1.1

1.2

1.3

1.4

1.5

1.6

TableofContentsIntroduction

IntroductiontopcDuinoRobotassembly

IntroductiontoASUVIPLE

RemotecontrolRobotsbyASUVIPLE

RemotecontrolRobotbyAndroidAPP

Download

1

Introduction

pcDuinoRobotisaprogrammableRobotwhichsupportsASUVIPLEgraphicalprogramming.WeuseASUVIPLEtooltoprogram.Thendrivetherobotforward,backwardorturnitaroundbyremotelycontrollingviaWi-Fi.AnditisalsoeasytoremotelyaccesssystemviaWi-Fihotspot,VNCorsshtool.pcDuinoRobotispoweredbypcDuino3BandrunsUbuntu12.04OS.Therearetwoultrasonicsensorsontherobotwhichareusedtogetrelativedistancefromitselftotheobstacles.Thuswecanusedifferentalgorithmtocontroltherobot,andletitfindoutwayofamaze.

Introduction

2

Hardwarespecifications

pcDuino3BAllwinnerA20Dual-coreARMCortexA71GBRAM8GSDflashOnboardWiFimoduleArduino-comptiableslot

PowershieldfordrivingpcDuino3BandservomotorUltrasonicsensorHC-RS04x2Highqualitycontinuousrotationservomotor(5VDC)x27.4V18650lithiumbattery8.4VbatterychargerAluminiumrobotplatform

Introduction

3

Softwarespecifications

OSonRobotUbuntu12.04

ProgrammingtoolASUVIPLEprogramsupportingWin7orlater

Features

RobotsupportingASUVIPLEgraphicalprogrammingWi-FicontrolMazealgorithmimplementation

Introduction

4

IntroductiontopcDuinoRobotassembly

1.Chassisassembly

SecurethetwoservomotorstothechassiswithscrewsSecurethewheelstotheservomotorswithscrewsSecurethecastertothechassiswithscrews

Note:Thecasterandthetwowheelsshouldbeatthesameheight，andyouneedtoaddshimsifnecessary.

Usethefollowingpicturestocheckwhethertheinstallationiscorrect.

IntroductiontopcDuinoRobotassembly

5

2.Palletassembly

UsethreecopperstudstoattachthepcDuino3BtothepalletTheUltrasonicSensorhasbeeninstalledonthebracket,soyoujustneedtosecurethetwoultrasonicbracketstothepalletStickthelabeltoafreepositionofthepallet

Note:Thetwoultrasonicsensorsshouldbeplacedatthefrontandrightrespectively.

Checkwhethertheinstallationiscorrectaccordingtothefollowingpictures.

IntroductiontopcDuinoRobotassembly

6

IntroductiontopcDuinoRobotassembly

7

3.CompleteRobotassembly

Usetwoscrewstosecurethechassisandthepallettogether.Notethatthecasterpointstothefront.Securethebatterytothecastersidewithacabletieasthefollowingpicture

Securethechargingportofthebatterytothepalletwithacabletieasthefollowingpicture

IntroductiontopcDuinoRobotassembly

8

4.Wiring

ConnectthePowerBaseShieldtothepcDuino3BConnecttheultrasonicsensortothePowerBaseShieldaccordingtothefollowingtables

UltrasonicFront PowerBaseShield

VCC VCC

Trig D13

Echo D3

GND GND

UltrasonicRight PowerBaseShield

VCC VCC

Trig D12

Echo D2

GND GND

ConnecttheservomotorstothePowerBaseShieldaccordingtothefollowingtables

IntroductiontopcDuinoRobotassembly

9

ServoLeft PowerBaseShield

Black GND

Red Servo5V

White D11

ServoRight PowerBaseShield

Black GND

Red Servo5V

White D10

ConnectthebatterypoweroutputtothePowerBaseShieldpowerinput

Usethefollowingpicturestocheckyourwiring.

IntroductiontopcDuinoRobotassembly

10

Whenthewiringiscomplete,launchthepcDuinoRobot,waitfortheindicatorlightoftheWi-Fimodulelightingup.AfterawhiletheRobotwillautomaticallycreateaWi-FiHotspotnamedpcDuino-xxxx.

Ifyouwanttowatchtheassemblyvideo,clickPcDuinoRobotassemblyvideotutorial.

IntroductiontopcDuinoRobotassembly

11

IntroductiontoASUVIPLEASUVIPLEisaVisualIoT/RoboticsProgrammingLanguageEnvironment,whichisusingthesamecalculationmodelasMicrosoftVPL.TheprogramisrunningonaWindowscomputer,adesktop,alaptop,oratablet.Thecomputersendscommandtocontroltherobotactuatorsandreceivesthesensorydataandmotorfeedbackfromtherobot.ThedatabetweenthecomputerandtherobotisencodedinaJSONobjectwhichisinplaintextformat.ItsupportsWi-Fi,BluetoothandUSBconnectionsbetweenthemaincomputerandtherobot.

