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L v2.0

1. Ed IT Fei EE IR Control Freak UGHT vQ 0 You don t sto playing because you get old you get old because you stop playing elie V TYT s Es sti PE Comectior TiS ETE 8 The 2 x IK resistors are voltage limiting resistors These may be required depending on the configuration of your PC s communication port Double check that the connector pins are connected correctly see table above Please check this before connecting Finishing off If you intend to do a lot of testing then it is recommend putting heatshrink around the cables and connector or using a glue gun to stick the cables together This will help prevent the cables breaking 3 2 Serial connection to the main robot controller Using auxiliary power supply from 9v battery IR Gontrol Freak UGHT v2 0 You don t sta playing because you get old you get old because you stop playing 3 3 Using a 5v regulated power supply from the Robot Controller IRCF L consumes on average 10mA 15mA in normal use depending on how many LEDs are illuminated Before connecting the IRCF L to your robot controller s power supply it is important that the current consumption is tested and confirmed and that your robot controller can handle this additional loading Please check the reference docume ntation provided with your Microcontroller before connecting You connect at your own risk 2 VERSION ICRF L v2 0 r HAKER
2. TIME OUT A subroutine label called TIME OUT If no serial data is received then the SERIN command the program will jump to this subroutine and print a warning on the Basic Stamp debug screen DEBUG TIMED OUT CR RETURN Go back to main program routine and start again 21 IR Gontrol Freak UGHT v2 You don t sta plait because you ge old you get old because you stop playing 6 2 Command Code 020 Sony SIRC IR Transmissions Mode Used for inter robot communication TAG ZAP gaming and Beacon transmission mode Syntax 020 lt button Code gt lt device Code gt decimal format Operands lt button Code gt lt device Code gt Response from IR Ch An X pattern will flash on the circular display for each IR pulse transmitted Overview IRCF L Transmits a Sony SIRC IR message from both IR LED s This command is used to send simple commands to other robots or Sony SIRC devices e g television video etc and used in conjunction with command 030 receive Sony IR commands This command transmits SIRC Infrared data from the IR Emitters The objective of this command code is for two or more robots to communicate with each other In a very simple manner It can also be used as an Infrared Beacon for robots to navigate towards the strongest IR signal For this command to work correctly your robot controller needs to transmit a 3 byte string The first byte 1s the command mode instruction 020
3. This user manual is relevant for our complete product range of Infrared Control Freak v 1 1 and the Infrared Control Freak Light v2 0 product range Whether kit or fully assembled Infrared Control Freak Light V 1 1 with two photo resistor light sensors Infrared Control Freak Light Power Extended range If you bought the kit version please follow the assembly Instructions first Before starting please read the safety and disclaimer section in Appendix A 1 1 Upgrade from IRCF v1 0 Based on user feedback we have made some modifications and improvements to the former IRCF 1 0 All the modifications have been from built from scratch into the new IRCF L version including a light sensing functionality If you already own the former Infrared Control Freak V 1 0 i e the non light sensor version you can benefit by upgrading the firmware to the new V2 0 version Apart from the new commands dedicated to control the new light sensors all the newly upgrade commands will work on the previous IRCF V1 0 PCB versions All you need to do is carefully remove the IRCF v1 0 microprocessor stick it in a piece of polystyrene and return it to ROBOTmaker We will charge only for the return postage amp package If you are a registered user and have a PIC programmer you could do this immediately by downloading the latest firmware version directly from our website If you would like to upgrade to the IRCF L PCB version with l
4. you get old because you stop playing lt TP button code 0101101 RT II Dh i f __5 bit device code 01101 Logic 1 I LA l I I Start Bit Ams I 4 Aisa j i g J J F 1 ku e Delay 2 P k Dims F i 3 E i A z Modulated at 38Khz Ba SST d The device code determines which remote control device is being address such as video television CD Amplifier SAT etc There are many documented versions of what these device codes actually represent Here are some examples V d dress MD TR2 t Pro Logic 18 Likewise there are many documented versions of button codes It best to test your own IR remote controller and create your own list Here are some examples I 2 3 4 Surround Sound 1 7 I I I I 2 lt CD Player Q INI s F 4 6 o sell 16 Tuner Hoo D l6 1 2 6 8 Button Command Button Command 0 Digit key 1 20 Mute Digit key 2 21 Power Digit key 3 22 Reset Digit key 4 23 Audio Mode Digit key 5 24 Contrast Digit key 6 25 Contrast 49 Mm WwW Ne VERSION ICRF L v2 0 ECH You don t rop you get old CH Digit key 7 Digit key 8 Digit key 9 9 Digit key 0 ao N Channel Channel Volume Volume playing because you get old ecause you stop playing 26 ay 3
5. Check ground connections If these are OK check for short circuits Check polarity of battery Check the voltage regulator is inserted correct way round applicable to kit only a en ebe Fault Description 2 Circular LED display Start up LED routine does not work 1 Check fault description 1 2 Check that the IC is inserted into the socket correctly 3 Check that power is available at the IC 4 Check that the LEDs are connected the correct way round applicable to kit only Fault Description 2 No sensing or response from IRCF L If the power up routine or other command mode routines are displayed on the circular display but the module does not react to any proximity or IR signal 1 Check battery is fully charged The sensors will not trigger if the voltage is too low 2 The Microcontroller will start behaving erratically if the voltage is too low 59 IR Gontrol Freak UGHT v2 You don t sta plaid because you get oldi you get old because you stop playing APPENDIX I Connector Overview 9V SUPPLY or regulated 5v ee Ga SV supply from other source d 5v supply VDD supply to pin 5 _ 2 5 VSS GROUND for power supply psf 5 ys GROUND for serial interface Serial connection RX Pin A1 on PIC This is connected to the data transmit TX on the main robot controller Serial connection TX Pin A0 on PIC This is connected to the data receive RX on the main robot controller
6. Port Settings Bits per second aen e Data bits fe H Parity None Stop bits ho Flow control HEERE Restore Defaults coed The command sent to the IRCF L needs to be in DECIMAL format There are no normal character keys that can be pressed on the keyboard that represent 031 so this must be sent by holding down the ALT key and typing 031 on the keypad this must be done on the keypad with the num lock on Then release the ALT key t Bit x E Connect To Settings ASCH Setup x ASCII Sending I Send line ends with line feeds Function arrow and ctrl keys act as Ce Windows keys C Terminal keys Z Echo typed characters locally Line delay lo milliseconds Backspace key sends x Ge Dahl Del CtkH Space Chlah x Emulation S Character delay lo rillizeconds Auto detect sl hema setup i I Telnet terminal ID ANSI ASCII Receiving Append line feeds to incoming line end Backscroll buffer lines 500 Append ine feeds ta incoming line ends Eorce incoming data to 7 bit ASCII Z Play sound when connecting or disconnecting Iv Airapdinesthatexceed teminal width Input Translation ASCII Setup E OF Cancel If nothing happens you can set the ASCII Sending property as defined above and see what is being sent A graphic symbol should be displayed something like this Press a button on the remote control and the device co
7. ROBOT MAKER www robotmaker eu com USER MANUAL INFRARED CONTROL FREAK LIGHT V2 0 Download Latest Assembly and User Manual from http www robotmaker co uk documentation htm ROBOTmaker Ltd German Lab Langgasse 71 50189 Elsdorf Germany Fax 49 0 2274 706554 support robotmaker co uk www robotmaker eu com IRCF amp IRCF L hardware design software design including assembly manual user manual schematics and PCB layout are Copyright C 2003 ROBOTmaker All rights reserved TABLE OF CONTENTS t INTRODUCTION cesor E E E TE l LE perade WR EE I ES New to2k utoli6nmoas ie I iso What e Lqolusllyy o EE I L4 pa proaranim8ao dqproximity commimsun uu u uD Ed 4 I E EE EE HERE EIERE ee uuu Da SE E 4 IG Ee 4 Z ere Eguipment EICHER EE 4 lo EE EE EE e eet ee 5 2 Overview Or et TUNnCtOnaltly uuu uuu u deeg degen dE 6 21 Microprocessor controlled Sensor and IR module neues enn aaa eet ee 6 e tee ee e EE 6 2 3 Non contact proximity detection and distance measurements 6 24 Infrared Proximity Sc Ett 6 2 5 Infrared Proximity detection Directional Indication y u u cade hi La uu a ka u EERTE ESE 7 2 6 Visual Feedback based on Mode of operations a SE A e 8 2 6 Infrared Remote C Onl EE 8 29 Heer 8 2 10 Customise an Infra
8. The other two bytes represent the Sony infrared device and button codes see example below As soon as two bytes are received R Control Freak decodes and transmits these two bytes as SIRC Infrared device and button code data It is as though you had pressed a button on an Infrared remote control device TAG ZAP mode In multi robot gaming with two teams of robots the infrared data could be used to identify which robot was sending the message and in which team the robot belongs This is achieved by assigning each robot a unique device code For example Team 2 Robot 1 Team 2 Robot 2 Team 3 Robot 3 In a game of robot tag the robot with device code number 11 could be classified as the it robot so all other robots can avoid this robot 22 _ IR Gontrol Freak UGHT v2 0 You don t sto playing because you get old you get old because you stop playing The button code could be used to send a unique instruction such as a ZAPPING or TAG command For example robots that receive 10 x ZAP codes could be out of the game for a defined period For example after 5 minutes the robot could recover and join the game again For this to work the same game rules and code will need to be provided by the club and applied to both robot teams There are many university project reports on the subject of robot gaming See our website for more details In conjunction with a radio modem the robot controller
9. a en ee Ee i en A ee Ser K lt Very Far Near Close Very Close g9 up b ji Ignore Detour Turn slowly Turn Around 100 Turn sharply Usually fuzzy logic variables are also mapped with another measurement such as angle of object in the case proximity sensing The angle of the object can be roughly determined by mapping measurements from two or more sensors similar to the follow diagram Forwards 100 One Ko r ZZ OF oF oF F F Z FF Z OF OF d OF Yt UY Ma jy Cette 100 100 D D E I D d o de Ge j E Leet ei 100 The fuzzy logic variables correspond in fact to a multidimensional model The one above is 3 dimensional If rate of change of obstacle were added that would then be the fourth dimension 52 IR Control Freak UGHT v2 0 A Etri P playinq because you qet old you get old because you stop playing You don t sto DI UO Ulli TET Was ep F ech rr S T SUH S SLY SHIN I I I I I I I I I I 4 UO USWSINSES G A SlIIHIN S 1 SLUHW S SUHW E SZ T SUH G2 T SLIHIN SZ 1 SU Sr ye g 91984590 oSV ell O A 1 J401I NOBUAA 53 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 0 You don t sto Game because you get old you get old because you stop playing Now
10. command 032 It would be quite normal that Infrared Proximity Detection IRPD to take priority over light sensing The objective of the command is to avoid crashing into an obstacle whilst heading towards or away from a light source Light Source IRPO Priority ensures obstacles are avoided when heading towards light source Obstacle This command triggers the IRCF L to return IRPD data and Light levels all in one command This command also alleviates the need to send two separate commands to the IRCF L greatly reduces the processing time of the robot controller 207 VERSION ICRF L v2 0 You don t stop you get old b IR Gontrol freak UGHT 2 0 playing because you get old ecause you stop playing Example SSTAMP BS2 1 K k k lt k lt k k lt k lt lt k lt K lt lt k lt lt k lt lt k lt k k lt k k lt k k lt lt lt lt lt k lt X lt x x lt ES 038_command_Light_IRPD_Examplel bs2 1 lt K x x X x x x lt lt lt lt k k k k k k k k k k k amp amp amp amp amp amp k k k k k amp lt lt lt lt lt lt lt lt lt lt x lt This is an example of how you could to use the light sensor functionality of the IRCF L using a GROWBOT BOEBOT from Parallax INC fitted with a Basic Stamp The bot will move towards the brightest light The Infrared proximity sensing takes priority over light sensing The bot will therefore a
