InnobotTM User`s Manual
Contents
1. a a L z a a a m a _ i nm an m A oh 2 2 oe F T gt t la a i as tu 7 mo ht a a ur r e x al eee gt a i gt a i ia a i a a a a ee C O OE O S m x 7 Y O eee 7 X m E al a a a m x a a a s e u z a a 7 a a E Description External power supply connector Input voltage ranges DC 6V 12V denoted as VIN Innobot battery holder is connected to this position Optional external power adaptor connector Input voltage ranges DC 6V 12V denoted as VIN Power on off switch of external power VIN Mini USB connector Connecting to computer via USB cable for program e A 5 RESET Button To restart the program while the program is in execution Do not press the RESET button during downloading which will result in download failure Green color Status LED will blink when Explore Board is communicating with MB 7 Yellow color Event LED will blink when Explore Board is communicating with MM peripheral modules Red color VDD power indicator The 5V VDD is regulated from the external VIN power supply Red color VCC power indicator which may come from either the USB port or VDD Four cmdBUS connectors Using 6 wired cmdBUS cables for connecting with Innovati s peripheral modules for control signal red for power and black fo2. Unit Assists the dual wheels for the movement of the robot body Ye ISOT 3 x 8 mm on i Post 3 x 0 4 x 8 mm Four AA size alkaline batteries recommended Battery Holder Wires for the connections of experimental circuits LED Red 2 Yellow 2 Green 2 capacitor 0 1u4F 2 330uF 1 1000uF 1 resistor 2200 6 3300 6 1K0 4 2 2K0 4 10K0 4 100K0 2 220KQ 2 330KQ 2 5KQ variable Electronic Components resistor 2 phototransistor 2 IR receiver 2 IR transmitter 2 insulation P E E E Ra tube 2 cable ties foam 2 buzzer button 2 6 pin header 2 etc Electrical Tape black Used as route for IR sensing Connecting Explore Board and PC for rogram downloading or USB Cable aba j human machine interface for debugging Assembly Procedure Step 1 Installing Servos Step 3 Installing the Battery Holder Slide to ON Position Adhesive Foam Step 5 Installing the wheels Step 6 Connecting the servo cables To be compliant with the tutorial program connect the left wheel servo to P10 and the right wheel servo to P11 Fix the servo cables on the Innobot aluminum chassis with cable ties Innobot after the installation is complete Explore Board QQQOOOD P A DTS ae z y S t Y IN SIENTE pa s _ N12 MTL Fr il if ed Fasa EXPLORE BOARD WWW nnova com Ma y A P nTn p PSs bb El a le A DD EER F gt
3. 4 Pause 10 Force the program to wait 10 ms 0 01 sec Next End Sub Ex 2 Control Continuous Rotation Servo Continuous Rotation Servo Basics A continuous rotation is similar to the conventional RC servos which internally comprises 12 a small DC motor a reduction gear set a feedback potentiometer and an electronic control board The initial power is provided by the DC motor rotating at a high speed and transmitted to the reduction gear set to generate a high torque output The larger the gear ratio of the reduction gear set is the larger the output torque of the servo will be Thus it can withstand a larger force but the rotation speed will be decreased accordingly For an RC servo its output shaft drives a proportional potentiometer for the position detection The potentiometer will convert the rotational coordinate into a proportional voltage feedback to the control circuit board so the control circuit board will compare and generate a correction pulse to drive the motor to rotate clockwise or counterclockwise so as to keep at the desired position For a continuous rotation servo control pulse signal is the same but it is used to control the rotation direction and speed instead the position of the shaft For example a train of 1 5ms high pulse signal every 20 ms the servo shaft will be in the stationary state with the pulses width less than 1 5ms it rotates clockwise the smaller the pulse width is the faster it r
