Make an Arduino-Controlled Robot by Margolis, Michael -- Read -- Imperial Library of Trantor

Index

Make an Arduino-Controlled Robot A Note Regarding Supplemental Files Preface

Who This Book Is For How This Book Is Organized What Was Left Out Code Style (About the Code) Arduino Hardware and Software Conventions Used in This Book Using Code Examples Safari® Books Online How to Contact Us Acknowledgments

1. Introduction to Robot Building

Why Build a Robot? How Robots Move Tools

2. Building the Electronics

Hardware Required Construction Techniques

Soldering Building the Motor Controller Soldering the Reflectance Sensors Making a Line Sensor Mount Next Steps

3. Building the Two-Wheeled Mobile Platform

Hardware Required Mechanical Assembly

Lay Out the Chassis Parts Motor Assembly Assemble the Chassis Components Attaching the Control Electronics

Mounting the IR sensors

Mounting the IR Sensors for Edge Detection Mounting the IR Sensors for Line Following

Next Steps

4. Building the Four-Wheeled Mobile Platform

Hardware Required Mechanical Assembly

Lay Out the Chassis Parts Motor Assembly Assemble the Chassis Components Solder the Power and Motor Connections Connecting the Battery Pack and Power Switch Building the Optional Trickle Charger Assemble the Chassis Mounting Arduino and Connecting Wires to the Shield

Mounting the IR sensors

Mounting the IR Sensors for Edge Detection Mounting the IR Sensors for Line Following

Next Steps

5. Tutorial: Getting Started with Arduino

Hardware Required Arduino Software Arduino Hardware Installing the Integrated Development Environment (IDE)

Installing Arduino on Windows Installing Arduino on OS X Installing Arduino on Linux Driver Installation

Connecting the Arduino Board Using the IDE Uploading and Running the Blink Sketch Using Tabs Installing Third-Party Libraries

6. Testing the Robot's Basic Functions

Hardware Required Software Prerequisites Sketches Used in This Chapter Load and Run helloRobot.ino About the Sketch Troubleshooting Making the Sketch Easy to Enhance

7. Controlling Speed and Direction

Hardware Required Sketches Used in This Chapter Types of Motors Motor Controllers Controlling Motor Speed

How Motor Speed Is Controlled Code for Motor Control Calibrating Rotation and Tracking

Software Architecture for Robot Mobility Functions to Encapsulate Robot Movements

Core Movement Code Additional Core Functions Functions to Rotate the Robot Higher-Level Movement Functions

8. Tutorial: Introduction to Sensors

Hardware Discussed Software Infrared Reflectance Sensors Sonar Distance Sensors Maxbotix EZ1 Sonar Distance Sensor Sharp IR Distance Sensor Proximity Sensor Sound Sensor Arduino Cookbook

9. Modifying the Robot to React to Edges and Lines

Hardware Required Sketches Used in This Chapter The Look Code Edge Detection Line Following Seeing Sketch Data

10. Autonomous Movement

Hardware Required Sketches Used in This Chapter Mounting a Ping Distance Sensor

Making a Mount for the Ping Sensor Mounting the Ping Sensor in a Fixed Position Mounting the Ping Sensor on a Servo

Letting the Robot Wander Adding Scanning

11. Remote Control

Hardware Required Sketches Used in This Chapter Design of the Remote Control Code Controlling the Robot with a TV Type IR Remote

Installing the IR Decoder Chip The IR Remote Software

A. Enhancing Your Robot

Planning

Think Before You Code Avoid Feature Bloat Don't Reinvent the Wheel Structure to Reflect Functionality Use Clear Names for Functions and Variables

Implementing a Complex Project

Test Often Simplify If It Is Awkward, Start Over Don't Confuse Activity with Progress Experiment Be Tenacious Have Fun

B. Using Other Hardware with Your Robot

Alternative Motor Controllers

Ardumoto Continuous Rotation Servos

C. Debugging Your Robot

Identify the Symptoms and Localize the problem

Seeing What the Robot Is Doing

D. Power Sources

Monitoring Battery Voltage Trickle Charging

E. Programming Constructs

Digital I/O Analog I/O Math functions Other Functions and Constructs

F. Arduino Pin and Timer Usage

Handling Resource Conflicts

Modifying a Library to Change Timer Allocation Writing Code That Avoids the Use of a Timer

Pin and Timer Tables

About the Author Copyright

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