11. k lt kA lt x lt lt k k lt k kA x x x x x x lt Servo Speed Control on Boebot PCB MStop CON 750 Motor Stop Speed100 CON 125 Full Speed Speed075 CON 50 3 4 speed Speed050 CON 40 1 2 speed Servos R_SERVO CON 14 Pin for right servo I SERVO CON 13 Pin for left servo LEDS L LED CON 15 Pin for the left LED R_LED CON 11 Pin for the right LED 35 VERSION ICRF L v2 0 You don t sto playing because you get old you get old because you stop playing VKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKHK FS MAIN PROGRAM ee ee ee K KOK K K K K K K K K K KOK OK KOK KOK K KOK KOK K KOK KOK KOK KOK MAIN GOSUB COMMAND_037 GOSUB CHECK LIGHT GOTO MAIN COMMAND_037 SEROUT 2 16466 37 SERIN 4 16468 10 COMMAND_037 RX 1 RX 2 Get 2 Bytes DEBUG CR DEC RX 1 DEC St CR RETURN CHECK LIGHT IF RX 1 gt RX 2 THEN RIGHT Turn Right IF RX 1 lt RSC THEN LEFT Turn Left RETURN RIGHT LOW L_LED Turns off left LED HIGH R_LED Turns on right LED FOR LOOPCOUNT 1 TO 2 PULSOUT R_SERVO MSTOP speed100 Pulse servo PULSOUT L_SERVO MSTOP speed100 Pulse servo PAUSE 20 NEXT RETURN GOTO MAIN LEFT LOW R_LED Turns off left LED HIGH L_LED Turns on right LED FOR LOOPCOUNT 1 TO 2 PULSOUT R_SERVO MSTOP speed100 Pulse servo PULSOUT L_SERVO MSTOP speed100 Pulse servo PAUSE 20 NEXT RETURN GOTO MAIN 36
12. lll 9 16 10 O20 DLE data link escape 45 30 060 46 0 50 50 120 650 F 1112 70 160 s l1ll2 P 1 ll O21 DCL device control 1 49 31 061 49 1 51 51 121 51 113 71 161 281135 9 l le O22 DCe device control zi 50 32 O62 50 2 DZ 52 lez 02 Fo 1114 72 162 114 E 19 13 Dz3 DCS device control 3 51 33 063 51 3 83 53 123 s lt 3 5 1115 73 163 s s8ll5 3 ZU 14 024 DC4 device control 4 52 34 064 4 52 4 83 54 124 54 T 1116 74 164 lt ll6 L 2l15 025 NAE negative acknowledge 53 35 O65 484535 5 65 55 125 65 U 117 75 165 117 U ae l O26 SYN synchronous idle 54 36 066 547 6 56 56 126 amp 656 V 1118 76 166 28116 V 2o 17 O27 ETB fend of trans block 55 37 O67 amp 55 7 87 57 lz7 e807 WH 119 77 167 119 W 24165 O30 CAN cancel 56 38 070 56 6 66 58 130 56 X 1120 78 170 e leu x Za 19 031 EM fend of medium 57 39 071 57 9 59 59 131 09 Y 121 79 171 s lt lzl 26 l O32 SUB substitute 58 34 O72 50 i 90 Sh 132 90 Z 122 TR 172 8 lee 27 1B 033 ESC escape 59 3B O73 59 91 5B 133 91 123 7B 173 123 z 1C O34 FS file separator 60 3C 074 4 60 lt 92 SC 134 s 92 124 7C 174 s 1le4 29 1D 035 GS group separator 61 3D 075 61 93 5D 135 93 125 7D 175 125 30 1E 036 RS record separator 62 3E O76 amp 862 gt 94 5E 136 94 gt 126 7E 176 amp l 6 31 1F 037 US unit separator 63 3F 077 amp 863 95 SF 137 95 _
13. lt k k lt x x lt x lt x lt COMMAND_ 038 8 bytes of data are then returned from the IRCF L giving 180 degrees of proximity data and light sensor data VERSION ICRF L v2 0 You don t stop you get old b ror Mek ya IR Control Freak UGHT v2 0 playing because you get old ecause you stop playing SEROUT 2 16468 38 Send control code 038 at 9600 baud Get 6 Byte SERIN 4 16468 200 time_out RX 1 RX 2 RX 3 RX 4 RX 5 RX 6 RX 7 RX 8 Display results on Debug Terminal FOR DATA ARRAY 1 TO 8 debug DEC RX DATA_ARRAY debug CR debug m UCR NEXT RETURN TIME OUT If data is not return from the IRCF L within 200ms the routine is timed out debug timed_out Trying again CR GOTO MAIN CHECK_NEXT_MOVE IF RX 3 lt 90 AND RX 4 lt 90 THEN CHECK_LIGHT No threat from Obstacle so Turn towards Light IF RX 3 lt 95 AND RX 4 lt 95 THEN FORWARD_SLOW Move forward very slowly IF RX 4 gt 97 OR RX 3 gt 97 THEN BACK Turn Back IF RX 3 gt 90 AND RX 3 gt RX 4 THEN RIGHT Turn Right IF RX 4 gt 90 AND RX 4 gt RX 3 THEN LEFT Turn Left RETURN CHECK LIGHT This routine moves the bot forward and also adjust the bot in the direction of the brightest light HIGH L_LED Turns on LED HIGH R_LED Turns on LED The next loop controls the speed of the servos A gradual acceleration is obtained By increasing the pulse width FOR LOOPCOUNT 1
14. please read and observe the safety warnings and disclaimer below carefully Young Technicians amp Adult Supervision Even though this kit is suitable for children over 14 years old it is recommended that any soldering testing and use of this module is carried our under adult supervision Risk if Choking The module contains small electronic parts which may break off if it is mishandled dropped thrown chewed The small electronic parts that could fall off may look like sweets to small children so there is a risk of choking 1f the small parts are swallowed PLEASE keep all small parts away from small children especially children under 5 years old Soldering Irons Be very careful with the soldering iron Grab it by the cool end normally made of plastic as the metal end gets hot enough to melt solder and will therefore also severely burn your skin 1f touched Please read and observer the manufactures instructions It is assumed that you have done soldered before If you want to read up about how to solder look at our website htttp www robotmaker co uk ir_cf soldering htm To avoid fire hazard remember to turn the soldering ron OFF after use OS goggles To reduce the risk of eye accidents we strongly suggest you wear safety goggles when soldering or assembling parts to the device Great care should be taken when cutting wire as pieces can shoot off at great speed Solder may also splash during soldering Always use safety gl
15. 33 099 000 O97 DER 094 098 099 000 096 052 O93 09E DRP OOO 096 J69 094 096 O96 DDD O96 O81 093 099 099 000 O97 O46 O94 099 039 ddd 0397 0493 093 035 OFF HHO O97 054 099 099 O95 DDD O96 Dr 033 099 099 000 O96 O87 093 098 O98 096 059 093 O96 699 DDD 097 Ou 094 099 099 O00 Dar O62 0949 099 099 000 O96 Odd 094 099 098 000 O97 O56 O95 099 099 Din O96 O60 O94 099 099 DOD O9F O41 O99 ag 099 000 096 DES O92 098 099 000 097 O27 HE O99 099 DD 096 O54 094099 099 DDD O96 Det 099 098 098 000 O96 O30 O94 O96 dsa ddd The circular LED display will light up in the direction of the nearest obstacle To exit from this mode send a different command code e g 032 Other send sequence buttons can be made in the similar way Try 044 and you get the same in ASCII format explained more below This is a good way to get familiar with the commands 15 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 You don t stop Gage because you get old ecause you stop playing you get old ETRE rk i a e Fal Dep d RER A eo Lesser Crersreairn Dost 5 men Send Sauens Ceanreunicetion EDU HES Deg gins 26 10 03 17 D4 45 13 T4 032 SEH i 26 10 03 17 03 08 16 EA EG Oo 033 038 037 D0 26 10 03 LS D A8 23 T Im O31 OFT 1 3E1003 1 4 49 36 ET 015 doo 100 098 097 II ris Gs 76 40 03 17 04 45 Ee TX 03 36 10 02 17 04 49 61 RE 022 000 100 098 097 DOS 1 0en am 36 10 03 17 04 49
16. 83 TX 022 26 10 03 17 04 49 96 FX 031 000 100 098 096 003 gt JETI eT 36 10 03 17 04 ED 03 TZ 037 K O32 O22 000 100 096 097 003 TH O32 RE O32 g00 i00 O95 O37 Db 3 26 10 03 17 04 50 46 TE 032 a a om 26 10 03 Le D 50 07 HyperTerminal HyperTerminal is another software application that can be used It is most probably already installed on your PC see under Programmes Accessories Communications The HyperTerminal also works very well when sending command code to the Infrared Control Freak To learn more about ASCII format see appendix E ASCII TABLES or htpp www asciitables com The main reason some commands have an ASCII output option is that it is a lot easier to interface to an ASCII terminal emulator and debug the results These commands are also more likely to be used in standalone non robot applications Press Connect to and select COMI or what ever COM port you have connected the IRCF L to Press OK Connect To E x Enter details for the phone number that you want to dial Country regiars Norway FE z Area code Phone number Connect using rea In the COMI property window select 9600 baud 8 data bits no parity one stop bit and flow control as None 16 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 You dent t stop pw because you get old you get old because you stop playing NI Properties Ea ES
17. When the command code 030 is transmitted from the robot controller to the IRCF L module the Infrared Command Mode is triggered This means the module will keep searching for a SIRC Sony infrared remote control signal from a TV remote control unit or other any other robot attached with an IRCF L module 24 IR Gontrol Freak UGHT v2 0 You don t sta playing because you get old you get old because you stop playing If the module receives a signal the IRCF L will decode the Sony Infrared button and devices codes received and transmit these to the robot controller You can use these codes to control the movement of the robot Any reserved buttons as specified in Table 2 above will illuminate the corresponding LED on the circular display For example suppose that you would use the button codes Fast Forward to turn your robot right the robot controller will be programmed to accept 17 18 as a command to turn right Likewise Fast Rewind to turn your robot left and Volume Up to travel forward and Volume Down to go backwards Backwards E ward Right You could of course use any other button to carry out any routine you like for example you could also Just use the number pad for Left Right Forward Reverse Resetting the Command To reset the IRCF L back to the default standby mode just press the Power button on the remote controller 17 21 or send another command such as DEC 032 from the master
18. anyone is welcome to continue developing the tool further The software is not support and is provided just for information purposes The software application is written in Microsoft Visual Basic and incorporates the COMM library from Willies Computer Software Co see below The COMM drivers interface from your PC s Comm Port e g COMM1 to your program At your own risk you can download time limited trail version of the drivers from Willies Computer Software Co Website http www wcscnet com CdrvLBroStandard htm Drivers Download http www wcscnet com ftp demo cdrvl190 exe In case the application has been maliciously tampered with it would be advisable to always check for viruses before executing any downloaded software The IRCF L GUI can be downloaded from www robotmaker co uk IRCF L gui This program is an only a rough example of graphical representation of proximity data being transmitted A lot of work still needs to be done Download and install at your own risk The Software is not supported in any way ke onir Fresk Mera ID ELENG Fri ingpkcagxg Foi hamsemi Date Canta ne KIDHIRHOOEHTEIRE KEISER DEA ee ee ee ee OS 0 85 11 5 8 S720 059 0 KK EG SEL sso SPSS SSO Ed Hi eck lr SPSS TREIE eii Ha n Bl 17 88 BEE 62 IR Gontrol Freak UGHT v2 You don t sta Diayieo because you get old you get old because you stop playing APPENDIX J ASCII TABLES See www asciitab
19. g sunlight or ambient light sources the IR sensors trigger only when a 32khz 40khz modulated IR signal is sent 47 IR Gontrol Freak UGHT v2 0 You don t stop Gage Beata you get old You get old because you stop playing D 26 32u5 gt This means that the sensors will only recognise a or 0 pulse when the infrared source is I sending bursts of Infrared light at a frequency of 32Khz 40Khz If we use the formulae z seconds 1 frequency we see that the pulse width is 31 25 25 0 uS microseconds T Remember that uS is one millionth of a second The sensors used in the IRCF L are PNA4620M ND from Panasonic or similar component which has a centre frequency of 38Khz The sensitivity of these sensors is dependent on the modulated frequency The frequency bandwidths are very narrow A few Khz too low or too high reduces the sensitivity dramatically as depicted m the graph below B P F frequency characteristics PNA46 12M sensitivity oj Relative Carrier frequency kHz The SIRC infrared signal is made up of a 12 bit packet which is split into a 7 byte button code and a 5 byte device code The button code represents the actual button pressed on the remote control There is a 2 4ms start but between each packet which is used to synchronize the sensors 48 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 0 You don t stor
20. or Decimal format for easy robot controller interfacing or for merely plotting data on any ASCII terminal screen Natural Light Sensors Two Cadmium Sulphide CdS photocells are added to the IR Control Freak LIGHT version for additional sensing functionality Your robot will therefore now be able to detect the direction of the brightest light source enabling your robot to head towards light or hide In the shadows Your robot can follow a light sources such as a torch or you can get your robots to race through a maze with a light source as a direction beacon Infrared Remote Control Infrared Receiver Using a standard Sony TV Video remote controller you can take full control of your robot and make it do what ever you like R Control Freak decodes Infrared commands and converts them into serial data for easy remote control of your robots Infrared Remote Control Infrared Transmitter The module transmits any Sony S I R C Infrared device and button code Transmitting and receiving encoded SIRC Sony IR signals enables inter robot communication and identification This feature can be used for robot gaming e g robot tag strategic war games or for simulation such as Biomimetic approaches amp insect navigation Infrared Beacon A simple IR beacon functionality is implemented to assist navigation The controller identifies the direction of IR coded signals within 180 degrees This is used to identify the directio