4. GND GND VDD P10 VASO VDD P11 a 2 30 B ooo B 000 GND GND 22 Place the IR transmitter and receiver toward the ground to detect the black line Program Code Sub Main Dim R_IR As Byte right IR sensor Dim L_IR As Byte left IR sensor Low 10 Low 11 Do SOUND 2 5 38500 R_IR In 0 If R_IR O Then High 4 Else Low 4 End If SOUND 3 5 38500 L_IR In 1 If L_IR O Then High 5 Else Low 5 End If If R_IR L_IR 2 Then Pulseout 10 350 Pulseout 11 250 23 Pause 17 wait for 17 ms to make an approx 20ms period Elseif R_IR L_IR 0 Then Pulseout 10 350 Pulseout 11 250 Pause 17 wait for 17 ms to make an approx 20ms period Elseif R_IR 0 Then Pulseout 10 250 Pulseout 11 250 Pause 17 wait for 17 ms to make an approx 20ms period Elseif L_IR 0 Then Pulseout 10 350 Pulseout 11 350 Pause 17 wait for 17 ms to make an approx 20ms period End If Loop End Sub Ex 7 Making a Light Following Bot The objective of this exercise is to understand the control of phototransistors Use the I O pins and commands to switch the pull download resistors and distinguish the light intensity on both light sensors and move the bot accordingly Now you have a torch light following bot Once it is programmed use a flashlight and point to the innobot to make it follow the light Circuit Diagram The recommended resistance range for LS3200 light sensor is 10K 470K If the resistance is higher th
5. a f Circuit Diagram The symbol marked on the top of the buzzer indicates the positive electrode which should be connected to Pin 12 If the used buzzer has no indication mark for the positive electrode connect the longer lead as the positive electrode 18 Program Code The objective of this exercise is to use the DEBUG DEBUGIN and SOUND commands to compose simple melody and play it back The SOUND command generates a square wave at specified I O pin with the duration and frequency parameters After the program is executed if the input value is 10 you can start to compose the music notes If the input value is O it ends the recording processing and play the music notes entered so far Sub Main Dim X As Byte declare as composition array index Dim Y As Byte declare as playback array index Dim CODEIN As Byte Dim CODE 99 As Byte an array of 100 elements to store music notes Do Debug CR KEY 10 TO COMPOSE KEY 0 TO PLAY CR Debugin CODEIN get data and store in CODEIN If CODEIN 10 Then X 0 Debug CLS Do Ti 1 7 High Do 8 Rest 9 CR Do Debugin CODEIN If O lt CODEIN And CODEIN lt 10 Then Debug CODEIN X 1 CODE X CODEIN store notes into array End If Loop Until CODEIN 0 end of composition End If Debug CR 19 For Y 1 To X Step 1 Debug CODE Y Select CODE Y look up and play notes Case 1 SOUND 12 250 523 Do 1 C Case 2 SOUND 12 250 587 Re 2 D Case 3 SOUND 12 25
6. 0 659 Mi 3 E Case 4 SOUND 12 250 698 Fa 4 F Case 5 SOUND 12 250 784 Sol 5 G Case 6 SOUND 12 250 880 la 6 A Case 7 SOUND 12 250 988 Ti 7 B Case 8 SOUND 12 250 1047 Do High C Case 9 Rest Note Pause 250 0 25ms silence interval between notes End Select Next Loop End Sub Ex 5 IR Transmitting and Receiving The Infrared LED is the same as color LED It has two leads and the long lead is the positive electrode An insulation sleeve is used to limit the emission range so as to facilitate the experiment While attaching the insulation sleeve slip the sleeve into the IR transmitter from the larger opening end as shown in the following figure ge ZA i DE 20 The Infrared Receiver has three leads they are denoted as shown in the figure below The operating voltage range of the Infrared Receiver is 2 7V 6 0V and its high efficient receiving frequency is around 37 9KHz gt GND VDD A 5KQ variable resistor is used which has three leads Choose either left or right lead and the middle lead and the center lead as the two leads of the resistor Rotate the screw on the top gently with a screw driver to 3 adjust the resistance Circuit Diagram Place the IR transmitter and receiver facing the same direction toward the target VDD VDD PO AM D P1 2200 ame GND SND P2 gt or P3 5kQ 5kQ P4 gt a amet 3300 3300 V
