Arduino Robotics by John-David Warren, Josh Adams, Harald Molle -- Read -- Imperial Library of Trantor

Index

Cover Title Copyright Dedication Contents at a Glance Contents About the Authors About the Technical Reviewer Acknowledgments Introduction Chapter 1: The Basics

Electricity

Electrical Analogy Electrical Basics Circuits Measuring Electricity Multi-Meters Measuring Voltage Measuring Amperage Measuring Capacitance Measuring Resistance Calculating Resistor Power Using Ohm's Law Oscilloscope Loads Electrical Connections

Electronics

Semi-Conductors Datasheets Integrated Circuits Through-Hole Components

Arduino Primer

Arduino Variants Arduino IDE The Sketch Signals

Building Circuits

Circuit Design Schematics Prototyping

Building a Robot

Hardware Materials Work Area

Summary

Chapter 2: Arduino for Robotics

Interfacing Arduino

Relays Transistors Interfacing a Motor-Controller

User Control

Tethered (Wired) Control Infrared Control (IR) Radio Control Systems

Sensor Navigation

Contact Sensing Distance and Reflection Sensing Orientation (Positioning) Non-Autonomous Sensors

Summary

Chapter 3: Let's Get Moving

Electric Motors

Brushed DC Motor (Permanent Magnet Type) Brushless Motors Stepper Motors Gear Motors Servo Motors Linear Actuators Calculating Power Driving Finding the Right Motor

The H-Bridge

Generating a Brake Implementation H-Bridge ICs Changing PWM Frequencies Back EMF Current Sensing Commercial H-Bridges (Motor-Controllers)

Batteries

Nickel Cadmium (NiCad) Nickel Metal Hydride (NiMH) Lithium Polymer (LiPo) Lead-Acid Charging

Materials

Wood Metals Nuts and Bolts Plastics Chain and Sprockets Wheels

Summary

Chapter 4: Linus the Line-Bot

Parts List for Linus How Linus Works

The Track

Building the IR Sensor Board Modifying a Servo for Continuous Rotation

Method 1: Direct DC Drive with External Speed Controller Method 2: Servo Pulse Drive with Internal Motor Driving Circuitry

Fitting the Drive wheels Making a Frame Making Connections Installing Batteries

Install Power Switch

Loading the Code Making the Track Testing Add-ons

LED Lights Painting Adding Speed Regulator (Potentiometer)

Summary

Chapter 5: Wally the Wall-Bot

How Wally Works Parts List for Wally The Motor-Controller

The High-Side Switches The Low-Side Switches Building the Circuit

Building the Frame Installing the Sensors Installing the Battery and Power Switch

Installing a Power Switch

The Code

Code Objectives

Summary

Chapter 6: Making PCBs

PCB Basics What You Need to Get Started Circuit Design

Searching for Open-Source Designs Making Your Own Designs Working with the Schematic Editor Working with the Board Editor

Transferring the Design

Let's Make an Arduino Clone: the Jduino Making the Transfer

Etching

Measuring the Solution Etching: Method 1 Etching: Method 2 Removing the Toner

Drilling Soldering

Building the Arduino Clone Building the BJT H-Bridge

Testing Summary

Chapter 7: The Bug-Bot

Reading a Switch with Arduino How the Bug-bot Works

Antennae Sensors Bumper Sensors

Parts List for the Bug-bot The Motors

Modifying the Servo Motors Controlling the Servo Motors Converting the Pulse Value to Degrees Mounting the Wheels to the Servos

Building the Frame

Marking the PlexiGlass Cutting the PlexiGlass Mounting the Motors Mounting the Caster Wheels Mounting the Arduino Installing the Battery

Making the Sensors

The Front Antennae Sensors The Rear Bump Sensors

Making Wire Connections Loading the Code

Creating a Delay Variables The Code

Making a Top Hat Summary

Chapter 8: Explorer-Bot

How the Explorer-Bot Works

R/C Control Powerful Motors Current Sensing Video-Enabled Xbee-Enabled

Parts List for the Explorer-Bot Building the Frame

Specs Adding Battery Bracket Cut Top Frame Brackets Cut Top Frame Braces Cut and Bend Main Frame Piece Add Crossbar and Mount Caster Wheel