21. plug amp play functionality is specially designed for use within mult autonomous robotic projects such as robot gaming robot competitions artificial life simulations robot swarms and flocking simulation and other research and simulation applications 1 5 IRCF L interfaces easily to any microcontroller IRCF L can easily be interfaced to almost any robot Microcontroller Examples are the Basic Stamp from Parallax inc MEGAbitty PIC from Microchip OOPic PICAXE Tiny Pod Basic X24 Handy Board Cricket from Gleason Research or other robot Microcontroller etc The interface uses just two I O pins and a common ground connection IRCF L module is equipped with its own 5v power supply enabling it to run directly from a 9v PP3 type battery For more background on the topic what is an Microcontroller have a look at appendix B and the website http msinet casa siu edu wam 1 6 User Support It is important for us that you have many hours of enjoyment using the IRCF L module If you have some questions then just add your comments and details of your project on the forum www robotmaker co uk phpbb or send a question to support robotmaker co uk We will try to respond within 48 hours of your question Please also add any details of your project as your contributions are greatly appreciated by other robot enthusiasts Please also regularly check our website www robotmaker co uk for the latest versions of this user manual and for latest up
22. servo L SERVO CON 13 Pin for left servo Servo Control MStop CON 750 Motor Stop Speed100 CON 125 Full Speed Speed075 CON 50 3 4 speed Speed050 CON 40 1 2 speed LEDS on Growbot are on pin 15 and pin 11 Change this to suit LEDS on Boebot or other model L_ LED CON 15 Pin for the left LED R_LED CON 11 Pin for the right LED 1 lt lt k x lt k x lt lt k lt lt k lt lt lt lt lt x x x k lt lt lt k lt lt k lt lt lt k lt lt k lt lt x x lt x x x lt lt e RESET VARIABLES 1 lt lt lt x lt k x lt lt k lt lt k lt lt lt lt lt lt lt lt k lt lt lt lt lt lt k lt lt lt k lt lt k lt lt x x lt x x x x lt BACK_COUNT 0 1 lt lt k lt lt k k lt lt k lt lt k lt lt lt lt lt k k lt k k lt lt k k lt k k lt lt k lt lt k lt lt k lt lt lt k lt x lt FS MAIN PROGRAM lt 1 lt lt KK EE lt lt X X X K K K K KOK K K KK KE K KOK OK K K OKOK K K K K MAIN RESET VARIABLES FOR DATA_ARRAY 1 TO 8 RX DATA_ARRAY 0 NEXT GOSUB COMMAND_038 GOSUB CHECK_NEXT_MOVE GOSUB CRICKET DISTANCE GOTO MAIN 1 lt x lt lt x lt k x lt lt k lt lt k lt lt lt lt lt x x x k lt lt lt lt lt lt k lt lt lt k lt lt k lt lt lt x lt x x x x lt TS SUBROUTINES x VKKKKKKKKKKKKKKKKKKKKKKKKKKK KKK lt lt k k x x x
23. student who is primarily interested in learning to program in Java C Basic etc can skip the electronics theory and just buy pre assembled robot controller with sensors The same goes for mechanical students who may only feel comfortable with the mechanical assembly The biological research student interested in simulating artificial life can skip a lot of technical background go straight into high level programming and focus on simulation There are many pre built robot kits to help you get up and running very quickly If you are new to robotic building then we recommend that you start by buying a simple two wheeled robot kit with the Infrared Control Freak Light to familiarise yourself with all the basic concepts and get to grips with some of the technical terms used ROBOTmaker manufacture a range of simple and advanced robot chassis s and stock may other types from various suppliers Have a look at our website where you ll find many places to buy robot kits and even how to build one from spare parts that you may already have at home 44 EE IR Gontrol Freak UGHT v2 0 You don t sto playing because you get old you get old because you stop playing Most of the simple autonomous robots have a single chip microcontroller board and two wheels powered by modified servos These kits cost from about 50 to 200 For more advanced robotics there are many walking biped robots with two feet The IRCF L c
24. students or hobbyist You can use robots as a simulation and research tool in many study areas see some examples on our website http www robotmaker co uk Index_research_development htm of how robots are being used in Universities and research institutes as multidisciplinary modelling simulation and learning tool in Biological Math Engineering and Technology See also the paper Robots in Engineering from Southern Illinois University Edwardsville 45 IR Gontrol Freak UGHT v2 You don t sta Gagn because you wet old you get old because you stop playing APPENDIX C Calibration of the Infrared Control Freak As the infrared emitters and sensors can easily be moved out of position it Is recommended to calibrate the IRCF L before initial use and after a period of continuous use This is easily done by carefully bending the IR emitters and IR sensors to the correct positions The calibration is carried out when the unit is connected to a PC or robot controller using the continuous command 044 The Circular LED display will then indicate the direction of the nearest obstacle Start by placing the controller on a large black surface e g card or paper about 1 5cm off the ground or ideally at the exact height the module will normally be installed at Make sure there are not obstacles within 60cm range then start sending the command 044 The circular display should now just show the default rotation display Place a whit
25. style LED display points in the direction of the nearest obstacle within a 180 degree arc during the Infrared Proximity Detection IRPD routine The green centre LED will illuminates when an object is about 100mm 4 from the device KEE IR Gontrol Freak UGHT v2 0 You don t stop playing because you get old you get old because you stop playing Centre LED indicates Red LED close Indic ates proximity of direction of I nearest object object J Directional information of localised obstacles offers instant decision making during obstacle avoidance maze running and robot gaming For example objects that are not directly ahead are ignored or using your own fuzzy logic routines you can track an object and determine whether it is getting closer or further away 2 6 Visual Feedback based on Mode of operations The circular display is also useful for providing visual feedback on the state of the program being executed Each command will display a different display pattern so you can quickly debug your program by seeing the current routine being executed Details of the display patterns for each command are provided in the command overview section 2 7 Fuzzy Logic The pre programmed Fuzzy Logic proximity detection algorithms enable instant object avoidance decision This frees up a lot of processing power that your main robot controller would normally need to do If you don t want to use the pre programme
26. t sta Gagn because you wet old you get old because you stop playing 6 10 Command Code 052 Beacon Transmission Mode Syntax 052 lt button Code gt lt device Code gt decimal format Operands lt button Code gt lt device Code gt Response from IR_CF A letter X will flash on the circular display every 2 seconds when the IR pulse is transmitted Objective This command transmits a REPEATED Sony SIRC Infrared transmission command from both Infrared LED s This commands works similar to command 020 but automatically re transmits the IR device and button code every 2 seconds This command is intended to be used together with one or multiple IRCF IRCF L beacons each sending different ID codes to a robot The robots can then head for the correct beacon It is also quite useful for debugging infrared devices with the IRCF L attached to a PC The IRCF L can be disconnected from the serial connection after being primed with a device code and a button code It will then continue to keep transmitting the initial command every 2 seconds Any SIRC Device code Button code can be transmitted Transmitting another command codes to the IRCF L will reset the module 41 IR Gontrol Freak UGHT v2 You don t sto playing because you get old you get old because you stop playing APPENDIX A SAFETY DISCLAIMER LICENCE A We would like you to have fun with your Infrared Control Freak robot project so
27. table below the corresponding red LED will also illuminate See table below Reserved Button Codes Purpose of Circular Display Sony Remote control Command Button Button name Device code Exit routine Exit Command Mode Power On Off Turn Left Left LED West Fast Rewind Turn Right Right LED East Fast Forward Forward North LED Volume Up Reverse South LED Volume Down Stop Centre LED Stop ZAP Arrow North flashes Channel 0 The actual device codes and button codes may vary depending on the manufacturer of the remote control unit Table 2 Overview This command receives Sony SIRC IR signal The IRCF L module decodes the infrared signals as two bytes button code and device code in decimal format The IR signal is detected by the central sensor only to facilitate more directional control in robot gaming See also the Beacon Command mode for additional functionality This command can be used for many control projects One use of this command code is for where two or more robots need to communicate with each other in a robot tag game See TAG ZAP mode in 020_command example above Infrared Remote Control of your robot This command can also be used to control the robot via a standard multifunction TV VCR DVD CD remote control unit These controllers would also normally have the SIRC protocol e g Sony AUX device When configured you can use the remote controller to manually take over control of your robot
28. to the bot which would be NiE IF RX 1 gt 95 OR RX 5 gt 95 THEN skip3 if there are items left and right of the robot then don t turn IF RX 1 gt RX 5 THEN TURN_AROUND_R RHIT_R gt LHITS_L IF RX 5 gt RX 1 THEN TURN _AROUND_L LHITS_L gt RHITS_R GOTO MAIN SKIP3 BACK_COUNT 0 RETURN TURN_AROUND_L FOR LOOPCOUNT 1 TO 200 GOSUB LEFT NEXT BACK_COUNT 0 GOTO MAIN TURN_AROUND_R LOW L_LED Turns off LED HIGH R_LED Turns on LED FOR LOOPCOUNT 1 TO 200 PULSOUT L_SERVO MSTOP speed100 Pulse servo PULSOUT R_SERVO MSTOP speed100 Pulse servo NEXT BACK_COUNT 0 GOTO MAIN CRICKET DISTANCE some interesting sounds FOR LOOPCOUNT 18 TO 12 FREQOUT 8 LOOPCOUNT RX 3 rx 4 2000 toggle spk NEXT RETURN This next routine will move the growbot boebot backwards if the left and right sensors detect obstacles on both sides To avoid the robot being beginning locked in an endless back and forward loop the number of times the robot needed to move backwards is recorded If this routine is executed more than 5 times the robot will just turn around and head in a different direction BACK HIGH L LED Turns on LED HIGH R_LED Turns on LED FOR loopcount 1 TO 5 PULSOUT R_SERVO MSTOP speed100 Pulse servo PULSOUT L_SERVO MSTOP speed1 00 Pulse servo PAUSE 20 NEXT BACK_COUNT BACK_COUNT 1 IF BACK_COUNT gt 5 THEN TURN_AROUND RETURN 40 IR Gontrol Freak UGHT v2 You don
29. we have several rules that say what to do in certain situations Consider for example that an obstacle in relation to the RCF L is dead head also defined as example A in diagram above The angle is zero Both Al and A2 give equal readings on the MHITS_L and MHITS_R Obviously if this were fitted to a robot this is the un desired situation and therefore the robot would need to stop or turn around to avoid hitting the obstacle Let s consider another case where the obstacle is towards the Left In this case the robot may need to avoid the obstacle by turning slightly to the right Alternatively if the rate of change in reading were measured dy dt then it could be confirmed whether the obstacle was moving towards the sensor or not or just passing by 54 EF IR Gontrol Freak UGHT e You don t sto playing because you i old you get old because you stop playing t Measurement The relative distance to an object decreases as the robot moves past an obstacle distance c gt b By tracking the direction itis possible to determine whether the objectis moving or stationary and whether itis a threat or not ae ain OFI Agd xz Blow D Ai ee 45 Bi i 4 So far two rules have been made up that can be put Into a more formalized form like this If angle is zero and MHITS_L AND MHITS_R gt 90 then speed NEG HIGH on left motor and NEG HIGH one right motor If angle is 45 degre
