User Manual for the Brain Brick
Contents
1. To compile your own program make a copy of the iar template directory Make any changes you wish to the program If you change the filenames or create more files you may need to make appropriate changes to the Makefile e g to change the specified name for the output binary To compile your program simply type make in this directory This will create a binary with the name you specified in the Makefile e g controller01 Example cp r iar template iar controller01 cd iar controller01 Make any desired changes to the controller c file and the Makefile make new executable controller01 2 6 Loading and running a program on the BrainBrick To upload you program onto the BrainBrick make sure the BrainBrick is connected to the network e g try ping Name Type iarupload PathToYourExecutable E g if you are in the template directory use iarupload controller This will upload the program onto your BrainBrick as iar upload autostart To start the program you need to type iar upload autostart You can then disconnect from the ethernet and watch it go Note it is a good idea in general for your program to not do anything in particular not to start the motors until it detects that you have hit a start microswitch This gives you time to put the robot on the floor and avoid it leaping off the desk To stop a running program you can either power cycle reboot the system or login over ethernet and use the Linux kill comma2. or reverse motors 1 and 2 can also be set to slow forward or slow reverse It also provides connection points for 6 microswitches or whiskers or conduction sensors and 1 Hall effect sensor It has 8 user programmable LEDS It is powered and transfers data to the other boards via a direct connection to the Power Board unused PC link to Power Board light8 light7 light6 ne switchl light3 switch2 light2 switch3 light switch4 switch5 switch6 h e sense INTERFACE BOARD motorl motor2 motor3 motor4 Figure 2 Interface Board 1 3 Power Board The Power Board figure 3 is where the Battery is connected It supplies the other boards with power and transfers data via the I2C links The motor on off switch will turn off the motors only e g if your robot is out of control and you want to stop it moving It does not disconnect any other power To power off you must disconnect the battery To power cycle e g to reboot the BrainBrick you must disconnect and reconnect the battery I2C link to brain brick POWER BOARD PC link to Interface Board I2C link to sensor boards motor on off switch power lead connector Figure 3 Power Board 1 4 LDR Board The LDR Board figure 4 connects up to 4 Light Dependent Resistors It can be daisy chained with other sensor boards to the Power Board via the I2C connectors ldr1 and ldr2 LIGHT DEPENDENT RESISTOR INTERFACE BOARD ldr
3. program e g minicom A simple test function for the BrainBrick hardware has been provided iartest To use it connect the serial cable and start the terminal emulation program Then switch on the system and login via the ethernet and run the command iartest You can then check various functions including the lights switches and motors as well as the LDR and AIR boards through the terminal emulator interface 2 5 Compiling a program for the BrainBrick In order to generate a binary that can be run on the BrainBrick a cross compiler is needed assuming a Host with Intel x86 architecture The cross compiler toolchain is based on the GNU compiler collection gec 3 4 3 and should therefore be very similar to usual compiler setups It includes a few additional features in particular it includes header files for the IAR library for robot control program development The iar template directory includes four files e Makefile e functions c e functions h e controller c The Makefile includes all necessary compiler and linker commands to generate a single binary from the C source files The file functions c includes all lower level function implementations used in controller c The control program controller c represents the actual robot control program it makes use of the functions defined in functions h To compile simply type make This will generate an executable called controller that you can upload to the BrainBrick see below
4. 3 and ldr4 I2C Links Figure 4 LDR Board 1 5 IR Board The IR Board figure 5 connects up to 2 Active Infra Red sensors It can be daisy chained with other sensor boards to the Power Board via the I2C connectors infral I2C Links ACTIVE INFRA RED INTERFACE BOARD Figure 5 Infrared Board 1 6 Compass Board The Compass Board figure 6 measures up to 8 different directions N NE E SE S SW W NW It can be daisy chained with other sensor boards to the Power Board via the I2C connectors I2C Links C compass COMPASS BOARD Figure 6 Compass Board 1 7 How it all connects Please be careful and check you have the right configurations Make all connections before plugging in the battery Note that you do not need to have any of the sensor boards LDR IR or Compass connected or any motors or switches for the system to run i e the minimal testing configuration requires only the Brain Brick Interface Board and Power Board I2C Link To Brain Brick a Ethernet Brain Brick POWER BOARD II Serial lee lee I2C LINK TO BOARDS ee I2C Link To Interface Board O BULB 00000000 LIGHT DEPENDENT RESISTOR INTERFACE BOARD INTERFACE BOARD ACTIVE INFRA RED INTERFACE BOARD SWITCH SWITCH m Figure 7 Connecting Hardware REPEAT WARNING The battery must always be dis