7. 10 05 White 9 9 9 Gold x0 10 5 Silver z x0 010 10 None 220 According to Ohm s law assuming the voltage across the operating LED is 2 2V in order to limit the current passing through it within the allowed range of the BASIC Commander I Os 10mA the resistance of R1 should satisfy the relation 5 2 2 R1 lt 10mA course It is suitable to choose a resistance of 3300 to maintain the current at approximate 8 4 mA The color code for 3300 resistor will be Orange Orange Brown Gold 11 Circuit Diagram Ri 3300 i at ETHE LED a GND Program Code The objective of this exercise is to understand the basic operation of lighting an LED in different way using different commands First the LED will be turned on by HIGH command for 3 seconds and then off by LOW command for 1 second Then use the FOR LOOP and Pulseout commands to increase the light on the LED gradually from the off state and finally the LED is at its full brightness Sub Main Dim X As Word declare X as a 2 byte unsigned variable ranging 0 65535 using HIGH LOW command to make the LED blinking High 4 set the Pin 4 to high level 5V Pause 3000 wait 3000 ms 3 sec Low 4 set the Pin 4 to low level OV Pause 1000 wait 1000 ms 1 sec using Pulseout command to make the LED dimming For X 0 To 2000 Declare a loop of 2001 times Pulseout 4 X Generate a pulse with a width of X on the Pin
8. Innobot Users Manual Document Rev 2 0 Apr 15 2014 Trademark 66 Innovati k d and BASIC Commander are registered trademarks of Innovati Inc InnoBASIC cmdBUS Innobot and Explore Board are trademarks of Innovati Inc Copyright 2008 2014 by Innovati Inc All Rights Reserved Due to continual product improvements Innovati reserves the right to make modifications to its products without prior notice Innovati does not recommend the use of its products for application that may present a risk to human life due to malfunction or otherwise No part of this publication may be reproduced or transmitted in any form or by any means without the expressed written permission of Innovati Inc Disclaimer Full responsibility for any applications using Innovati products rests firmly with the user and as such Innovati will not be held responsible for any damages that may occur when using Innovati products This includes damage to equipment or property personal damage to life or health damage caused by loss of profits goodwill or otherwise Innovati products should not be used for any life saving applications as Innovati s products are designed for experimental or prototyping purposes only Innovati is not responsible for any safety communication or other related regulations It is advised that children under the age of 14 should only conduct experiments under parental or adult supervision Errata We hop
9. TA_R Then right side is higher turn right Pulseout 10 350 Pulseout 11 300 Pause 16 Elseif DATA_L gt DATA_R Then left side is higher turn left Pulseout 10 300 Pulseout 11 250 Pause 16 Else no apparent light stop Pulseout 10 300 Pulseout 11 300 Pause 16 End If Loop End Sub 26
10. ckwise rotation Note that each servo has a slightly different pulse width threshold It should be adjusted according to actual conditions Sub Main Dim X As Byte declare X as a 1 byte unsigned index ranging 0255 Low 11 Do infinite loop Fast clockwise rotation 14 For X 0 To 99 Pulseout 11 100 Pause 19 Next Slow clockwise rotation For X 0 To 99 Pulseout 11 280 Pause 19 Next Stop rotation For X 0 To 99 Pulseout 11 300 Pause 18 Next sending 100 pulses a pulse of 0 5ms in width on Pin 11 wait for 19 ms to make a 20ms period sending 100 pulses a pulse of 1 4ms in width on Pin 11 wait for 19 ms to make a 20ms period sending 100 pulses a pulse of 1 5ms in width on Pin 11 wait for 18 ms to make a 20ms period Slow counterclockwise rotation For X 0 To 99 Pulseout 11 320 Pause 18 Next sending 100 pulses a pulse of 1 6ms in width on Pin 11 wait for 18 ms to make a 20ms period Fast counterclockwise rotation For X 0 To 99 Pulseout 11 500 Pause 17 Next sending 100 pulses a pulse of 2 5ms in width on Pin 11 wait for 17 ms to make an approx 20ms period Ex 3 Control the Innobot to Move The objective of this exercise is to extend what we learned to control two continuous rotation servos to make the Innobot move around 15 Circuit Diagram While connecting the circuit use the servo pin header of pin 10 and 11 on the E