30. you get old you get old because you stop playing APPENDIX B INTRODUCTION TO AUTOMONOMOUS ROBOTICS What is an autonomous robot An autonomous robot is simply an object that can move freely around on its own with some degree of self sufficiency by reading sensors following some programmed rules and learning from mistakes without any human intervention The excitement and fun with robotics is really in the building and programming of the robot to cope with any new challenge it faces whether just it s just roaming around your office or bedroom or coping with a more sophisticated challenge such as In a game of robot tag or robot football and collaborating with other robots There are many good websites with details about robots and robotics Start by looking at http robots open ac uk minicourse and http www realrobots co uk Reading uni html To get some ideas about robots in the future have a look at the videos of trobot at http www cirg reading ac uk common news i_robot making robot 1 high wmv Pm a total beginner in Robotics Where should l start You don t actually need much experience to get started with autonomous robotics Robots can be bought as kits that can grow to suit your level of experience It s very important that you are not put off by all the jargon and buzzwords and ensure your that you start at the right level You can pick and choose the areas that interest you most For example the software
31. 0 31 36 39 47 IR Gontrol freak UGHT 2 0 Colour Colour Brightness Brightness Balance Left Balance Right Standby 50 IR Gontrol Freak UGHT v2 You dot t sta playing B because you get old you get old because you stop playing APPENDIX E A BRIEF OVERVIEW OF FUZZY LOGIC I don t intend to explain the theory of Fuzzy logic here As you ll see below there are already many websites and books on the subject of fuzzy logic fuzzy control or fuzzy set theory I merely would like to show the potential of creating your own fuzzy logic rule sets using the Infrared Control freak Light Fuzzy Logic was initiated in 1965 by Lotfi A Zadeh professor for computer science at the University of California in Berkeley as a means to model the uncertainty of natural language Zadeh says that rather than regarding fuzzy theory as a single theory we should regard the process of fuzzification as a methodology to generalize ANY specific theory from a crisp discrete to a continuous fuzzy form see extension principle in 2 Thus recently researchers have also introduced fuzzy calculus fuzzy differential equations and so on Fuzzy Logic can be described basically as a multi valued logic that allows intermediate values to be defined between conventional evaluations like yes no true false black white etc Notions like rather warm or pretty cold can be formulated mathematically and processed by co
32. 127 7F 177 127 DEL Source WWW ascitable com i L d E 160 16 109 LO B 2 99 145 1 on ag om e np E iz gt JD Je J2 17 SSS 195 b 211 IL aa SIE e 131 L i o l 179 J 212 L BE ch 244 J2 a Je l64 IS d 197 213 F 229 o 245 O 1393 A 14 165 H 188 4 8 F 34 r 20 p M i34 i530 o jee in f Wa PA TA Vie et lB L n g J laf KC 200 E Jg 232 O AS l 152 168 3 184 a 201 F 217 J 2333 249 i37 153 GO io 185 4 202 Ak 213 p 334 G 250 32 is 17 a 18 203 219 E 235 8 amp 8 23 d 139 i 366 Il 187 a 24 Rk 220 m 236 wo 252 140 i bo Ve J2 1 4 LS d 205 aal 23 d Jas 2 li i a Y Tan i on d 26 AE om jJ 2 4 24 E 142 OA l ff LIA o 190 d 207 223 E 23 255 if A 192 E J5 gt l j 208 JL ae o 24 Source WwWW ascitable com 63
33. GROUND 60 IR Gontrol Freak UGHT v2 0 You don t sto Gageck because you eet old you get old because you stop playing APPENDIX J Modifications for increased range The IRCF L has been designed to provide optimum sensor distance for most robot projects However in a few circumstances an increased sensing range may be required We recommend that you purchase the Infrared Control Freak POWER range of infrared sensors that are designed with longer range sensing functionality production versions will be available from begin 2005 For students with some electronics understanding and who have done soldering before it 1s possible to achieve an increased range by modifying the IRCF L to achieve an extend range of about 1 meter lyard We have observed that due to background noise 1 e infrared reflections from walls ceiling and the ground the IRCF L module becomes somewhat over sensitive and may not give reliable IRPD information with this modification The noise effect is greatly dependent on how the IRPD module is mounted on the robot Higher mounting reduces ground effect noise Noise is also reduced by using dark backgrounds e g black ground and walls The range can be modified by inserting additional Infrared LED s and by experimenting with different US AREI voltage limiting resistor values Currently 470 ohm resistors are used to give the optimal distance To obtain maximum distance sensing replac
34. IR Control freak UGHT v2 0 e You don t r playinq because you get old you get old because you stop playing 4 Testing the connection to the PC using communication software There are many freeware shareware and commercial software programs to test the serial connection with the Infrared Control Freak Light and with the robot controller One program that can be recommended is the software from Docklight See http www docklight de Evaluation copies of the software with limited functionality can be downloaded from their website for free The demo version works fine for limited testing of the Infrared Control Freak You will need to set up the communication speed by going into the Tools Project setting option lt gt Docklight V1 3 Eval Fie Edit Rum MEWS Help D J d Stark Communication Lagging e Comme OD CLO eI L IL Start Snapshot Mode R EE OMmmUnication Send Sequences Geng Aer HEX Decimali Bi Keyboard Console On Bee ire reasoner Fin E uaa Ao Project Settings Options Then set the communication speed as follows i Pro ject Settings r Communication Mode 1 2 E Monitoring e Send Receive Bee receive only Send Receve on 1 COM port COM Port Settings Baud Rate S00 Data Bits g Farity ore Stop Bits i DN Parity Error este gt Character eeu j OF Cancel Help On the flow control tab set flo
35. IR Gontrol Freak UGHT v2 0 EE IR Gontrol Freak UGHT v2 0 You don t stop playing because you get oldi you get old because you stop playing 6 9 Command Code 038 Light Sensor Mode IRPD Mode Syntax 038 decimal format Response from IRCF L 8 bytes of data RIGHT IR SENSORS MIDDLE IR SENSOR LEFT IR SENSOR BYTE BYTE2 BYTES BYTES RHITS_R RHITS_L MHITS_R MHITS_L LHITS_L LHITS_R Pulses detected by Pulses detected by Pulses detected by Pulses detected by Pulses detected by Pulses detected by the right IR sensor that are transmitted from the RIGHT IR emitter the right IR sensor that are transmitted from the LEFT IR emitter The object will need to be very close for readings to the middle IR sensor that are transmitted from the RIGHT emitter the middle IR sensor that are transmitted from the LEFT IR emitter the LEFT IR sensor that are transmitted from the LEFT IR emitter the LEFT IR sensor that are transmitted from the RIGHT IR emitter The object will need to be very be made close for readings to be made RIGHT LIGHT LEFT LIGHT SENSOR SENSOR BYTET YTES Right Sensor Light Left Sensor Level Light Level The Circular display will flash once in the direction of the nearest obstacle and once in the direction of the nearest light source for each command sent Objective This command is a combination of the light sensor command 037 and Infrared Proximity detection IRPD
36. TO 100 STEP 10 PULSOUT R_SERVO MSTOP speed050 loopcount Pulse servo PULSOUT LL SERVO MSTOP speed050 loopcount Pulse servo PAUSE 20 A long pause of 20ms produces a smoother forward movement NEXT IF RX 7 gt RX 8 THEN RIGHT_LIGHT Turn Right towards light IF RX 8 gt RX 7 THEN LEFT_LIGHT Turn Left towards light GOTO MAIN RIGHT_LIGHT FOR LOOPCOUNT 1 TO 5 GOSUB RIGHT NEXT RETURN LEFT_LIGHT FOR LOOPCOUNT 1 TO 5 GOSUB LEFT NEXT RETURN FORWARD_ SLOW IF RX 3 gt 98 OR RX 4 gt 98 THEN BACK FOR LOOPCOUNT 1 TO 2 PULSOUT R_SERVO MSTOP speed050 Pulse servo PULSOUT L_SERVO MSTOP speed050 Pulse servo GOSUB CRICKET PAUSE 20 NEXT GOTO MAIN RIGHT LOW L_LED Turns off LED HIGH R_LED Turns on LED PULSOUT L_SERVO MSTOP speed100 Pulse servo PULSOUT R_SERVO MSTOP speed100 Pulse servo RETURN GOTO MAIN LEFT LOW R_LED Turns off LED HIGH L_LED Turns on LED PULSOUT L_SERVO MSTOP speed100 Pulse servo PULSOUT R_SERVO MSTOP speed100 Pulse serv 39 VERSION ICRF L v2 0 IR Control Freak UGHT v2 0 You don t r Saqi B because you get old you get old because you stop playing RETURN GOTO MAIN TURN_AROUND When the bot is trapped in a corner the best solutions is to turn the bot 180 degrees around AND head in a different direction This routine determines which direction to turn the bot It will also cancel the turn around if there are obstacle close
37. TY DISCLAIMER LICENCE 42 APPENDIX B INTRODUCTION TO AUTOMONOMOUS ROBOTICS7 44 W hatisamautonomous e GE 44 I m a total beginner in Robotics Where should I start 44 W Waters Ee ee EE 45 Is the Infrared Control Freak Light also suitable for beemnnerg uy l u SD Q S Siwa Susu kaa 45 APPENDIX C Calibration of the Infrared Control Freak 46 APPENDIX D Principles of Infrared Remote Control 47 APPENDIX E A BRIEF OVERVIEW OF FUZZY LOGIC 51 Coming soonjJAPPENDIX F CIRCUIT DIAGRAM 57 APPENDIX F CIRCUIFDIA GRAM i uuu ny ana oe et h T 57 APPENDIX G PCD AY OUD EE 58 APPENDIX H FAULT DIAGNOS FICS EE 59 APPENDIX T Connector OvVepyi Wu s a EER 60 APPENDIX J Modifications for increased range 6l IR Gontrol Freak UGHT v2 0 LOF You don t stop playing because you get oldi you get old because you stop playing 1 INTRODUCTION hank you for purchasing the Infrared Control Freak Light V2 0 IRCF L for your autonomous robotics project
38. acon by using command 036 Beacon Mode Infrared Interference Take care when working in confined spaces with white backgrounds as the sensors will also pick up Infrared reflections The actual direction may therefore be 180 degrees from the indicated direction The robot controller should therefore run some check routines to verify these readings Reflected IR signal as Remote Control wall 33 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 0 POI You don t sto playing because you get old In Biomimetics simulation experiments the IR transmitter could represent different food type using the device and button codes as type of smell wei pm re T a y Robot turns in the direction Es of IR beacon 34 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 You don t stop Gage because you eet old you get old because you stop playing 6 8 Command Code 037 Light Sensor mode Syntax 037 decimal format Response from IRCF L 2 bytes of data Right Sensor Left Sensor Light Level Light Level Objective This command measures the left and right sensor light levels and returns the light level value as two bytes of data in decimal format The circular display also indicates the approx direction of the brightest light source With this command the robot can determine the direction of the brightest light source and head towards the bri
39. an easily connect to these robot controllers using a serial interface to provide a complete solution With the help of this manual and the examples on our website you will be guided though various interesting experiments to help you understand the concepts of robotics and infrared proximity sensing getting your robot to avoid hitting objects We also cover some basic concepts of fuzzy logic and infrared remote control control your robot from a TV controller What is a Robot Sensor Similar to the senses of human beings animals and insect it s just as important for a robot to be able to sense its environment in order to survive The robot will need to avoid hitting obstacles in a room or avoid falling down stairs It may need to move towards light or hide in dark places In an environment of multiple robots competitions it will definitely need to communicate with other robots to recognise that is friend or foe Is the Infrared Control Freak Light also suitable for beginners Yes The Infrared Control Freak Light has been designed to get you up and running with an autonomous robot project very quickly It is suitable for all user groups from novices to experienced robot makers whether you are planning to build your 1 robot project or are designing a fuzzy logic sensor algorithms for your university Phd thesis The IRCF L is very easy to use with extremely powerful features Robotics is not just limited to the technology
40. asses before you start soldering or working on the module A Infrared light is not the same as Laser however it is advisable not to look directly into the Infrared LED s when the unit is activated Infrared light is not visible to the naked eye so the eyes won t be able to react to intense IR light in the same way as natural light Use a video camera with night vision function if you need to test the IR LED s are working correctly Antistatic The Microprocessor on the IRCF L module can be easily damaged if you touch it without being grounded To avoid static damage to the Microprocessor you should ensure that you have connected an antistatic cable and have all components placed on an antistatic mat Correct Power Connection When connecting power to the unit observe the maximum power limits correct polarity and pin connections Failure to connect correctly will destroy the Infrared Control Freak module 42 You d op t stop playing because you get old IR Control Freak UGHT v2 0 you get old because you stop playing DISCLAIMER amp LICENCE To start with please read the safety instructions above before doing anything Please be careful and keep the IRCF L module away from children and pets The small electronic parts may break off if it is dropped thrown chewed etc If you are a child make sure your parents know what you re doing The infrared Control Freak is intended for hobby amp educationa
