manual – book 2 contents - robosavvy | store |...

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Innovative Experiment Co.,Ltd.

ROBOBOX 3.0 Curriculum MANUAL – BOOK 2 CONTENTS

BUILDING a MICROTANK BOT .................................................... 2 SIMPLE MOVEMENT for MicroTank ......................................... 5 CRICKET LOGO ......................................................................... 7 90 Degrees Pivot Turn .............................................................. 7

BUILDING a MODIFIED MicroTank BOT ................................... 13 BUILDING a LINE BOT ................................................................. 15

SUB-FUNCTIONS & OR Statements ....................................... 20 BUILDING a LINEBOT COLOR.................................................... 28 BUILDING a BIGTANK................................................................. 34

ADDING the LIGHT SENSOR................................................... 37

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ROBOBOX 3.0 Curriculum MANUAL – BOOK 2

BUILDING a MICROTANK BOT

This is the basic of the tank model. Below are the parts you require for this kit.

icro Tank Bot M

I-BOX

I-BOX Holder

Metal Plate

Rubber Spacers

DC Motors Gearbox

Wheel screws

3x10 Screws

3x10 Screws

Metal Spacers

Plastic Spacers

Hubs

Metal Axles

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ROBOBOX 3.0 Curriculum MANUAL – BOOK 2 1. The first step is to screw two 3x10 screws and secure them at the bottom with nuts. Ensure that they are tightly screwed.

2. Screw the 2 DC motors as show in the picture below and secure them with four 3x10 screws from the bottom.

3. Next secure the 2 DC motor Hubs on each side of the hub and use the screws provided with the hubs to secure them in place.

3x10 screws

Screw nuts

3x10 screws

3x10 screws

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ROBOBOX 3.0 Curriculum MANUAL – BOOK 2 4. Secure 4 right angled joiners

5. Fix on the 2 wheels with their rubber tires attached using the screws DC Gearbox screws provided in this kit. Ensure that the screws are tightened properly to prevent the wheels from being loose.

6. To finish your robot, place the IBOX into the holder and plug in the DC Gearbox wires into the 2 motor outputs on the I-BOX. This is the BASIC MODEL I robot that you will be using to further learn and explore on other models.

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SIMPLE MOVEMENT for MicroTank This is a simple program that you will learn on how to program the MODEL I BASIC robot using either LOGO BLOCKS or the CIRCKET LOGO software.

Proper using of the UCON 232 device

1) Plug in the UCON232 device into one of your USB ports.

2) Use the CDROM provided to install the relevant drivers

3) You will have a new COMM port available.

4) Connect the UCON232 to your IBOX3.0 with the serial cable provided.

5) Run LOGOBLOCKS and choose the appropriate comm. Port for download.

This small program allows your robot to move forward for 3 seconds

Click on the “DOWNLOAD” button to download this program into the I-BOX

Cricket Logo Code to start ab, onfor 300 end

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USING LOGO BLOCKS

1) First, run the “LOGO Blocks Program”

2) Click and Drag 3) Make sure your UCON232 is

plugged into your USB port. 4) Next press “CRTL+R” to run the

selected program. 5) Observe how your robot

moves. It should move 90 degrees. Keep on trying and changing the timing to achieve a 90 degrees turn.

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CRICKET LOGO

1) Make sure your have the UCON232 connected to your PC and ensure that the I-BOX connected to the UCON232 directly.

2) Next run “Cricket Logo” program. 3) In the Command Center window, Type in the following

as soon on the right. 4) Click on the “Download” button and try out your robot. 5) You should see that It moves again in a 90 degrees

turn.

90 Degrees Pivot Turn

1) In order to do a full 90 degrees turn on the spot, you will have to activate the other motor as well.

2) Try out the following program in LOGO BLOCKS.

Cricket Logo Code to start a, thisway b, thatway ab, onfor 60 end

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BRAKING the MOTORS, utilizing The braking feature in LOGO BLOCKS allows you to control your vehicle to do a complete break while in movement instead of allowing it to move further when you off the motors due to inertia.

1) Start by placing the following icons in the LOGO BLOCKS as shown below.

2) What happens to the robot when you download it and run it?

3) Try out the following programs below

and observe the difference on how your robot moves.

4) You should see your robot turn on the spot for 6 seconds and then brake immediately.