11. device which converts electrical energy into light emission Different compound materials such as InGaN AllnGaP GaAs etc allow the LEDs to emit the light of different colors LED has the advantages of power saving compact long lifespan fast response time low polluting high reliability high module flexibility etc LED has polarity the P electrode has a long lead that should be supplied with the positive voltage and the N electrode has a short lead that should be supplied with the negative voltage A Red LED Circuit symbol The driving voltage of the LED is typically within the range of 2 2V 3 4V However the output voltage of the I O pins is about 5V with a supplied current of approx 10mA If such a voltage is directly applied on the LED it may damage the LEDs permanently Therefore it should be connected with the resistor to limit the current 10 A resistor is a common component in electronic circuits which limit the current flowing in the electric wire and is usually represented as R in Q Ohm Resistors have different packages and specifications The resistance of a resistor can be identified by the color bands See the resistor color code table below Pm i Color 1 band 2 band 3 band Multiplier Tolerance 0 0 0 x10 1 1 1 x100 1 2 2 2 1000 2 Orange 3 3 3 x1k0 Yellow 4 4 4 x10 kQ Green 7 5 5 x100 kO 0 5 Blue 6 6 6 xIMO 10 45 Violet T i ri x10 MQ 0 1 Gray B 8 8
12. e sensitivity is higher DD DD A LS UTA LS PO P1 Z220K 3530 20K 3530 P2 P3 P4 P5 24 Program Code Sub Main Dim LS_R As Byte Dim LS_L As Byte Dim DATA_R As Byte Dim DATA_L As Byte Low 10 Low 11 Do Low 2 Input 3 LS_R In 0 If LS_R 0 Then Low 3 Input 2 LS_R In 0 If LS_R 0 Then DATA R 0 Else DATA _R 1 End If Else DATA _R 2 End If Low 4 Input 5 LS_L In 1 If LS_L 0 Then Low 5 Input 4 LS_L In 1 If LS_L 0 Then DATA L 0 Else right light sensor left light sensor right light intensity left light intensity configure 220K as pull down resistor 330K resistor is open not activated read pin O status and store in LS R configure 330K as pull down resistor 220K resistor is open not activated read pin O status and store in LS _R least light intensity detected higher light intensity detected highest light intensity detected configure 220K as pull down resistor 330K resistor is open not activated read pin O status and store in LS R configure 330K as pull down resistor 220K resistor is open not activated read pin O status and store in LS R least light intensity detected 25 DATA L 1 higher light intensity detected End If Else DATA_L 2 highest light intensity detected End If If DATA_R 2 And DATA_L 2 Then same high light intensity move forward Pulseout 10 350 Pulseout 11 250 Pause 16 Elseif DATA_L lt DA
13. e that our users will find this user s guide a useful easy to use and interesting publication as our efforts to do this have been considerable Additionally a substantial amount of effort has been put into this user s guide to ensure accuracy and complete and error free content however it is almost inevitable that certain errors may have remained undetected As Innovati will continue to improve the accuracy of its user s guide any detected errors will be published on its website If you find any errors in the user s guide please contact us via email service innovati com tw For the most up to date information please visit our web site at http www innovati com tw Table of Contents Product OVSIVISW ri A 3 A Eo ceea E EET 3 ASSemOIVPTOCEAUT E isis 5 EXPLO DO 8 Appendix Tutorial Programs ccssscssesccsscssssssessccesccssssssssesescesscesseses 10 O Ex 1 Control LED in different ways oooocccncnnononnnanonnnnnnnnoncnononanononons 10 O Ex 2 Control Continuous Rotation Servo cccoococcnnoncncnnnannnnnnonancnnnos 12 O Ex 3 Control the Innobot to MOVE c cccocccccnnccnonncncnoonaconnnoncnnncnnnononos 15 O Ex 4 Input Music Notes and Play Back occoccconnionccnnnnnnncannnos 17 O Ex 5 IR Transmitting and RECEIVING occocccccnnnononnnonononononcnnnnnnannnans 20 O Ex 6 Making a Line Following Bot coocccnnnoncoonononononcnonononnnannnnnnnos 22 O Ex 7 Making a Light Followin
