Company Confidential

Our ExperiencesOur Experienceswithwith

PhidgetsPhidgets

Lloyd SpencerLloyd Spencer Kevin SikorskiKevin Sikorski

Monthly SRS Meeting

November 18, 2006

CoroWare, Microsoft & PhidgetsCoroWare, Microsoft & Phidgets

Robot magazineRobot magazinehttp://www.botmag.com

What are Phidgets?What are Phidgets?

Small bits of hardware useful in robotsSmall bits of hardware useful in robots SensorsSensors

Interface BoardsInterface Boards

LCDs, Servo control, Encoders, etc.LCDs, Servo control, Encoders, etc.

Varying complexityVarying complexity

Goal is to free the developer from dealing with Goal is to free the developer from dealing with low-level hardware issues.low-level hardware issues.

Made by Phidgets, Inc.Made by Phidgets, Inc.

First UseFirst Use

CoroWare needed an accelerometer for a robot.CoroWare needed an accelerometer for a robot.We budgeted 3 days for integration.We budgeted 3 days for integration.We were done in 2-3 hours.We were done in 2-3 hours.Most of our robots have an accelerometer in Most of our robots have an accelerometer in

them.them. Great for a simple “bump” sensor or inclinometerGreat for a simple “bump” sensor or inclinometer Great for force feedback joystick controlGreat for force feedback joystick control

Interface KitsInterface Kits

We use the 8/8/8 Interface Kit.We use the 8/8/8 Interface Kit. Digital I/ODigital I/O

Interface with analog sensorsInterface with analog sensors

CoroWare’s big robot has humidity, light, CoroWare’s big robot has humidity, light, gripper pressure, and two voltage and gripper pressure, and two voltage and temperature sensors.temperature sensors.

Digital I/O good for driving LEDs orDigital I/O good for driving LEDs orbump sensors.bump sensors.

Servo ControlServo Control

One of our smaller robots uses aOne of our smaller robots uses acompact 4-servo controller.compact 4-servo controller.

Controls a 2 DoF Servo arm.Controls a 2 DoF Servo arm.We’ve also usedWe’ve also used

them to drivethem to drivePan/Tilt unitsPan/Tilt unitsfor cameras.for cameras.

A few others…A few others…

LCD LCD 16x2 LCD display with 16 Digital ins and outs.16x2 LCD display with 16 Digital ins and outs.

Do it yourself sensorsDo it yourself sensors Sharp GP2D12 IR sensorsSharp GP2D12 IR sensors

Line following sensorsLine following sensors

Force Sensing ResistorsForce Sensing Resistors

4-port USB Hub4-port USB Hub

4-relay Interface Board4-relay Interface Board

A Quick Tutorial…A Quick Tutorial…

Findings (The Good)Findings (The Good)

Very easy to integrateVery easy to integrate Lots of OSes: Windows, Linux, MacLots of OSes: Windows, Linux, Mac

Lots of languages: .NET, C/C++, Visual BasicLots of languages: .NET, C/C++, Visual Basic

Great for prototyping or one-offsGreat for prototyping or one-offs

Decent power economyDecent power economy

Easy to find powerEasy to find power

Good supportGood support

Findings (The Slightly Less Good)Findings (The Slightly Less Good)

Some Power limitationsSome Power limitations

Reasonable costReasonable cost

Need a CPU that supports PhidgetsNeed a CPU that supports Phidgets

Their biggest Servo controllerTheir biggest Servo controlleronly handles 4 servosonly handles 4 servos

Run out of USB ports quicklyRun out of USB ports quickly

Where to Get PhidgetsWhere to Get Phidgets

www.TrossenRobotics.comwww.TrossenRobotics.com

www.PhidgetsUSA.comwww.PhidgetsUSA.com

www.Phidgets.comwww.Phidgets.com

Robotic Functions

Vision Navigation Manipulation

ApplicationsNon-Destructive

InspectionSecurity andMonitoring

UnmannedVehicles

Operating System PlatformPlug and

PlayWireless

CommunicationsDeviceDrivers

Hardware Platform

Sensors Motors Mainboards

Rapid Robotics IntegrationRapid Robotics Integration

Rapid Robotics IntegrationRapid Robotics IntegrationCoroWare Surveyor 3000CoroWare Surveyor 3000

Machine Labs BaseMachine Labs Base VIA MainboardVIA Mainboard Phidgets SensorsPhidgets Sensors

AccelerometerAccelerometer RFIDRFID Voltage MeterVoltage Meter Temperature SensorTemperature Sensor LightLight PressurePressure

Lynxmotion ServosLynxmotion Servos Windows XPWindows XP Microsoft Robotics StudioMicrosoft Robotics Studio

Remote Client Remote Client

//joysticjoystic

kk

Browser Browser //UIServicUIServic

ee

/accel /accel //camercamer

a a

RobotRobot

/analogIn /analogIn /servos /servos //relay relay

/rfid /rfid //

voltagvoltage e

//temtemp p

//light light

/motor /motor

//movemenmovemen

t t

//panTilt panTilt

/arm /arm

802.11G wireless link

Rapid Robotics IntegrationRapid Robotics IntegrationCoroWare Surveyor 3000CoroWare Surveyor 3000

Rapid Robotics IntegrationRapid Robotics IntegrationCoroWare Surveyor 3000CoroWare Surveyor 3000

Microsoft Robotic StudioMicrosoft Robotic StudioPhidgets Accelerometer IntegrationPhidgets Accelerometer Integration

Direct reading of status from the browserDirect reading of status from the browser

Microsoft Robotic StudioMicrosoft Robotic StudioPhidgets Accelerometer IntegrationPhidgets Accelerometer Integration

A few lines of code make a much nicer displayA few lines of code make a much nicer display

Questions?Questions?