5. BrainBrick and all the other boards with power Additional sensor boards currently the LDR board the IR board and the Compass board which can be daisy chained over an I2C bus to the power board to share data with the Interface board and power from the battery You should start by identifying each board and its connections Note that most connections are designed to fit one way only this is the correct way Never force a connection and disconnect by pulling on the connector not the wires WARNING The battery must always be disconnected before you change any connections between the boards Plugging things in and out while the sys tem is powered could cause significant damage to the boards The motor on off switch does not disconnect power to the rest of the system You must disconnect the battery 1 1 Brain Brick The core module is a single board computer SBC consisting of of a 400 MHz Intel XScale ARM processor module and a PC 104 compatible base module It has been enclosed in a black box that gives you access to the ethernet and serial ports as shown shown in figure 1 It is powered and transfers data to the other boards via a direct connection to the Power Board BRAIN BRICK Serial Ethernet I2C Link to Power Board Figure 1 Brain Brick 1 2 Interface Board The interface board figure 2 is mounted on top of the black box It provides connection points for 4 motors The motors can be set to forward stop
6. Intelligent Autonomous Robotics User Manual Version 1 1 September 21 2005 Contents 1 Robotics Hardware 2 Ll Brain Bricks 4 ii a a ee 2 12 Interface Board sisis 222 as hu a ee ee aly ade A 3 1 8 Power Board s Y E A OP EA ee DS rar 4 T4 EDR B atd 625 A 20 EINSAME A oe 4 Lo IR Board u a Sr IA A ae er ng 5 1 6 Compass Board i 22 4 222 A A a A A e Sk a des A 5 1 6 How it all connects d i ooe bk td e aa DEER Pode a o Ea de 6 2 How to use the robot hardware 7 2 1 Physical configuration e ar a aaa ee A 7 2 2 Software configuration nu ur e AA da eo 7 2 3 Connecting to the Brain Brick by ethernet o o o 7 2 4 Connecting to the BrainBrick by the serial cable o o 7 2 5 Compiling a program for the BrainBrick o o e 8 2 6 Loading and running a program on the BrainBrick 2 2 2 2 nn o o 8 3 C Programming 9 ool Example program aan na A ale ann 9 3 2 Example of MultiThreading 2 2 2 Co Como 11 3 3 JAR Sensors Library a 4 u ll Le dds a evi ee 12 1 Robotics Hardware The computer electronic hardware for the Intelligent Autonomous Robotics IAR consists of e The Brain Brick a single board computer SBC with an ARM XScale compatible processor running at 400 MHz The Interface Board which connects motors and sensors to the BrainBrick e The Power Board to which the battery is connected and which supplies the
7. ass 12
8. connected before you change any connections between the boards Plugging things in and out while the system is powered could cause significant damage to the boards The motor on off switch does not disconnect power to the rest of the system You must disconnect the battery 2 How to use the robot hardware 2 1 Physical configuration The minimal configuration needed to test the basic functions and download and run programs is to connect the power board brain brick and interface board You can add or remove switches and motors from the interface board or connect or disconnect other sensor boards and sensors as required See section 1 7 Once you have made and checked the connections power up the system by connecting the battery An empty battery will be indicated by a red light on the power board 2 2 Software configuration Your course demonstrator will provide you with a tar ball e g Name tar bz2 containing all the files necessary for this course Note that this is specific to the named Brain Brick you were issued While in your home directory type e g tar xvfj Name tar bz2 which will create a folder iar This folder includes a bin directory containing scripts for automatic lo gin iar bin iarlogin to the Brain Brick and for uploading a new program iar bin iarupload To avoid having to reference the location of these tools every time include PATH PATH iar bin in your bre file The other directory the folder inc
9. ludes is the iar template directory which includes example programs and corresponding Makefiles see below 2 3 Connecting to the Brain Brick by ethernet The Brain Brick runs an embedded Linux system Linux 2 6 7 based on BusyBox which is a collection of tiny standard Unix tools It should behave more or less other Linux based systems but has only a very limited number of system tools installed Most interaction with the Brain Brick is done over an Ethernet connection Use any of the free cables available in the teaching lab to connect to the network via the port on the black box To login into your Brain Brick use iarlogin It will automatically log you in as user without the need to provide a password Once logged in you can use the terminal shell to navigate through any files on system Login can also be done using the provided iar ssh rsa keys using ssh ssh i iar ssh rsa_ user And you can copy files to or from the BrainBrick using scp e g scp i RSAKEY user Name PathToYourData Destination This is most likely to be used if you have saved data on the module while running a program and want to retrieve it for analysis 2 4 Connecting to the BrainBrick by the serial cable You can also connect to the BrainBrick via a serial cable and will need to do so for several functions see below With the system off plug the serial cable from the Dice machine you are using into the port on the black box Start a terminal emulation
10. metic relational and logical operators are the same as Java e The loop and conditional syntax is the same as Java e The basic data types are int can be long or short signed or unsigned char float double and void e There is no boolean type test conditions are integer expressions that if evaluating to 0 are false non zero are true Logical operators will evaluate to 0 or 1 e You can also define a struct similar to a Java class but it can only have data elements e Variables can be global declared outside a function or local declared inside a function all declarations must occur at the start of the function e Statements beginning are preprocessed before compilation and used either to include other files including standard library files or to define constants or macros These appear at the start of the file e The remainder of the file consists of functions including one main function Functions need to be defined or declared before they are invoked e There is no function overloading no two functions can have the same name e C has no exceptions so it is important to do explicit error checking More complex issues you may need to read up on are arrays and pointers passing arguments to and returning values from functions I O characters and strings dynamic memory handling and threading But we will try to provide examples to help you with these 3 1 Example program This program demonstrates how to use t