14. g Bot ccccccocococonnnoncnonnnnnoninanananononos 24 Product Overview Innovati s Innobot kit includes the Explore Board aluminum chassis servos and wheels The Explore Board has a built in BASIC Commander module which supports 24 general purpose I Os Four of the I Os have also been arranged with servo connectors for servo connection Four cmdBUS connectors are available on the board users may plug in Innovati s smart modules for more complex applications A bread board is included in this kit users may put it on the Explore Board with its adhesive foam and make simple electronics and robotics experiments The Innobot kit is specially designed for basic autonomous line follower It is also an excellent platform for other robotics exploration Part List a _ The Explore Board is the main control A y dl i E E board of the Innobot kit It has ore Board nro ame A cmdBUS connectors for connecting Innovati s smart modules The auxiliary Bread board allows users to add additional electronic components Aluminum Chassis for installing the servos Chassis PEA wheels and Explore Board Continuous rotation servos Pay Continuous attention to the polarity of the cable rotation servo ki while connecting to the board 42 x 20 5 x 39 5 mm weight 44 g Servo gt rr Servo horn screw and other Accessories SO ln accessories Two plastic wheels with rubber tires Dual Wheel Ball Transfer
15. otates with the pulses larger than 1 5ms it rotates counterclockwise the wider the pulse width is the faster it rotates Servos vary in the control pulse width the range 0 8ms 2 2ms is a reference value Check datasheets of the servo before using it it Out of range control signal may damage the servo permanently 2 5ms a h 20ms The servo has three power wires as shown in figure below The white wire is the control wire that is connected to the control chip The middle red wire is the power line 13 for the operation of the servo which is typically 5 volts The third wire is the ground wire The objective of this exercise is to control a continuous rotation servo by using the Pulseout command The servo will make a fast clockwise rotation a slow clockwise rotation stop a slow counterclockwise a fast counterclockwise rotation Note that each servo has a slightly different pulse width threshold It should be adjusted according to actual conditions Circuit Diagram While connecting the circuit use the servo pin header of pin 11 on the Explore Board Pay attention to the color of the wires W white R red and B black when inserting VDD P11 GND Program Code The objective of this exercise is to control a continuous rotation servo by using the Pulseout command The servo will make a fast clockwise rotation a slow clockwise rotation stop a slow counterclockwise a fast counterclo
16. r ground They are denoted as W R and B next to the servo connectors Servo power source selection jumpers Short jumpers at the upper position the 5V DVV power will be used Short jumpers at the lower position the external VDD power will be used VIN VDD and VCC power supply is available on this female connector The maximum VDD supply current is 1 Amp GND of power supply is available on this female connector Four Servo Connectors Each of them is arranged with VDD or VIN and GND power supply and control I O as P8 P9 P10 and P11 The white servo cable is 10 11 12 13 14 5 24 general purpose digital I Os with labeled pin numbers PO P23 on the board Through the built in software commands they can be used as 12C or UART pins 16 Prototype PCB area for soldering user s own electronic circuitry User can attach the provided Bread Board on this area for his her own circuitry Appendix Tutorial Programs To help you be familiar with the Innobot Kit some tutorial programs with brief introduction are provided in this section To maintain the tutorial programs free of error and up to date they are subject to change without notice For new users who are not familiar with the BASIC Commander please refer to the BASIC Commander and innoBASIC Workshop User s Manual for more detailed information Ex 1 Control LED in different ways LED and Resistor Basics An LED Light Emitting Diode is a