Cricket Logo Code to start a, onfor 100 ab, brake end

Cricket Logo Code to start a, thisway b, thatway ab, onfor 60 ab, brake end

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Now you will learn how to program your robot to move in shapes, different angles, more advanced movements and commands to assist you further in a higher level of programming.

Moving in a Rectangle 1) Download the below program into your robot 2) Observe what is does? Does it go in a rectangle? Try to

add more commands to achieve this.

90 degrees turn

Cricket Logo Code to start ab, setpower 6 loop [ ab, thisway ab, onfor 100 a, onfor 100 ab, brake ] end

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Try the Program below. What will your robot show?

Your robot will : 1) continue in an endless loop with the following:

a. Move Forward for 10 seconds b. Do a 90 degrees turn on the spot for 6 seconds c. Brake all motors

90 degrees on the spot turn

Cricket Logo Code to start ab, setpower 6 loop [ ab, thisway ab, onfor 100 a, thisway b, thatway a, onfor 60 ab, brake ] end

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Sub Functions Next, you will learn how to create Sub Functions. These are “fwd”, “t_right”, “t_left”, “spin” & “back”.

Drag and Drop the following icons as shown above into your LOGO BLOCKS screen.

Cricket Logo Code to fwd ab, thisway ab, onfor 100 ab, brake beep end to t_left ab, thisway a, onfor 100 ab, brake beep end to back ab, thatway ab, onfor 100 ab, brake beep end to spin a, thisway b, thatway ab, onfor 100 ab, brake beep end to t_right ab, thisway b, onfor 100 ab, brake beep end

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After you have create the Sub Functions, try creating another series of icons as shown on the left. This calls the sub functions that you have created. Download and observe the movement of your robot. Does it move as shown below?

Cricket Logo Code to start wait 100 fwd t_left fwd t_right fwd spin fwd t_right back t_left fwd end

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BUILDING a MODIFIED MicroTank BOT This is a robot that you will build that can detect walls or objects that its additional switch sensor picks up. Adding of the Swtich / Touch Sensor

1) Using 3x10 screws, secure the Switch Sensor with a right angle plastic joiner.

2) Screw the right angle plate with a 3x10 screws to the metal plate of your robot as shown in the diagram below.

3) Reseting the Internal timer is also needed if your require to set the timer in your robot back to zero.

4) In order to do this, you will have to use the

and the icon.

3x10 screws Right angle joiners

This is a modified version. Add an extra touch sensor in front To act as a bumper.

icro Tank Bot M

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The below program explains how your robot will move forward until it hits a wall and moves back the same amount of time.

Cricket Logo Code global [ time ] to start resett ab, thisway ab, on sw ab, thatway ab, onfor time ab, brake end to sw loop [ if (in 0) [ settime (timer / 100) stop ] ] end

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BUILDING a LINE BOT

You will learn how to construct 2 Light sensors onto your robot to allow detection and following of a black line.

ineBOT L

In this CHAPTER, you will learn how to construct 2 Light sensors onto your robot to allow detection and following of a black line.

Adding of the Light Sensors

2) Using the 3x15 screw, secure the plastic spacer and the light sensor board together.

3) Next secure the light sensor to the Robot Base as shown in the Picture Below.

1) Connect the light sensors to port “SENSOR2” and “SENSOR3”

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ROBOBOX 3.0 Curriculum MANUAL – BOOK 2 Try adding another 2 more switch sensor in front of your robot.

Try out the Program below. What does it do?

TOUCH IN1

TOUCH IN0

3x10 screws

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The Above does the following : - The Robot will wait until touch sensor at port IN 0 is being

pressed - Once its pressed, it records both light sensor at SENSOR 3

& 4 and also plays different sounds. - Next, It will wait until the next button is pressed at IN 1 - And it will send the recorded value through back to your

UCON232 - It also plays different sounds for this procedure.

Cricket Logo Code to start resetdp repeat 20 [ waituntil [ (in 0) ] record (sensor 3) note 66 50 record (sensor 4) note 126 50 ] resetdp note 6 150 repeat 40 [ waituntil [ (in 1) ] send recall note 126 50 ] note 6 150 end

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When Touch sensor IN 0 is pressed, the robot records the current 2 values from the LIGHT Sensors.

This is also different when you place the robot on a black surface to record the light sensor values

While running your robot, ensure that your CRICKET Monitor window is open. What do you see? Do you see the values being sent back to the UCON-700 by the I-BOX ?