41. command code transmitted 032 or 044 respectively The data stream returned from the IRCF L would look something like the following example Example Command transmitted by the robot controller SEROUT 2 16468 32 Basic stamp code Data Returned back from IRCF L to the robot controller 50 2 25 1 0 0 What does this actually mean It mean that the right sensor is receiving 50 hits from the right LED and 2 hits from the left IR LED In addition the middle sensor is receiving 25 hits from the right LED and from the left IR LED No IR reflected hits are picked up by the left sensor This means that the obstacle is about 100mm away situated on right at about 60 degrees Proximity information will be between the range 0 100 where 0 indicates no obstacle detected and 100 indicates that the object is lt 50mm 2 away from the sensor The 6 Bytes contain proximity information related to sensors that detected proximity Similar to the concept of stereovision by decoding data between the sensors it is possible to estimate the approximate position of the sensor RIGHT SENSORS MIDDLE SENSOR LEFT SENSOR RHITS_R RHITS_L MHITS_R MHITS_L LHITS_L LHITS_R Pulses received Pulses received Pulses received Pulses received Pulses received Pulses received by the right IR by the right IR by the middle by the middle by the LEFT IR by the middle sensor and sensor and IR sensor and IR sensor and sensor and IR senor and transmi
42. controller Example Subroutines Example code for Basic Stamp from Parallax Sending the command to IRCF L SONY IR COMMAND CODE Send control code 030 at 9600 baud Prom pim 2 could have been any pin Pot Sud dec 52 SHROUT 2z ere 0350 RETURN The above example is a Basic Stamp program code where the format is SEROUTI pin number on Basic Stamp baud rate decimal character to send Receiving decoded data from IRCF L 25 IR Gontrol Freak UGHT v2 0 You don t stop playing because you get old you get old because you stop playing CHECK IR CODE Get 2 Bytes of data OBERIN 4 164638 5000 TIME OUT DEVICE CODE BUTTON CODE Show results on debug screen DEBUG DEV dec DEVICE CODE T BUI cec BUTTON CODE DEBUG CR get robot to move L R F B depending on what button was pressed If BUTTON_CODE 18 then IR_FORWARD Ti BUTION CODE 19 then TF PACA If BUITON CODE D9 then IR RIGHT IPF BUTTON CODE 50 them IR LEFT IF BUTTON CODE D THEN IR STOP GOTO CHECK_IR_CODE keep looping forever 2 bytes of data are returned containing the button code and device code respectively in decimal format Example using Docklight program In the example below a DEC 030 was sent to the IRCF L TX This activated the Sony IR receiver mode in decimal format and the central green LED on the circular display will illuminate to indicate that the command is activated When pressing the fa
43. could send details to a central PC indicating which robot is IT e g in a game of tag and which robots have been ZAPPED Control of Sony SIRC Devices This command code could also be used for controlling a Sony SIRC device e g Video Recorder Television DVD CD etc As a party trick you could get your robot to navigate to your to H Fi and turn the music down when it gets too loud Example Subroutine IR_TX_MODE Setup button code and device code by placing values into an array PUTTON COCE HE BUTTON CODE DEVICE CODE 2025 DEVICE CODE Send the Button Code amp Device code as string DEROU 2y bo4oe 120 BUTTON CODE DEVICE CODE RETURN spj IR Gontrol Freak UGHT v2 0 You don t stop playing because you get old you get old because you stop playing 6 3 Command Code 030 amp 040 Sony Infrared Receiver Mode Syntax 030 decimal format Response from IRCF L Button code Device Code The response will be in decimal format if 030_command code is used or in ASCII format if the 040_ command code is used The green LED on the Circular display will illuminate to indicate the Sony IR mode as been triggered and the IRCF L is searching for Sony IR messages The module will remain in this mode until the robot controller sends an alternative command or if the power on infrared signal 17 21 is transmitted If the IR transmission corresponds to one of the reserved button codes detailed in the
44. ctions per second 2 2 Microprocessor Firmware Firmware can be compared to the basic instincts and subconscious routines that are pre programmed in the brain at birth ROBOT maker have pre loaded a programme into the IRCF L s microcontroller brain which manages all the communications to your robot microprocessor and executes all the selected command routines This program is called firmware as it is permanently written to the chips internal flash memory It will not disappear when the power supply is removed The microprocessor s memory can only be deleted or overwritten by using a special PIC programmer If you are a registered user and have a PIC programmer then it is possible to use the provided In Circuit Programming connection to upload new versions of the firmware or any specially developed variants of the firmware Alternatively ROBOTmaker can load new versions of the firmware for you by returning your microprocessor 2 3 Non contact proximity detection and distance measurements The IRCF L offers non contact distance measurements from about 2cm 1 to about 30cms 1ft by sending short bursts of Infrared pulses from the left and right Infrared LEDs The number of reflected hits detected by each IR sensors is decoded and the approximate direction and distance of an obstacle is calculated For most Infrared Proximity Detection IRPD applications an optimal range of 30cms has been select
45. d Sensor LHITS_R IR Pulses from th right LED are detected by the Left Sensor w eh ko e aay s kai Mi em re Sai D d S Ze E E f Lk EA Ai LR Zei d a re d Va wn fe S qh Deere 8 Te TER I H amp a a ae at s from the right RHITS_R IR Pulses LED are detected by the Right Sensor In the example above the values of RHITS_R MHITS_R LHITS_R will increase inversely proportional to the distance of the obstacle 1 e the closer the object the higher the value It is best to calibrate the IRCF L by adjusting the Infrared LEDs in out and up down to get the best results for your application The main robot controller will decode data received from the IRCF L and decide how to avoid the obstacle s The decision can be a Fuzzy logic algorithm based on which sensor is picking proximity data 28 You don t sta playinq because you get old you get old because you stop playing Example Basic Stamp code GET IR CF DATA PACKET t Send control code 32 a 29600 Daud SEROUL 2 6466 T 1 Receive data stream form control freak Put o Bytes OF data into an array FOR DATA_ARRAY 1 to 6 SERIN 4 16468 100 time_out RX DATA_ARRAY Get 1 Byte NEXT Display the 6 bytes of data on the debug screen FOR DATA_ARRAY 1 to 6 Display the 6 bytes of data Debug DEC RX DATA_ARRAY E COR Note it is necessary t
46. d logic you can also experiment and design your own Fuzzy Logic algorithms based on the six bytes of raw proximity detection data By interpreting the data from each of the sensors over a period of time it is possible to determine whether an object is moving towards away from the robot Further details of how to create your own Fuzzy Logic routines are detailed on Appendix C Overview of Fuzzy Logic 2 8 Infrared Remote Control For remote control of robots and electronic projects using a standard TV remote control the IRCF L is equipped with an onboard Infrared remote controlled receiver and transmitter The protocol used with IRCF L is the Sony format known as Sony SIRC Protocol See Appendix B Overview of Principal of Infrared Remote Control for more details of the various device and button commands available to be used 2 9 Inter Robot communications By using simple coded IR messages it is possible to transmit signals to other robots For example it is possible to determine whether an opponent robot is a friend or foe You could also configure a unique ID for each robot and robot team allowing your robot to communicate between team members and sending a og or zap code to the other opponent team For example ten zaps of device code button code 10 10 to the centre sensor could mean your it e g in a game of tag or your dead e g in robot battle game 8 IR Gontrol Freak UGHT v2 You d
47. de and button code will be displayed on the main HyperTerminal window 5 ET Ce Edt Wew Cal Trereter Help Gil lS le IR Gontrol Freak UGHT v2 0 You don t sto playing because you get old you get old because you stop playing 5 Power up tests The IRCF L module is programmed with a power up routine Connect the module to a 5v regulated supply or a 9v supply as described in section 3 1 0 amp 3 3 Within a few seconds of connecting the power supply the red LEDs should light up one after the other in a clockwise direction and then in an anticlockwise direction The module will then search for a command on the serial port If no command is being transmitted the module will continue this routine until a command signal is detected 18 IR Gontrol Freak UGHT v2 You don t sta playing because you get old you get old because you stop playing 6 Programmable command codes The IRCF L is designed for many types of robot or electronic projects This flexibility has been achieved by defining pre programming routines that are activated by a single command code The following command codes are available and explained in full detail within this next section CMD Mode Name Description Lode Infrared Transmits a Sony SIRC Infrared command from both IR LED s Any Device Transmission Button code can be transmitted ZAP TAG Mode Decimal output 030 Sony IR Decimal Receive Sony SIRC IR Command
48. dix C on details of how best to calibrate the module VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 0 You don t sto Game P Nn you get old you get old because you stop playing 3 Serial interface cable connection A two pin I O serial connection including a common ground is required to connect the IR Control Freak module to almost any microcontroller Pin Header Ka kW Wy Ss 15 LA14951 fe ser d bes e r A Gente vom y 8 e NR DA GE ax Cu N gt GD Sy Cid i 7 eS Pin i Pin 4 Serial TX GND2 GND 1 i Pin5 Pin 3 a No SSES ES Connection Connector pins 1 2 are for the 9v power supply connection It is important to pay attention to the polarity of the power supply otherwise the IRCF L microcontroller will be destroyed To prevent connecting the connector the wrong way just place a peg in Pin 3 Pin inside Foos hesir Pins 3 5 are for the sertal Interface connection Pins 7 10 are provided for in circuit programming and are only required to load new versions of the firmware into the IRCF L Microcontroller A special PIC programmer ts required for this If you don t have a programmer just remove the chip from the socket take care not to bend any pins when taking this out of the socket and return it to ROBOTmaker We will re load it with the latest software version More details on how to download the latest Firmware and references to in circuit programmin
49. e obstacle directly in front about matchbox size and slowly bring this forward until the North LED is illuminated but not the green centre LED If necessary adjust the left and right R Emitters so the North LED illuminates when the object is central Bring the object closer and the green centre LED should illuminate Carryout the same exercise with the light sensors 46 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 You don t sep playing because you get old you get old because you stop playing APPENDIX D Principles of Infrared Remote Control Infrared is an invisible light to the naked eye with a wavelength of approximately 950nm Infrared light however can be detected with one of the modern digital cameras that have night vision functionality Spectral sensitivity characteristics II E ATTA e ef wf Le L En Aa m LUUT HUTIN 0 600 700 800 F00 1000 1100 1200 Wavelength A inm The SIRC protocol uses a pulse width encoding of the bits This means that long and short pulses of infrared light are transmitted to create the digital signal The code is similar to the principals of Morse code using long and short sound pulses A long pulse of 1 2ms is represented a digital 1 and a short pulse of 0 6ms is represented as a logic 0 There is a 0 6ms pause between each pulse 0 6ms Gre Sms Le TTT TJ To gain some immunity from natural Infrared light e