17. rox 20ms period sending 100 pulses a pulse of 1 4ms in width on Pin 10 a pulse of 1 4ms in width on Pin 11 wait for 17 ms to make an approx 20ms period sending 100 pulses a pulse of 1 5ms in width on Pin 10 a pulse of 1 5ms in width on Pin 11 wait for 17 ms to make an approx 20ms period Ex 4 Input Music Notes and Play Back A buzzer is a kind of transducer that converts electrical signals into sound and is commonly used as sound making component in electronic products Buzzers can be categorized into piezo and magnetic type according to the operation principle The piezoelectric buzzer piezo buzzer generates sound waves by driving a metal diaphragm based on the piezo electric effect of the piezoelectric ceramics in a magnetic buzzer the metal diaphragm will be pulled down while being energized and rebound back while not being energized based on the electro magnetic effect In this experiment the used buzzer 17 has an operating of 3V 7 5V The method for calculating the frequency of each note in the music scale First remember that the note low A has the frequency of 440Hz The frequency of every adjacent semitone is 1 059 times of the frequency of the previous note For the convenience of the user to memorize the following figure shows the relation between the piano keyboard and the corresponding notes The following is a Frequency Look up Table os sm oa Co a o Ce w o wp
18. w Ya WS Ys LED IR LED IR LED LED GND GND GND GND Program Code This exercise is to show how to turn on off LEDs to indicate current detection status by adjusting the Variable Resistor VR to control the infrared light intensity so the receivers can detect the reflection intensity Sub Main Dim L_IR As Byte Do SOUND 2 5 38500 generate 38 5kHz square wave for 5ms at pin 2 R_IR In 0 input pin O status and store in R_IR If R_IR O Then 21 High 4 Else Low 4 End If SOUND 3 5 38500 L_IR In 1 If L_IR O Then High 5 Else Low 5 End If Pause 16 Loop End Sub reflection detected turn on LED reflection not detected turn off LED generate 38 5kHz square wave for 5ms at pin 3 input pin 1 status and store in L_IR reflection detected turn on LED reflection not detected turn off LED Ex 6 Making a Line Following Bot To make a line following bot the required sensitivity of IR sensors to detect the black tape and control two continuous rotation servo wheels accordingly Note that the IR receiver may be influenced by other IR emission sources Keep away from other IR sources such as a computer monitor Circuit Diagram VDD VDD a 2200 2200 GND ENB P2 P3 pon 5kQ 5kQ PA ANN P5 AN 3300 3300 WS ES Won Wo LED IR LED IR LED LED GND GND
19. xplore Board Pay attention to the color of the wires W white R red and B black when inserting VDD P10 eS VDD P11 EST o pho B los B los GND GND Program Code Sub Main Dim X As Byte declare X as a 1 byte unsigned index ranging 0255 Low 10 left servo Low 11 right servo Do infinite loop Fast forward For X 0 To 49 sending 50 pulses Pulseout 10 500 a pulse of 2 5ms in width on Pin 10 Pulseout 11 100 a pulse of 0 5ms in width on Pin 11 Pause 17 wait for 17 ms to make an approx 20ms period Next Fast backward For X 0 To 49 sending 50 pulses Pulseout 10 100 pulse of 0 5ms in width on Pin 10 Pulseout 11 500 a pulse of 2 5ms in width on Pin 11 Pause 17 wait for 17 ms to make an approx 20ms period Next Stop moving For X 0 To 99 sending 100 pulses Pulseout 10 300 a pulse of 1 5ms in width on Pin 10 Pulseout 11 300 a pulse of 1 5ms in width on Pin 11 Pause 17 wait for 17 ms to make an approx 20ms period Next 16 Turn right For X 0 To 99 Pulseout 10 320 Pulseout 11 320 Pause 17 Next Turn left For X 0 To 99 Pulseout 10 280 Pulseout 11 280 Pause 17 Next Stop moving For X 0 To 99 Pulseout 10 300 Pulseout 11 300 Pause 17 Next Music Notes Basics sending 100 pulses a pulse of 1 6ms in width on Pin 10 a pulse of 1 6ms in width on Pin 11 wait for 17 ms to make an app
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