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SUB-FUNCTIONS & OR Statements

In this section, you will learn how to define Sub-Functions. A Sub-Function is another set of mini commands that you can call anywhere else in your program. This is especially useful if you are wanting to program many similar action based robot. Or Functions in a “if then” icon allows you to tell the I-BOX that in the occasion where EITHER condition meets your defined requirements, it is a positive and TRUE statement. In this case, Either Sensor 3 is less than 300 OR Sensor 4 is less then 300. Both cases will apply. The robot will BRAKE, turn off its motors and the Program will come to a STOP.

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This is how your robot will react according to the program.

- The Robot moves forward first - When EITHER of SENSOR 3 or 4

goes above the black line, The robot will STOP

FOLLOWING a BLACK LINE What you will learn now in this section is how to program your robot to follow a black line with the help of the front 2 Light Sensors.

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ROBOBOX 3.0 Curriculum MANUAL – BOOK 2 The below program shows you how to achieve this Line following ROBOT. It has a combination of Sub-Functions as well as utilizing the AND Statement.

4 sub functions are being created in this program. The Each of these sub functions has its own defined commands. The Program shows that if the Robot Light Sensor 3 and 4 is at white, move forward. If the Robot Light Sensor 3 & 4 is at Black, turn around. If the Robot Light Sensor 3 is at Black, move a bit to Left. If the Robot Light Sensor 4 is at Black, move a bit to Right.

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Cricket Logo Code global [ black ] to start ab, setpower 5 setblack 300 loop [ if ((sensor 3) > black and ((sensor 4) > black)) [ fwd ] if ((sensor 3) < black and ((sensor 4) < black)) [ r90 ] if ((sensor 3) < black) [ left ] if ((sensor 4) < black) [ right ] ] end to r90 ab, thisway ab, onfor 20 a, thatway b, thisway ab, onfor 10 end to left a, thatway b, thisway ab, onfor 10 end to fwd ab, thisway ab, on end to right a, thisway b, thatway ab, onfor 10 end

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ROBOBOX 3.0 Curriculum MANUAL – BOOK 2 It is also important to know that the distance between your Light Sensors and the black line does play a part in the speed of your Vehicle.

The Further your Light Sensors, the Faster your Robot will finish the Line but will not be very accurate in its movement. However, the closer your Light Sensors are to each other, the slower your Robot will finish the Line but it will be very precise in following the line. Try out both near and far situations. What do you observe from this?

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Try changing the Motor Power as well for both motors. What do you observe? Power 8 may be very fast, but your Robot may be moving too fast that the Light sensor is not able to pick up the BLACK LINE. However, if you put the Power level to 1 or 2, your robot will be funning too slow to finish the LINE. Try out different values to see what suits your robot best in its accuracy as well as its speed.

IN LINE FOLLOWING In this section, you will learn how to program the robot to follow IN the Black Line. This is different from the previous section as you will be telling the robot to sense for white surface instead of Black. In this case, everything is opposite for this program.

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Try out this program. What do you observe? The Robot moves in a different method. However, it still follows the Black Line.

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The Robot will follow the Black Line very closely and its movement will be very slow. This is because it is ensuring that both its sensors stay in the black line. If any one is outside of the Black Line, it will react according to turn respectively to bring them back into the Black Line.

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BUILDING a LINEBOT COLOR

You will learn how to utilize the LDR SENSOR provided in the kit to allow your robot to detect different colors on the ground. This sensor is different from the LIGHT Reflector as it does not have an emitter but rather only a detector to detect the different color values in is above.

ineBOT-COLOR L

Different Colors reflect different densities of light. This is how the LDR functions. It detects the density of light reflected off the colored surface to return a digital value back to the I-BOX for processing.

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To Start off, connect 2 120 degrees plastic plate together as shown in the diagram below with a 3x10 screw and nut. Next Attach the LDR Sensor to the constructed frame with another 3x10 screw and nut.

Mount this attachment on at the bottom of your robot as shown on the picture on the left. Use 3x10 screws to secure this to the metal plate.

Next, create the program as shown below for initial testing of values.

Cricket Logo Code to start loop [ send (sensor 0) ] end

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Download the Program and ensure that your UCON-700 is directly facing the I-BOX. Next press the “RUN” button on your I-BOX. Slowly try the different COLOR Surface below the LDR Sensor. What reading do you see on your “CRICKET WINDOW”? Do you see different values for different colored surfaces?