50. e small programmable module Infrared Proximity Detection Three Infrared proximity sensors enable 180 degrees of proximity detection The module acts similar to a range finder providing the approximate directional and distance of an object from about 2cm 1 to about 30cms 1ft 180 degrees proximity detection is useful for robot control through narrow passages acting similar to an electronic whisker The module senses the direction of obstacles in a similar way a bat finds its way around in the dark The main difference is that the oO IR Gontrol Freak UGHT v2 You dot t sta playing B because you get old you get old because you stop playing IRCF L measures infrared light pulses rather than ultrasonic sound pulses The accuracy depends on the colour of the obstacle e white reflect almost 100 of IR light while black material absorbs most of the IR light A compass style LED display points in the direction of the nearest obstacle A green centre LED illuminates when an object is about 100mm 4 away from the robot Pre programmed Fuzzy Logic proximity detection algorithms enable instant object avoidance decision making freeing up your main robot processor A programmable option also allows you to build your own Fuzzy Logic rule structure and rule matrix error error dot from 6 bytes of proximity detection data The directional and distance data is transmitted via a 3 wire serial connection in ASCII
51. e the 470 ohm resistors R2 and R3 with 150 ohm resistors or insert 220 ohm resistor in parallel with the existing 470 ohm resistor If you are using two sets of infrared LED s then replace R2 amp R3 with 100 ohm resistors or 127 ohm resistor in parallel with the existing 470 Ohm resistors See http www electronics2000 co uk calc calcled htm for more details of LED limiting resistor calculations Care should be taken NOT to increase the forward current to more than 20mA otherwise the Microcontroller will fry Any modifications are done at your own risk 61 IR Gontrol Freak UGHT v2 0 You don t sto playing because you get old you get old because you stop playing APPENDIX K GRAPHICAL REPRESENTATION OF INFRARED PROXIMITY DATA It is possible to graphically interpret the infrared data Building your own program you can download a simple version of Microsoft Visual Studio from the Microsoft WebPages You should covert your own fuzzy logic routines into a graphically representations Depict an obstacle based on the data that is collected You will probably need to filter and smooth out the data to avoid to erratic changes To get you going an example visual basic program and source code is available The IR Control Freak GUI was a tool for testing and providing graphical representation of proximity data transmitted from the IR control freak module The program is still in an early development phase so
52. ed to suit most desktop style robot projects Only objects this range and heading towards the IRCF L are of immediate interest to the robot Object further away or passing by can normally be ignored For larger size robot applications where a longer range is required see the Infrared Control Freak Light Power product range which has an adjustable range control 2 4 Infrared Proximity Sensing Envelope The three Infrared proximity sensors to provided to give approximately 180 degrees of detection The combined directional and distance sensing data provides excellent autonomous control through narrow passages or mazes Using the proximity detection command code 32 see command code overview section below the IRCF L returns with 6 bytes of data via the serial port containing information about the obstacle s approximate directional and approximate distance data Gx VERSION ICRF L v2 0 IR Control Freak UGHT v2 0 ou on t sto l cause YOU get o You d p playing be you get old you get old because you stop playing Right Sensin e nn Blind spot ES id Spot D D D D ay Mid Sengor Envelope 180 degree visible angle This is dependant on how the sensors and Infrared LEDs have been calibrated Details of how to calibrate the module are detailed in Appendix C Module Calibration 2 5 Infrared Proximity detection Directional Indication The circular compass
53. es and MHITS_L and RHITS_L 75 then speed POSITIVE LOW on left motor and ZERO on right motor Where NEGATIVE HIGH reverse motor full power NEGATIVE LOW reverse motor low power ZERO Motor off POSITIVE LOW forward motor low power POSITIVE HIGH Forward motor full power Defuzzification methods There are many ways to defuzzy the problem The table below shows how the left and right motor speed we can summarize all applicable rules in a table rT Teft Right Left Right Left Right Left Right Left Right Zone PL NL Z PL PL PL Zone Z Zoned PH PL E Zone 5 PH PH PH NH Negative High NL Negative Low Z Zero PL Positive Low PH Positive High The voltage on the motors could vary depending on the degree of Negative or Positive values References 55 rs IR Gontrol Freak UGHT v2 0 F j You don t sto playing because you get oldi you get old because you stop playing A Brief Course in Fuzzy Logic and Fuzzy Control By Peter Bauer Stephan Nouak and Roman Winkler and offered by the Fuzzy Logic Laboratorium Linz Hagenberg See also list of applications of fuzzy logic http www flll uni linz ac at navigation main_navigation frame_aboutus html The Article Fuzzy Logic An Introduction by Steven D Kaehler on the Seattle Robotics Society web site http www seattlerobotics org encoder mar98 fuz fl_part1 html Mobile R
54. f proximity data This can either be read as 6 bytes In one long string e extending the example above or by reading one byte at a time and placing the results into an array The example below also shows how easy it is to set up an array using the Basic Programming language contained within the Basic Stomp from Parallax Inc In the following sections each command code is explained in detail Examples programs and applications are discussed in the forum at http www robotmaker co uk phpforum Examples and videos can also be downloaded from the website http www robotmaker co uk IRFC examples Example SSTAMP BS2 Test Command 032 Single Shot RX VAR BYTE 5 Array with 6 bytes of data from 0 5 DATA ARRAY VAR BYTE 1 X X amp X amp X X amp k amp X X lt X lt K X lt k X lt X X X x lt x MAIN PROGRAM UK KEE KK ECKE KK IK KKK MAIN A label called MAIN GOSUB COMMAND _ 032 GOTO MAIN IZ X amp X kk kk X k X kk kk X lt X X X X lt X x lt r SUBROUTINE 1 X X amp X X X lt X K X lt X lt Kk X lt X X lt X lt X x lt COMMAND 032 A subroutine label called COMMAND_032 Send the command 032 to the IRCF L SEROUT 2 16466 32 Read serial port and receive 6 bytes of proximity data from IRCF L FOR DATA_ARRAY 1 to 6 SERIN 4 16468 1000 TIME OUT RX DATA ARRAY NEXT Read next value RETURN Go back to main program routine and start again
55. fferent objectives of this command The first method is for detecting the presence of other robots that are transmitting IR signals for example in TAG games Sumo competitions etc The second objective is to determine the location of an infrared beacon Setting up an Infrared Beacon There are many ways to use the IRCF or IRCF L as a beacon One simple way is for a IRCF module the Light version is not necessary for a beacon to be used as a Beacon This beacon will send out a continuous coded message using code 052 The IRCF L connected to the robot should then search for this message using command 030 The robot may roam around in a pattern then turn in a circle to try to locate the beacon Once the robot picks up the message the robot would send command 036 to IRCF L to identify the direction of the infrared message Here you one IRCF modules to act as a beacon The IRCF L connected to the robot would send out a coded command in all directions trying to located the beacon If the beacon picks up the command the beacon will acknowledge the request by sending a confirmation code Infrared command from a robot fitted with another IRCF L module using command 020 and 030 The robot could send a command to a Beacon using command 020 As soon as one robot sends this command the IRCF L will respond by transmitting a device or button code representing a Beacon number A robot fitted with an IRCF L module would then identify the direction of the homing be
56. g are covered on the ROBOTmaker website 10 IR Gontrol Freak UGHT v2 You don t sta playing B because you get old you get old because you stop playing sl wl el TI Socket Name Pin 1 NA NA 9V SUPPLY or regulated 5v supply from other Regulated Regulated 5v source 5v supply to supply VDD pin 5 3 NA Not See This pin is used to prevent Incorrect connection of connector see diagram above 5 18 RA1 Serial connection RX Pin A1 on PIC This is connected to the data transmit TX on the main robot controller 17 Serial connection TX Pin AO on PIC This is connected to the data receive RX on the main robot controller 3 1 Serial cable connection To PC Disclaimer It is important that you first check that all the cables are connected the correct way around BEFORE connecting the 9v power supply or connecting to your PC It is particularly important you check that the voltages and currents from the IRCF L will not destroy your robot controller or your PC Check also that the voltages from your PC s serial connector will not destroy the IRCF L Connect at your own risk To construct the interface cable you will need Female pin header block 6 way 9 way D Type Plug Female Ribbon Cable or wire Kilo ohm resistors x 2 voltage limiting 9v PP3 style Battery terminal Hot Glue Gun not necessary but recommend Connect the cable from the RCF L to a serial connector as follows ell A
57. ghtest light source or hide away into the shadows The following exercise is an example of how the IRCF L will search for the strongest light source and turn in the direction See the website www robotmaker eu com ircF l examples command_037 for other examples and videos of how this command could be used Example SSTAMP BS2 VKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK FS 037_Command_Light_Experiment_1 bs2 S 1 lt x x k k lt x k k lt kk lt k kA k lt k X k K k lt kk lt Xk lt lt k X X k kk X X X x x x lt This is an exercise using the IRCF L command 037 Light Sensor Command The Bot is programmed to follow the direction of light The Bot will just simply turn in the direction of the brightest light See website http www robotmaker eu com for more details and video of experiment 1 lt amp K X lt k lt X k xk lt x k X lt k lt k k k lt X lt k lt k lt k k k lt X lt lt k X lt k k lt X lt x X X X x x lt d GENERAL VARIABLES V r kt aksa Ak kkkkkkkkkkkkkkkk A Ak Se sk ke A AA sk ke e qe wake ke se kkkkkk kk RX VAR Byte 6 DATA_ARRAY VAR Nib j Mathematical variable LOOPCOUNT VAR Byte determine how far Growbot will backup and turn 1 lt k x k k kA k k lt kk amp k kA k lt k lt k K k lt k lt k lt x lt lt k k lt k kA x x lt x x x lt e CONTSTANTS S 1 lt x x K k lt x k k lt k k X lt k kA k lt k lt k amp
58. grades 1 7 Tools amp Equipment you may need You will need to make some cables to connect the power supply and a serial connection to your robot controller It is therefore recommend to have the following tools and equipment Voltammeter or simple circuit tester Small Soldering Iron and solder wire and suitable 1 connectors for making a cable Wire Cutters Safety Glasses Ribbon Cable VERSION ICRF L v2 0 P OP IR Control Freak UGHT v2 0 You don t sta playing a ila you get old you get old because you stop playing 1 8 Before you start THINK SAFETY FIRST Please read the safety instructions and disclaimer in Appendix A before starting to use the IR Control Freak LIGHT e Ge Foy IR Gontrol Freak UGHT v2 0 Wy Wf You don t stop playing because you get oldi you get old because you stop playing 2 Overview of IRCF L functionality 2 1 Microprocessor controlled sensor and IR module The brain of Infrared Control Freak is a PIC16F628 microprocessor from Microchip PIC stands for Programmable Intelligent Controller This is an 8 bit micro controller with a Harvard architecture using separate buses for the data and instructions It has built in integrated program memory volatile and non volatile RAM 13 IO ports timers IO pins to perform analogue actions such as comparators AD converters and DA converters With a 4MHz crystal this device executes 1 million instru
59. ight sensors we can provide this fully assembled at a special upgrade rates 1 2 New to Autonomous Robots If you are new to autonomous robotics then have a quick look at Appendix B where there are some hints on how to get started in this exciting new hobby 1 3 What does the IRCF L actually do Infrared Control Freak Light IRCF L is a multi functional programmable sensor IR Light and combined infrared Module The IRCF L module will connect to many types of robot controllers such as the Basic Stamp from Parallax Inc or MEGAbitty from Bittybot VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 0 You don t r Game L Nn you get old you get old because you stop playing Basic Stamp Robot controller ae aa Power Supply and Serial interface cable to IRCF L GrowBot Printed Circuit Board T Fitted with Speaker Batttery R C Servo and Power Supply connections Infrared Control shassis Modified R C Freak LIGH Servo Motor K Infrared Control Freak LIGHT PCB IR Emitter IR Sensor _ Light Sensor MEGAbitty controller inside tank body MEGAbitty controller Infrared Control Freak Light with MEGAbitty robot controller and Toy tank chassis The Infrared Control Freak LIGHT programmable module gives you a totally new dimension to your robotics project All the following functionality is built into on