Building the Motor Controller

Current Sensing and Limiting H-bridge Design

Setting Up the Arduino

Connecting the H-Bridges

Setting Up Xbee

Testing the Xbees

Adding a Camera

Pan and Tilt Make First Bracket Make Second Bracket

Loading the Code Summary

Chapter 9: RoboBoat

Some Words in Advance Parts List for the RoboBoat

Polystyrene Foam Epoxy Resin Gloves Fiberglass Fabric Glue Styrofoam Cutter and Razor Knife Miscellaneous

The RoboBoat Design Assembling the Boat

The Templates Gluing the Templates on the EPS/XPS Board Cutting Out the Segments Gluing the Segments Together Inserting the Foam Anchors The Coating Applying the Finish The Fins Painting The Deck Completing the Assembly

The Propulsion Assembly

The Baseplate The Pivot The Tube The Rudder Horns The Motor The Servo The Pushrods

Electronics

The Heart of the System: The ArduPilot PCB The GPS Module The Electronic Speed Controller (ESC) The Motor The Rudder Servo The Battery Pack Assembling the Electronics

Software and Mission Planning

GPS Receivers The Software Installing the Software Mission Planning

Putting It All Together

Integrating the System Ships Ahoy!

Troubleshooting

The Thrust of the Motor/Propeller Is Not Sufficient The Motor Does Not Start

Summary

Chapter 10: Lawn-Bot 400

How the Lawn-bot 400 Works

Lawn Mower Deck High-Capacity Batteries Steel Frame Dump-Bucket Pneumatic Tires Headlights Failsafe

Tools and Parts List

Lawnmower Parts Lists

The Wheels

Front Caster Wheels Rear Drive Wheels Installing Sprockets

The Frame The Drive-Train

Motor Mount Brackets Installing the Chain

The Motor Controller

Buying a Motor Controller Cooling Fans Motor Controller feedback

The Arduino

Securing Connections for a Bumpy Ride

The Failsafe

R/C Toggle Switch Power Relays Avoiding an R/C Failsafe

Making Connections The Code Adding Cosmetics and Accessories

Painting Headlights Dump Bucket Lawnmower Kill-Switch

Summary

Chapter 11: The Seg-Bot

How the Seg-Bot Works

Inertial Measurement Unit Steering and Gain Engage Switch

Parts List for the Seg-Bot Selecting the Right Sensors

3.3v Power Accelerometer Gyroscope Gyroscope Versus Accelerometer Summary Filtering the Angle

Making the IMU Adapter Board Selecting the Motors

Electric Brake Removal Motor Mounting Position

Selecting the Motor Controller

SoftwareSerial Library Sabertooth Simplified Serial

The Batteries

Sealed Lead-Acid Charging 12v Supply

The Frame

Frame Design Building the Frame

Inputs

Steering Gain Engage Switch Level-Start Mounting the Inputs to the Frame

Installing the Electronics

Soldering the Inputs Wiring the Connections

Reviewing the Code

The sample_accel() Function The sample_gyro() Function Checking the Angle Readings The calculate_angle() Function The read_pots() Function The auto_level() Function The update_motor_speed() Function The time_stamp() Function The serial_print_stuff() Function The Full Code

Testing Summary

Chapter 12: The Battle-Bot

Robotic Combat Is Born

Battle-Bot Rules and Regulations No Price Limit!

Parts List for the Battle-Bot Input Control

Fly Sky CT-6: The $32, 5-ch*, 2.4GHz Radio Alternative

The Electronics

The Arduino The Motor Controllers

The Frame

To Buy or Build? Modifying the Wheels Building the Frame

The Drive Train

Gearing Chain Tensioning Nut

Batteries Securing Electronics

Protecting Your Brains Making Connections

The Code Armor Weapons Additional Information Summary

Chapter 13: Alternate Control

Using Processing to Decode the Signals Parts List for Alternate Control Selecting the Input Processing Prerequisites Following Protocol Examining the Processing Sketch

Explanation Testing Processing

Examining the Arduino Sketch Summary

Index

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