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Detection of COLORED Surfaces In this section, you will learn how to program your robot to sense and react based on different colored surfaces. This makes your robot more intelligent as it does not only recognize black lines, but also is capable of recognizing colors. You have to program your robot to follow the black line first and negotiate different Black Line Junctions. Your robot will then have to follow the functions upwards and sense the COLOR surface in that lane. After which, it will only react according to the defined colored surface it was programmed to react upon. Try out this Program. Try modifying your program to also include different reacts your robot will do on the 3 different colored surfaces.

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In this Program, there are many different Sub Functions, as well as pre-defined variables like BLACK , RED, YELLOW, GREEN. It also has a sub Function call “TRACK”. This is the normal following of the Black Line function which is called in the MAIN program.

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The Cricket Logo Text Program also shows you how the robot functions and moves to detect and react according to the different Colors.

Cricket Logo Code global [ black red yellow green ] to start setblack 300 setred 650 setgreen 500 setyellow 690 ab, thisway ab, on waituntil [ ((sensor 3) > black or ((sensor 3) > black)) ] ab, onfor 50 repeat 3 [ track beep l90 track beep check wait 100 s180 track beep l90 ] end to track loop [ if ((sensor 3) > black and ((sensor 4) > black)) [ ab, thisway ab, on ] if ((sensor 3) < black and ((sensor 4) < black)) [ ab, brake stop ] if ((sensor 3) < black) [ a, thisway b, thatway ab, onfor 10 ] if ((sensor 4) < black) [ a, thatway b, thisway ab, onfor 10 ] ] end to check if ((sensor 0) < green) [ beeper 2 ] if ((sensor 0) < red) [ beeper 3 ] if ((sensor 0) < yellow) [ beeper 4 ] end to l90 ab, thisway ab, onfor 10 b, thatway ab, onfor 60 end to s180 a, thisway b, thatway ab, onfor 110 ab, thisway ab, onfor 30 end

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BUILDING a BIGTANK PARTS your Require You will require 2 of each , the straight & 120 degrees Plastic Joiners. Assemble them as shown in the picture below.

Next, you will be using all the HUBS provided in this kit for the BIG TANK. Connect all of them with the Metal Axles and the plastic stopper at the end.

You will also require all the rubber track sections provided in the kit. Attach all of them to create to equal sized rubber tracks as shown on the left.

You will learn how to construct the BIG TANK MODEL. This requires usage of many hubs and axles together with the tracks provided.

igTANK B

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ROBOBOX 3.0 Curriculum MANUAL – BOOK 2 CONSTRUCTION of the BIG TANK BASE The first step in construction of the base is to screw one the angled attachment to the front of the Robot. Next, do the same for the straight attachments behind.

Next, Attached the plastic hubs using the metal axles as shown in the diagram below. This has to be done for both the back & the Front. Finish this by fitting in the assembled rubber tracks onto the hubs.

Plastic Joiners

Plastic Joiners

Plastic Hubs

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3 plastic joiners

30 Degrees apart

The Base of your BIG TANK is supported by 2 “3 piece Plastic Joiner” parts. Also ensure that the angle of your FRONT and BACK plastic attachments are 30 degrees apart to fix the Tracks properly.

Sensing Step Ahead In this section, you will learn how to program your BIG TANK to move forward and one engaging a step platform, it will go backwards and turn another direction.

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ADDING the LIGHT SENSOR Attach the Light sensor using the 3x10 screw and a plastic spacer to the Front Bottom of the BIG TANK. Secure this onto the Metal Plate. Next, create and download the below program to sense for the different in its values on the Cricket Monitor. Here we can observe that the value being return is around 125. This is the amount of light entering the Light sensor when the BIG TANK is in its standard surface.

Cricket Logo Code to start loop [ send (sensor 0) ] end

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Try out the above Program. What does it do ?

- Both motors are set to the power of 8. - It then sense if the SENSOR 0 is above normal ground, it

will then move backwards and then turn for a random amount of time.

- Else it will just continue in movement forwards.

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The BIG TANK model allows your robot to negotiate different terrains and irregular grounds. Try fitting on other different sensors that you have learnt earlier in this manual to make your BIG TANK a really intelligent robot.

Cricket Logo Code to start ab, setpower 8 loop [ ifelse ((sensor 0) > 100) [ up ] [ normal ] ] end to up ab, thatway ab, onfor 100 b, thisway ab, onfor ( randomrange 0 150 ) end to normal ab, thisway ab, on end

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