60. inuous Infrared This command transmits a REPEATED Sony SIRC Infrared transmission transmissions command from both Infrared LED s Similar to command 020 but automatically Beacon re transmits the command every 2 seconds transmission mode Any SIRC Device code Button code is transmitted This command is intended to be used together with or many Beacons sending different ID codes to guide bots towards them It can also be used for debugging other infrared devices The IRCF L can be disconnected from the serial connection after being primed with a device code and a button code It will then continue to re transmit the initial command until another command is sent Table 1 19 IR Gontrol Freak UGHT v2 0 You don t sto playing because you get old you get old because you stop playing 6 1 Sending commands to the IRCF L and receiving results using the basic stamp from Parallax Inc It is very easy to send and receive commands to from the IRCF L In the examples below the Basic Stamp from Parallax Inc has been used to demonstrate how a simple interface can be established The Basic Stamp Il is only an example robot Microcontroller and does not necessarily imply any particular preference The main advantages of the Basic Stamp for beginners is that the Basic Stamp I has an in built Basic Language Interpreter Basic Language it particularly easy to learn and therefore will get you up and running very quickly Para
61. l robotic use for adults and also kids from the age of 14 If you re under 14 you should ask an adult to help you and supervise you ROBOTmaker are not responsible if you hurt yourself or anyone else while assembling or using this module When interfacing the Infrared control Freak to your PC robot controller or any other device it is your own responsibility to check that voltages and currents will not damage the equipment ROBOTmaker accepts no responsibility for damage or loss in any way By using this product you agree not to hold ROBOTmaker or any other person liable for any injury or damages in any way When programming a robot remember to apply Asimov s Three Laws of Robotics 1 Robots must never harm human beings or through inaction allow a human being to come to harm 2 Robots must follow instructions from humans without violating rule 1 3 Robots must protect themselves without violating the other rules The Infrared Control Freak is intended for hobby and educational use only Do not use it in ANY critical or life saving application Do not also use this product in any application where normal use or malfunction could cause injury or damage This manual in intended only as instructional value Great care has been taken when compiling the information however it cannot be guaranteed that any information is correct accurate or complete in any way and therefore no responsibility is taken for any errors or omissions No re
62. le com for more details Dec Hx Oct Char Dec Hx Oct Himl Chr Dec Hx Oct Html Chr Dec Hx Oct Html Chr 0 DO NOL mall 32 20 O40 32 Space 63 40 100 64 B 96 60 140 96 l 1 OO1 SUH istart of heading 33 21 O41 33 65 41 101 65 A g7 61 141 4897 a 2 2 O02 STX start of text 34 22 O42 54 U 66 42 102 66 B 08 62 l42 sg98 h 3 3 003 ETX fend of text 35 23 043 4835 8 67 45 103 867 C 99 63 143 99 CG J 4 004 FOI fend of transmission 36 24 O44 36 68 44 104 68 D 100 64 144 100 d 5 5 005 ENO fenpyiry 37 25 O45 37 63 45 105 69 E 101 65 145 101 e 6 6 006 ACE ack ledge 38 26 O46 amp 8 38 70 46 106 70 F 102 66 146 102 OOF BEL bell 39 27 047 G 71 47 107 71 G 1105 67 147 lD3 8 68 O10 BS backspace 40 28 050 40 i 72 46 110 72 H 104 68 150 s81D4 h 3 9 O11 TAE horizontal tab Al 29 051 41 73 49 111 73 I 105 69 151 105 i 10 D12 LF NL line feed new line 42 24 052 amp 8 amp 32 74 4h 112 74 J 106 6A 152 amp l 6 j ll E OLS YT vertical tab 43 26 053 435 75 46 113 75 K 107 6B 153 amp l07 E 12 C 0l4 FF NP form feed new page 44 2C 054 44 76 AC 114 76 L 108 6C 154 108 1 13 DD 015 PR carriage return 45 20 055 45 77 40 115 77 M 109 6D 155 109 m 13 E O16 SU shift out 46 2E 056 46 78 4E 116 76 N 110 6E 156 110 n 15 F D17 SI shift in A 2F 057 4 7 79 AF 117 79 111 6F 157 amp
63. llax also provide other versions of the Basic Stamp that provide faster speeds and other interpreters such as Java BSp If you are not using a Basic Stamp you will need to refer to your own Microcontroller s user reference manual for instructions on how to set up a serial interface There are some rules to take into account when setting up the communication interface These rules are to ensure the Infrared Control Freak and your robot Microcontroller can understand the data being transmitted or received A The command sent to the IRCF L must be a decimal value B The data RX TX rate must also be set to 9600 baud bits per second 8 data bits no parity 1 stop bit Flow control should be set to OFF Decimal or ASCII data can be received from the IRCF L depending on the command you chose Normally the decimal values are used for connection to a robot controller and ASCII values are used for connection to an LCD or terminal program e g Hyperterm StampPlot Sending commands to the IRCF L An example Basic Stamp command from Parallax Inc SEROUT 2 16468 32 This command means One byte of data will be sent out on pin number two assuming pin two is connected to the input pin RX pin of the IRCF L The code 16468 is just an internal instruction within the Basic Stamp setting up data transmission at 9600 Baud 8 bits no parity inverted i e direct connection The value in parenthesis is the data to be
64. mat Response from IR Ch IRCF L responds with 4 bytes of serial data Device Code Button Code Sensor No of Direction successful readings The LED closest to the IR sensor In the circular LED display will also illuminate Example 1 In the example below TH 036 FX 017 018 001 005 036 is transmitted to the IRCF L module The bytes returned are Byte 1 device code 017 Byte 2 button code 018 Byte 3 The front sensor North detected highest hits this is also the default direction of all sensors have the same number of hits Byte 4 5 hits where received at the front sensor North Example 2 In the example below no IR transmissions where detected TH O36 FZ 000 000 OOO OOD Example 3 In the example below the right sensor no 3 east detected most IR hits TH 036 RZ 017 O15 003 005 The device code amp Button code received was 017 and 018 respectively Example 4 In the example below the left sensor no 2 west detected most IR hits lt 2 IR Gontrol Freak UGHT v2 You don t sta Slaying Because you ge old you get old because you stop playing TE 036 RE O17 018 002 005 The device code amp Button code received was 017 and 018 respectively Objective This command searches for Sony SIRC infrared transmission on all 3 sensors and returns with information on which sensor ID received the highest reading There are a few di
65. mputers Fuzzy logic is a superset of conventional Boolean logic that has been extended to handle the concept of partial truth truth values between completely true and completely false Charles Elkan an assistant professor of computer science and engineering at the University of California at San Diego offers the following definition Fuzzy logic is a generalization of standard logic in which a concept can possess a degree of truth anywhere between 0 0 and 1 0 Standard logic applies only to concepts that are completely true having degree of truth 1 0 or completely false having degree of truth 0 0 Fuzzy logic is supposed to be used for reasoning about inherently vague concepts such as tallness For example we might say that President Clinton is tall with degree of truth of 0 9 Building FL from the IRCF L commands The best command to use for to build your own Fuzzy Logic rule sets is the command 032 where six bytes of proximity information is returned for each command sent Using the feedback from IRCF L the same fuzzy definitions could apply for the definition on the distance of an object When is an object very near near far or very far away As an example the values on the Infrared Control freak could be mapped to something like this 51 VERSION ICRF L v2 0 You don t stop playing because you get old you get old because you stop playing r ry KEE IR Gontrol Freak UGHT v2 0
66. n other robots or for locating an IR beacon transmitting a unique code The module can also be used to detect location of infrared beacons Robot Competition The module is compacted onto a PCB that is under 5cm Square This is therefore suitable for robot competitions as small as Micro Sumo competitions Easy Interface Connect the module to your robot controller using a simple 3 pin serial interface GND TX RX providing a simple interface to your Basic Stamp or other robot ECH IR Gontrol Freak UGHT v2 0 LOF You don t stop playing because you get oldi you get old because you stop playing microcontroller In circuit reprogramming is also supported for easy loading new patches and new versions of software PIC programmer required The required functionality is selectable by sending just a single byte command to IRCF L If you don t understand any of this don t worry as it is all explained in detail in this manual Using the examples in this manual and on the www robotmaker eu com website you should be up and running literally within a few hours without any needing any previous knowledge of electronics or robot programming 1 4 Pre programmed proximity commands The IRCF L is self contained with five infrared proximity sensing command one light sensing command 5 infrared communication commands and one mixed proximity and light sensing command all built into one small module This
67. o have two s loop otherwise data will be lost NEXT RETURN TINE JUT Debug timed out Trying agami CR Goto Again Note it is necessary to have two s loop otherwise data will be lost EE EE ER lt LO and RX 2 lt 10 then Skip TE 100 OR RX 3 100 THEN BACK Turn Back LE gt 99 AND RX 3 gt 99 then CONDITIONI Turn Back IFE gt RX 4 then CONDITION2 Tuc Lett IF gt Res them CONDITIONS Turin Right RETURN 29 IR Gontrol Freak UGHT v2 You don t sta Gagn because you wet old you get old because you stop playing 6 5 Command code 034 amp 044 Freewheeler mode Syntax 034 decimal format Response from IR Ch IRCF L responds with 6 bytes of serial data in decimal format containing proximity information See command 044 for ASCII format This command works in the same way as command 032 expect that after being primed with one command code the IRCF L sends a continuous data stream of infrared proximity data in decimal format The Serial cable not power can be disconnected and the module will keep working The only way to exit from this routine is to send another command code such as 032 Objective This commands sends a continuous stream of proximity serial data in decimal format It is used for testing the device and for calibration It can also be used for non robotic applications where a continuous stream of data may be required This command is useful for calibra
68. obot Control Using Fuzzy Logic Vellasco et al The comp ai fuzzy newsgroup http www 2 cs cmu edu afs cs cmu edu project at repository ai html faqs ai fuzzy part1 fag doc 2 html 56 IR Gontrol Freak UGHT v2 0 playing because you get old You don t sto use you stop playing eca you get old APPENDIX F CIRCUIT DIAGRAM HL 00 85 41 BZ ZO FODZ am GU 00 JOHN Asatz OLA WI op mm JILL CHI LH UNS IGFs IT Era art p a iG k 8 i Buy ue ng Jao AU ao T z T z LD d KR BI Dk ike lt p E I nn CA H d se SASIDRESUEAL PRIA O A 1 J401 NOBUAA PA MIUI Dir Ip AU 57 Ge TZ mt ba gt IR Control Freak UGHT v2 0 Did TEG You don t stop playing because you get old you get old because you stop playing APPENDIX G PCB LAYOUT Layout of components benp 2208 E LL n i i 1 454 H 1 850 a yy Tj ii ke DO b8 IR Gontrol Freak UGHT v2 You don t sta plai because you get oldi you get old because you stop playing APPENDIX H FAULT DIAGNOSTICS If you have any questions or improvement suggestions related to the product please feel free to leave a message in the support forum http www robotmaker co uk phpbb or send an email to support robotmaker co uk Fault Description 1 No power at the test point JMP1 Check battery supply voltage is present on Pin 1
