Makeweekend Robotics

TANDEMIC

WE BUILD TECHNOLOGY TO MAKE THE WORLD A

BETTER PLACE

THANKS

The Challenges

The Challenges

1. The Water Drone Challenge2. The Awesomeness Challenge

But pick something...

• That you can build in 1-2 days

• Where you can get the necessary supplies over the weekend

Water Drone Challenge

Launch into the waterFollow a course pathIn less than 10 minutes

Winners...Are fastestAutonomous, self-powered with the battery and

single motorDon't sink or explode, deviate from the course

Awesomeness Challenge

Autonomous - instructions from Arduino board

Winners...Make us go wow!Must work during the demo session

Prize for Speed Challenge (x5)

The 3pi robot is designed to excel in line-following and maze-solving competitions

Prize for Awesomeness challenge (X5)

Zumo Bot - To compete in sumo bot competitions.

Where you can find supplies

Outdoor hardware station - outsideAnything that is not electronicCutting and drilling stuff -- work bench outside

(wood, pipes, etc)

Food - outsideProgramming, soldering, electronics - at

your tables

Recommended Process

Program & buildCheck with Sky / ChrisTest in kiddie pool

Makeweekend Robotics

How2 Arduino + Hardware

Christopher Hrabia (Chris)chris@tandemic.com

The Agenda

• Arduino• Setup• IDE introduction• Arduino programming• Hardware setup• Useful things• Additional requirements• Further information

Arduino

Arduino

Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use hardware and software.

Setup

Setup

• Install Arduino-IDEo Unzip arduino-1.0.4-windows.zip

• Insert the USB cable into the Arduino and your computer

• If the drivers are not automatically detected, you find them inside the extracted folder

• Open the Arduino.exe

IDE Introduction

Arduino IDE

Editor

BuildFlas

h

Error

Configuration

Configuration

Load Basic example

Arduino Programming

Sketch

• A sketch is the name that Arduino uses for a program. It's the unit of code that is uploaded to and run on an Arduino board.

http://arduino.cc/en/Tutorial/Sketch

Example

C\C++ with Arduino

General:

• Statements are closed with a ;

• Curly brackets define a scope { }

http://arduino.cc/en/Tutorial/HomePage

C\C++ with Arduino

Variables: Named place to store information of a specific type

• Different types: int, char, long, float,boolean

• Declare and define: int x;

• Store data on a variable: x=10;

• Use a variable:y=x+x;

http://www.arduino.cc/en/Reference/VariableDeclaration

C\C++ with Arduino

C\C++ with Arduino

Functions: Reusable/Recallable piece of code

• Functions define an own scope

• Declare and define:Name(Parametertype parametername, ...){

Functionbody}

• Call function:Name(variable or value to pass if any);

http://arduino.cc/en/Reference/FunctionDeclaration

C\C++ with Arduino

C\C++ with Arduino

Special functions:Setup:

The setup function is called once on power up of the Arduino. This is the place to initialize and setup your environment.

Loop:Loop is called endless in a "Loop" as long your device is powered. Here you place the program logic.

C\C++ with Arduino

C\C++ with Arduino

Objects: Objects combine functions and variables to an own stateful object, described by classes. The object behavior is defined by the functions, the state by the variable content.

• Created with declaration and definition similar to basic variable typesClassname objectname;

• Use . operator to access object variables and functions: objectname.function();

C\C++ with Arduino

C\C++ with Arduino

Control structures:Conditions:

• if (x<10) {...} else{...}Loops:

• while (x<10){...}

• for(int i=0; i<10;i++){...break;...continue;..}

• switch(variable){case 1: ... break;}

http://www.cplusplus.com/doc/tutorial/control/

C\C++ with Arduino

C\C++ with Arduino

C\C++ with Arduino

C\C++ with Arduino

Variable arrays: An array is a collection of variables that can be accessed with an index number.

Declaration and definition:int myInts[6];

Declaration, definition and initialization:int myPins[] = {2, 4, 8, 3, 6};int mySensVals[6] = {2, 4, -8, 3, 2};char message[6] = "hello";

Use: myInts[5]=myInts[4]+2;http://arduino.cc/en/Reference/Array

http://arduino.cc/en/Reference/Array

C\C++ with Arduino

Libraries

• Libraries in the Arduino world are reusable code snippets, which usually encapsulate complex hardware access or algorithms

Install:

• Copy library directory into the libraries folder of your Arduino IDE

• Restart the IDE

• Use: Menu - Sketch - Import Library

http://arduino.cc/en/Reference/Libraries

C\C++ with Arduino

Hardware Setup

Brushless motor

Propeller

Servo

LiPo-Battery

Sonar - Ultrasonic-Range-Finder

Hardware setup

Signal

VCC 5V

GND

Brushless-Motor

ESC

Order

either way

ArduinoVin

GND

Pin9

ServoSignal

VCC 5V

GND

Pin10 5V GND

Sonar

GND ECHO TRG VCC

GND Pin12 Pin13 5V

Signal

VCC 5V

GND

Brushless-Motor

ESC

LiPo-Battery

Order

either way

- +

ArduinoVin

GND

Pin9

ServoSignal

VCC 5V

GND

Pin10 5V GND

Sonar

GND ECHO TRG VCC

GND Pin12 Pin13 5V

Useful Things

How to control brushless motors and servos

• Brushless motors are controlled by ESC

• ESC and servos are controlled by a PWM signal

• Arduino Servo library generates PWM signals

• ESC will not use the full rangeof 180°

• For usage, check example code of Servo library

How to control brushless motors and servos

How to use the sonar

How to deal with time

• Get timestamp in milliseconds:o int now = millis();

• Delay or wait for a while:o delay(1000);o Will not affect Servo/Brushless PWM

generation

Debug practise

• Use Serial Monitor to read write outs created by your device while it is connected to usb

• Serial Monitor: Arduino-IDE -> Tools -> Serial Monitor (CTRL+SHIFT+M)

Debug practise

• Print text: o Serial.print("TESTTEXT");o Serial.println("TESTTEXT")

;

• Print variableo Serial.print(variablename)

;o Serial.println(variablenam

e);

General tips

Good programmers are not reinventing the wheel, copy and paste is king!

But be careful,

and learn from your copies!

Additional requirements

Requirements

• Shut off engines after 10 seconds of full collision, sonar distance below 10cm

• Shut off engines after 3min of runtime

Requirements

Design boat/vehicle

Assemble/Solder electronics

Program Drone

Quality control at help desk before plugging in

the battery

Test vehicle in water pool before inserting

electronics

Put everything together

Dry testing without propeller

First supervised test in pool without

propeller

Test with propeller in pool

Test in lake

Further Information

Further information

• Examples included in the Arduino IDE

• Arduino tutorials:

http://arduino.cc/en/Tutorial/Sketch

http://www.ladyada.net/learn/arduino/index.html

• Simple sonar example projects:

http://www.instructables.com/id/Simple-Arduino-and-HC-SR04-Example/

http://tutorial.cytron.com.my/2012/10/11/testing-ultrasonic-ranging-module-sn-hc-sr04/

• Sonar libararies:

https://code.google.com/p/arduino-new-ping/

http://freecode.com/projects/hc-sr04-ultrasonic-arduino-library

Further information

• Controlling a brushless motor and ESC with Arduino:

http://techvalleyprojects.blogspot.com/2012/06/arduino-control-escmotor-tutorial.html

The URL for the forum

moot.it/makeweekened