1.InstallASUVIPLEtool

WeneedaWindowsPCwithawirelessnetworkcard,becausewewantPCandpcDuinoRobottocommunicateviaWi-Fi.ThesystemversionrequiresWin7orlater.

ClickhereanddownloadASUVIPLEtool,UnzipandrunVIPLE.exe.

ASUVIPLEprogrammingLanguageisissimilartoMicrosoftVPL.Asshowninthepicture，theleftsidebarprovidesaseriesofgraphicalprogrammingcomponents:

BasicActivitiescanbeusedforconstructingprograms,includingData,Variables,

IntroductiontoASUVIPLE

12

If/Else,While,Join,andsoon.Servicesprovidesasetofmodulesusedtoconnecttogenericrobots,sensors,andmotorservices.

2.QuickstarttoaccessASUVIPLE

HelloWorldinASUVIPLE

OpentheASUVIPLECreateanewproject.PressCtrl+NorgotothetoolbarandclickFile-->NewDragtheDatamodulefromtheBasicActivitiesontheleftEnter"Helloworld!"intotheDatamoduleDragthePrintLinemodulefromtheServicesontheleftConnectthesetwomodulesRunit.ClicktheRunbuttoninthetoolbarorpressF5

InputandOutputinASUVIPLE

CreateanewprojectDragtheCalculatemodulefromtheBasicActivitiesDragtheSimpleDialogmodulefromtheServicesConnectandconfigurethosemodulesaccordingtothefollowingfigurePressF5torunit

IntroductiontoASUVIPLE

13

ASimpleCounterinASUVIPLE

ConnectandconfigurethemodulesaccordingtothefollowingfigurePressF5toruntheprogram

FormoreASUVIPLEprogramminginformation,pleaserefertoVIPLEProgrammingGuide.

IntroductiontoASUVIPLE

14

RemotecontrolRobotsbyASUVIPLE

1.configurationofpcDuinoRobot

ThesystemwillautomaticallycreateaWi-FiHotspotwhenwelaunchthepcDuinoRobots.Andthebasicinformationisasfollows:

Wi-FiHotspot:pcDuino-xxxxPassword:12345678IPaddress:10.0.0.1CorrespondingVIPLEserviceportnumber:8124

Next,wewillexplainhowVIPLEconnectstopcDuinoRobot.

LaunchthepcDuinoRobot,waitfortheindicatorlightoftheWi-FimodulelightingupUseyourPCtoconnectthisWi-FiHotspot

OpenthenetworkconnectionandsearchfortheWi-FiHotspotstartedwith"pcDuino-"ChooseitandentertheWi-Fipassword,waitfortheconnectiontosucceed

CheckandconfigureRobotmodule.

Configurethebasiccommunicationinformation.

RemotecontrolRobotsbyASUVIPLE

15

Configuretheservos.Thetwoservosarenumberedas0and1respectively.Therangeofspeedisbetween-1.0to1.0.

CheckandconfigureRobotDistanceSensorModuleConfiguretheultrasonicsensor

Thetwoultrasonictransducersarenumberedas0and1respectively

Pleaserefertogithubtogetspecifictestprograms.

2.TestofpcDuinorobot

RemotecontrolRobotsbyASUVIPLE

16

Testofservos

OpentheASUVIPLEOpentheservo-control.xmlprojectMakesureyourPChasalreadyconnectedtotheWi-FicreatedbyRobotClicktheRunbuttoninthetoolbar,andpressthearrowkeystocontrol

TheVIPLEcodeisasfollows:

TestofUltrasonicsensor

Runultrasonic.xmlObservethedatadisplayedinthewindowObservethechangesofdistancebymanuallyaddingobstacles

TheVIPLEcodeisasfollows:

RemotecontrolRobotsbyASUVIPLE

17

ImplementingMazeNavigationAlgorithms

Runmaze-resolve.xmlObservethepcDuinoRobot'smovinginamaze,andmodifythecorrespondingparameters

Note:Thisprojectusestheright-wall-followingalgorithm.

TheVIPLEcodeisasfollows:

RemotecontrolRobotsbyASUVIPLE

18

RemotecontrolRobotsbyASUVIPLE

19

RemotecontrolRobotbyAndroidAPPWehavespecificallydevelopedasimpleAPPtotestthebasicfunctionsoftheRobot.

DownloadandinstallAppLaunchtheRobot.AfterawhiletheRobotwillautomaticallycreateaWi-FiHotspotnamedpcDuino-xxxx.UseyourmobilephonetoconnectthisWi-FiHotspot

ReadtheultrasonicsensordataandcontrolthemovingoftheRobotviatheAPP

RemotecontrolRobotbyAndroidAPP

20

RemotecontrolRobotbyAndroidAPP

21

Download1. ASUVIPLEtool

2. VIPLEreferenceprograms

3. VIPLEprogrammingguidebook

Download

22