, need Pentium 90 or better to play MP3 files
Additional functions Pentium 166
(pref 300Mhz+) or better
(Windows 98 only for Qbasic Code)
• Remote PC control (VNC) via WIFI (802.11b)
PCMCIA NIC
– Requires Wireless LAN base station and remote PCs.
– Could provide web access if develop web server interface
• USB Logitech or similar Webcam for visual remote
PC control
• Notes;
– Windows XP, NT, 2K are not supported for current Qbasic
environment because Qbasic cannot address serial/parallel ports in
these OS)
– Windows 95 does not support USB
Other Ideas…
• Remote FM mic for Speech recognition
– “Shut down all the garbage compactors in the
detention level!”
– Need professional quality FM transmitter/receiver
for this…
• Video camera in Main eye or body with
VHF/UHF Transmitter
– Alternative to webcam
• Means you can use a low cost laptop and still get video
• Drive R2 remotely using just RC and Vid camera
• See my existing droid at
– http://members.optushome.com.au/mhamester/index.htm