69. on t sta playing because you get old you get old because you stop playing 2 10 Customise an Infrared Control Freak LIGHT If you require special functionality special protocols or other special control characters for your robot project just send an email to support robotmaker co uk or add a comment to the forum www robotmaker co uk phpbb for discussion We will try to add this for you too or create a customer version 2 11 Modifications for increased sensing range If you own the IRCF 1 0 or IRCF L 1 1 the range can be increased by modifying the IRCF L to achieve an extend range of about 1 meter lyard This modification is only recommended for students with a basic electronics understanding and some experience with soldering See APPENDIX J Modifications for increased range The IRCF L has been designed to provide optimum sensor distance for most robot projects However in a very few circumstances an increased sensing range may be required for certain experiments If you only intend to run longer range experiments then we recommend that you purchase the Infrared Control Freak POWER range of infrared sensors that are designed for longer range sensing Production versions will be available from end 2004 2 12 Calibration of the Infrared Control Freak As the infrared emitters and sensors can easily be moved out of position it 1s recommended to calibrate the IRCF L before initial use and before each exercise See appen
70. red Control Freak LIGHT KE 9 2 11 Modifications TOF IMCTE ASCO SEIS LOT AN OC aaah L u unus Eet 9 2 12 Culibraliomolth Inirared Ontrol E 9 3 wWellaliintemlace Cabic COMle EE 10 Sul aerial cableconmechiOn Vo PC stitutes EE Rte susah nu aA alte u 11 3 2 petial cOnMeChOn EE EE eer ee De ee 12 333 Using a 5v regulated power supply from the Robot Controller 13 4 Testing the connection to the PC using communication software cccccccececeeeseeeeseeeeeeeeeeaeeeeees 14 SN EE A BEE 18 0 Programmable command Elend eegene 19 6 1 Sending commands to the IRCF L and receiving results using the basic stamp from Parallax Inc 20 6 2 Command Code 020 Sony SIRC IR Transmissions Mode Used for inter robot communication TAG ZAP gamn And Beacon trans MISSION mode haen a dE 22 6 3 Command Code 030 amp 040 Sony Infrared Receiver Mode 24 6 4 Command Code 032 amp 042 Infrared proximity detection mode IRPD 27 65 Command code 034 amp 044 Freewheeler mode 30 6 6 Command Code 059 AULOpil Ot INOUE EE 31 6 7 Command Code 036 Infrared Beacon Mode 3 GS Command Code 07 aerer 35 6 9 Command Code 038 Light Sensor Mode IRPD Mode A 37 6 10 Command Code 052 Beacon Transmission NIod u uuu 2 1 aiea EE aE EATE 41 APPENDIX A SAFE
71. s and output results to serial port as two bytes in decimal format 032 IRPD Mode One shot proximity sensing 6 bytes of serial data are transmitted with ee proximity information in decimal format This is the normal command used for IRPD CT estate Senda caminos oscam oEproninty seisi dwata doaa Teenan Autopilot Mode Using the internal Fuzzy logic routines results are sent as two bytes of data to the serial port These bytes depict the direction and distance of the nearest obstacle 036 Beacon Mode This command searches for Sony SIRC infrared transmissions on all 3 sensors and returns with an approximate direction based on which sensor received the highest readings Light Sensor Checks the left and right light levels and outputs the results as two bytes of data in decimal format The circular display also indicates the approx direction of the brightest light source Light Sensor This command is a combination of IRPD Mode 037 and Light Sensor Mode IRPD 037 8 bytes of data are returned The command enables IRPD data to take priority over Light sensor data po SCT output Sony IR ASCH Receive Sony SIRC IR Commands and output results to serial port as two bytes in ASCII format IRPD Mode Same as command code 032 but returns results in ASCII format s Freewheel Mode Same as command code 034 but is sent as ASCII format for direct connection ASCII to ASCII terminal po Other useful Commands 052 Cont
72. sponsibility is also taken for any information on external links to websites None of the stated ambitions amp claims are to be taken as a binding commitment Anyone associated with ROBOTmaker does not assume any liability for damages resulting from the use of the information in this manual or take any responsibility for any infringement of intellectual property rights of third parties that would result from the use of this information You use the information provided in this document at your own risk Copyright IRCF IRCF L hardware and software design including assembly manual user manual schematics and PCB layout are Copyright C 2003 ROBOTmaker All rights reserved If you want to use any of the material in this document or on the ROBOTmaker website or if you are interested in distributing the IRCF L you need to contact support robotmaker co uk and get permission in advance Please note that this document is not associated with or authorized by Parallax Microchip Lego or any other company mentioned in this document This document has nothing to do with these companies or any other company in any way Please contact support robotmaker co uk if there any infringements and the section will be edited We would like you to have many hours fun with your robot project so we ask you to take care and follow the safety warnings carefully Please ask if in doubt 43 IR Gontrol Freak UGHT v2 You dot t sta playing B because
73. st forward button on the remote control the IRCF L displays the device code 017 and the button code 059 The right east LED will also illuminate on the circular display era Hang Geapg ASCH HEX Decimal Binay joo ogo 9 11 03 19 22 58 30 Tg 030 11 03 19 33 11 560 B 017 O69 017 0569 Note that to see the results in the correct format you will need to press the ASCII tab You can customise the reserved commands when ordering the IRCF L Please specify any specific requirements at the time of ordering Resetting the IRCF L command The IRCF L will remain in the IR receive mode unless a button code 21 power on off is transmitted or a different command transmitted by the robot controller To learn more about ASCII format see appendix E ASCH TABLES The benefit using ASCII format is that any ASCII terminal emulator such as HyperTerminal can be used to display the results 96 IR Gontrol Freak UGHT v2 0 You don t stop playing because you get old you get old because you stop playing 6 4 Command Code 032 amp 042 Infrared proximity detection mode IRPD Syntax 032 decimal format Response from IR Ch This command forces the IRCF L to execute a one shot proximity search IRCF L responds with 6 bytes of serial data containing proximity information This is the main infrared proximity command The IR control freak can send decimal or ASCII data format depending on the
74. tion and test purposes when the IRCF L is interfaced directly to a PC using an ASCII terminal such as Docklight Stamplot HyperTerminal or other program The ASCII output makes it also easy to interface to fuzzy logic calculating programs or for making graphical representations of the IRPD data in spreadsheets 30 ROLO You don t sto playing because you get old you get old because you stop playing EE IR Gontrol Freak UGHT v2 0 6 6 Command Code 035 Autopilot mode Syntax 035 decimal format Response from IR Ch direction proximity IRCF L responds with 2 bytes of serial data containing direction amp proximity information Objective IRPD Mode Fuzzy logic results are sent as two bytes of data to serial port These depict the direction of the nearest obstacle and distance This is similar to the command 032 but only returns two bytes of information rather than 6 bytes The main benefits of this command is that the decoding and interpretation has already been carried out within the IRCF L based on the internal Fuzzy logic routines so less calculation and processing is required by your robot controller The Circular display will also illuminate LEDs in the direction of the nearest obstacle cue IR Gontrol Freak UGHT v2 0 You don t sto playing because you get old you get old because you stop playing 6 7 Command Code 036 Infrared Beacon Mode Syntax 036 decimal for
75. transmitted to the Infrared Control Freak In this case the value 32 is sent Reading Data from the IRCF L To read data from the Infrared control freak is just as easy The example below reads two bytes of data from the IRCF L to the Microcontroller SERIN A 16468 1000 TIME_OUT DEVICE_CODE BUTTON_CODE This Basic Stamp command means Receive bytes of data on pin number four The code 16468 is just an internal instruction within the Basic Stamp to read the data at a speed of 9600 Baud 8 bits no parity inverted 1 e direct connection The program will jump to a subroutine called TIME OUT shown in example below if data is not received within 1000ms The data values received are assigned to the variables within the parenthesis in this case there are two variables as bytes called device code and button code These 20 VERSION ICRF L v2 0 PAYT AR IR Control Freak UGHT v2 0 T n j ie You don t stin u eer ald playing because you get old ROU ecause you stop playing variables need to be assigned at the beginning of your Basic Stamp program as type byte or word These principles for sending commands to the IRCF L are the same for almost any robot controller Below is an example of a complete Basic Stamp program using the Infrared Proximity Detection IRPD command 032 In this example byte 032 is sent to the IFCF L to trigger the IRPD command The IRCF L will respond with 6 bytes o
76. tted transmitted transmitted transmitted transmitted transmitted from the LEFT from the from the LEFT from the LEFT from the from the RIGHT IR emitter IR emitter The object will need to be very close for readings to be made RIGHT emitter IR emitter IR emitter RIGHT IR emitter The object will need to be very close for readings to be made The Circular display will also illuminate LEDs in the direction of the nearest obstacle 97 VERSION ICRF L v2 0 You don t r playing because you get old you get old l ecause you stop playing IR Gontrol Freak UGHT v2 0 The 6 bytes of proximity data returned to the main robot controller can be divided into three sets of 2 byte pairs one set for each Infrared sensor The data sets are related to information reflected back from the RIGHT Infrared LED and the LEFT Infrared LED This is used to determine the direction and distance of an object as follows In certain situations infrared pulses can be detected on the opposite sensor For example pulses transmitted from the right IR LED can be detected by the right mid and even the left sensor as depicted below Right LED Pulses IR Pulses from the oight LED may be detected on the left sensor The degree of detection depends on the distance the obstacle is away from the robot This data is used to confirm the proximity of an obstacle MHITS_R IR Pulses from the right LED are detected by the Mi
77. void the obstacle before trying to turn towards light The program sends the command 038 to the IRCF L The IR CF L RETURN 8 bytes of proximity DATA 1 R_HITS R 2 R_HITS L 3 M_HITS_R 4 M_HITS_L T S L_ HITS i 6 L_HITS_R 7 Right Light Sensor 8 Left Light Sensor If values on the mid sensors are below 90 then there are no immediate dangers to avoid and the bot will move forward At the same time the bot will turn in the direction of the strongest light source See http www robotmaker eu com for more details and videos 1 lt lt x x lt lt k lt lt lt lt lt lt k lt lt lt k lt lt lt k lt lt lt k lt lt lt lt lt lt lt lt k lt lt lt lt k lt lt lt lt lt lt lt lt KA GENERAL VARIABLES lt 1 lt Kk K x k amp k k k lt k amp k k lt k k k k k lt k k k k lt k k k lt k amp k lt x lt k k k x x lt x lt x lt RX VAR Byte 9 Setup array with 9 bytes of data DATA _ARRAY VAR Nib Values from 0 100 BACK_COUNT VAR Nib Variable to detect when bot is trapped LOOPCOUNT VAR Byte determine how far Growbot will backup and turn VKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK KK des CONTSTANTS i 1 lt x lt x lt lt k lt lt k lt k lt lt k lt lt k lt lt lt lt lt k lt x k lt lt lt lt lt lt lt lt lt x lt lt x lt x x lt x lt lt Servos R_SERVO CON 14 Dn for right
78. w control to OFF If you decide to download this software create a blank project and start by creating a send command button with the value 034 or 044 Freewheeler command as follows Create a Send Sequence by clicking the name row 14 VERSION ICRF L v2 0 IR Gontrol Freak UGHT v2 0 You don t sto Gogeg P Nn you get old you get old because you stop playing Docklight V1 2 Eval File Edit Aun Tools Help Dee pa XP hee AN aG Leif Communication port is closed Send Sequences Cornmunication Send Name Sequence ASCII HE Decimal Binary A pop up window will appear to enable the send sequence button to be created d m 7 L FE d I ill ill C O O S O pean mut P jedes B DD Sequence Definition 1 Mame 034 2 Sequence EditMode ASCII C HES CG Decimal Binary S 034 Delete Sequence OF Cancel Enter 034 as the sequence name and sequence command and press OK A Send Sequence button will be created Press this button and the value DEC 034 is sent to the IRCF L a 034 D34 A continuous stream of proximity output data will be transmitted to the PC screen as follows Mansur Hmm EE E AECH HEX Geh e 2004 0 6 05 T DZ 28 3 ET E W i 3004 06 05 SD D23914 fae geg on O96 059 O00 0946 38 gt Ba 4093 09 SEI GC 094 000 per O37 093 Dap 099 00 O36 O46 O94 095 056 it 096 070 094 093 pa DOO O97 D s O94

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