11. nd Or more tidily you could include a stop switch that ends the program If you want to run the same program again you do not need to download it again but simply to type iar upload autostart as before 3 C Programming The BrainBrick is programmed in C C is a very simple and powerful programming language but it is very easy to make mistakes Explaining the basics of C does not take long but would exceed the scope of this manual In this section we aim to give you pointers for getting started and some example programs that you can modify Note that it is not a principal aim of this course to teach you C in general you only need to know enough to be able to write and debug programs for this specific task i e robot control so we will be trying to support you with direct examples for any of the kinds of things you will need to do There are many good reference books for C The most frequently recommended is The C Program ming Language by Brian W Kernighan and Dennis M Ritchie There are also many websites providing an introduction to C programming e g http www le ac uk cc tutorials c http www eskimo com scs cclass notes top html http www eskimo com scs C faq top htm You might find it particularly useful to look at some of these Introduction to C for Java program mers sites http www comp lancs ac uk computing users ss java2c http www cs vu nl jason college dictaat pdf Basic things you need to know e Arith
12. rd SFWD 1 slow forward only for motor 1 2 STOP 2 FREV 3 fast reverse SREV 4 slow reverse only for motor 1 2 has to be called once before any motors are used int reset_motors define define define define define define define define define define define define define define define define define define define define define define define define define define define int get_ set_motor_l command set_motors MOTOR1 command set_motor_2 command set_motors MOTOR2 command set_motor_3 command set_motors MOTOR3 command set_motor_4 command set motors MOTOR4 command set light 1 sw set_leds sw LED1 set _light_2 sw set_leds sw LED2 set_light_3 sw set_leds sw LED3 set_light_4 sw set_leds sw LED4 set light 5 sw set_leds sw LED5 set light 6 sw set_leds sw LED6 set_light_7 sw set_leds sw LED7 set_light_8 sw set_leds sw LED8 set_lights_off set_leds NONE 0 set_lights_on set _leds ALL 0 get switch 10 get_switches SWITCH1 get switch 2 get_switches SWITCH2 get_switch_3 get_switches SWITCH3 get_switch_4 get_switches SWITCH4 get_switch_5 get_switches SWITCH5 get_switch_6 get_switches SWITCH6 get_hall_effect get_switches HALLEFFECT get_ir_1 get_irs AIR1 get ir 20 get_irs AIR2 get_ldr_1 get_ldrs LDR1 get_ldr_2 get_ldrs LDR2 get_ldr_3 get_ldrs LDR3 get_ldr_4 get_ldrs LDR4 comp
13. ry include lt pthread h gt IAR sensor library include lt iar_ctrl h gt thread to flash led 1 void flash led_1 void arg flash LED1 in 1 sec intervals while true set_light_1 TOGGLE sleep 1 thread to flash led 8 void flash_led_8 void arg flash LED8 in 1 sec intervals while true set_light_8 TOGGLE sleep 1 main loop start two threads to flash ledi and led8 int main int argc char argv thread declarations pthread_t thread led1 pthread_t thread led8 start thread to flash ledi if pthread_create amp thread_ledi NULL flash_led_1 NULL 0 exit 1 flash ledi for 3 seconds sleep 3 start thread to flash led8 if pthread_create amp thread_led8 NULL flash_led_8 NULL 0 exit 1 let both leds flash for another 7 seconds sleep 7 stop threads pthread_cancel thread_led1 pthread_cancel thread_led8 return 0 11 3 3 IAR Sensor Library The IAR sensor library libiar enables control programs to interface with the IAR interface board and the variety of add on sensor boards For your convenient reference here is the library header file with all the relevant function definitions led commands define define define define define OFF 0 ON 1 TOGGLE 2 NONE 3 ALL 4 motor commands define define define define define FFWD 0 fast forwa
14. wo IR sensors to make a robot avoid obstacles The variables lefteye and righteye get periodically updated with the latest IR sensor readings The program compares these values against a defined threshold and reacts by making the robot move away from the side of the sensor with the highest reading Include IAR sensor library include lt iar_ctrl h gt definition of threshold for IR sensors define THRESHOLD 150 a short wrapper functions for driving the motors void drive short left short right set_motor_1 left set_motor_2 right main control program int main void variables to hold the IR values int lefteye righteye initialise motors reset_motors wait until switch_1 is pressed while get_switch_1 main program loop while true read the IR sensors lefteye get_ir 10 righteye get_ir_2 react to sensor readings if lefteye gt THRESHOLD drive FFWD SFWD make a slight right turn if righteye gt THRESHOLD drive SFWD FFWD make a slight left turn if lefteye lt righteye drive FFWD SFWD else if lefteye gt righteye drive SFWD FFWD if lefteye righteye else drive SFWD SFWD slow down return 0 10 3 2 Example of MultiThreading This program demonstrates how to use threads to implement robotic functions behaviours that run in parallel POSIX thread libra
Download Pdf Manuals
Related Search