Examples of practical applications of BASIC Stamp controller

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Examples of practical applications of BASIC Stamp
controller
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Some applications of the BASIC Stamp controller

• .
• Chalmers University of Technology, Sweden - lab
  robot camera- you can see whats happening in
  their laboratory over the web. http//mac5.pe.chal
  mers.se
• Hugh MacMillan Rehabilitation Centre, Toronto,
  Ontario, Canada, has a project using the STAMP to
  control an artificial hand for young amputees

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Stamp Interfacing

• A Robotic bug built by Greg Birdsall and Fred
  Richards for the X-files uses a BASIC Stamp
  controller

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• The Pocket-Bot Robot platform
• This miniature robotic vehicle has independent
  four wheel drive and bumper sensors.
• Kits are also available for sensing heat or light
  and for following a line. http//www.divent.com/po
  cketbot.html

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Example of Stamp Interfacing
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Stamp Interfacing
Example of Stamp Interfacing

• Corky'z Robotz- an IR Controlled robotic toy.
  http//www.geocities.com/ SiliconValley/Park/1302/
  robotz.htm
• Corky'z Robotz- an IR Controlled robotic toy.
  http//www.geocities.com/ SiliconValley/Park/1302/
  robotz.htm

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Stamp Interfacing
Example of Stamp Interfacing

• A Digital Weather Station using wind direction,
  wind speed, temperature, humidity and rain gauge
  sensors. http//oeonline.com/tparnell

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Emminence Airship Project

• Purpose of this Project
• A fun and exciting learning opportunity
• Practical Applications
• Advertising
• Scientific Research
• Military and Police
• Telecommunications

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Physical Design of the Airship

• One or more spherical balloons
• A plastic gondola to house the electrical
  equipment
• Helium used to fill the balloons

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How it Works

• User gives commands through a PC keyboard
• These commands are relayed through the RF
  transceivers to the blimp
• The blimps on-board intelligence interprets the
  commands and performs the corresponding functions

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The Ground to Air Transmission

• The Basic Stamp II gives the transmitter the
  appropriate bit pattern
• The On-Board Stamp then receives the bit pattern
  from the receiver
• Based on the bit pattern received, the Stamp will
  set the appropriate bits high or low

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The Motors

• The On-Board Stamp is interfaced with the motor
  driver circuit
• Propeller motors are used
• There is an enable and a fwd/bwd signal for each
  motor

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Onboard System
Video
Compass
GPS
Motion Control Processor
Motion Control Circuitry
Central Processor

• Subsystems controlled by CPU

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Internet Based Operations
PC
PC
Operation Station
PC
PC

• Operator connects to operation station to assume
  control

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Reusable Software Design

• Robot software specification defined according to
  system capabilities.
• Operator software uses robot specification to
  coordinate data channels.
• Central Mission Control Stations allow for
  control of robots around the world.

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DataTurbine Developer API

• Data sources are coordinated and mapped to
  operator

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Robot Software Architecture
Autonomy Application

• Built on Windows OS
• Developers API for data transmission with TCP/IP
• Interface for operator received controls
• Autonomous mission platform

Coordination Application
Data Turbine
Operating System
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OperatorSoftware Architecture
Input App
Output App

• Built on Windows OS
• Developers API for data transmission with TCP/IP
• Operator communication and control specification
• Interface for control devices
• Interface for data output

Client Core Specification
DataTurbine
Operatirng System
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Future Features

• Internet control capabilities
• A possible GUI
• A joystick or some other device
• GPS on-board the blimp
• A digital compass on-board
• The ability for positional commands
• An on-board camera
• A possible collaboration with RoverWerx

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Future Missions

• Autonomous missions with other Intelligent Robots

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MIDI communication Protocols
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Reminder

• Serial Communication (RS-232)
• principles
• Configuration
• Transmission
• Programming
• MIDI
• Characteristics
• Transmission
• Definitions
• Standards
• Programming

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Serial Comunicacation

• Bit by bit
• Asynchronous
• Serial Protocol for RS-232
• (RS-432, MIDI...)
• (0 logic 3,25V and 1 logic -3,-25V)

RS 232C

• 110 to 256.000 bauds
• Connector with 9 pins, 3 used.
• Transmit Data (TXD) pin 3 in DB9
• Receive Data (RXD) pin 2 in DB9
• Ground (SG) pin 5 in DB9
• cables that switch 2 and 3

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RS-232 transmission

• UART (Universal Asynchronous Receiver/Transmitter)
  
• Parity bits, etc, check it in your documentation.

RS-232 Programming
COM Ports

• In PC
• COM 1 3F8
• COM 2 2F8
• COM 3 3E8
• COM 4 2E8

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MIDI

• Musical Instruments Digital Interface
• http//www.midi.org
• http//www.harmony-central.com/MIDI/Doc/doc.html

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MIDI Transmission

• Serial and asynchronous
• 31.250 bauds
• 1 bit stop and no parity ? 1 byte 10 bits
• Conector DIN (5 pines, 3 used) and unidirectional
  cables

• Bidirectional communication needs to cables ?
• (MIDI IN y MIDI OUT)

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Examples of connections
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• B.STAMP ?
• SEROUT Tpin, Baudmode, ( OutputData )
• SEROUT Tpin \Fpin, Baudmode, Pace, Timeout,
  Tlabel, InputData
• SEROUT Tpin, Baudmode, 0, InputData
• Program Change en canal 3 ? 0xC2 ? 1922 194
• Note ON in canal 3 ? 0x92 ? 1442 146
• Note OFF in canal 3 ? 0x82 ? 1282 130
• Note DO inf. 60 ? 60-12 48
• max speed ? 127
• SEROUT 15, 60, 0, 194, 73
• SEROUT 15, 60, 0, 146, 48, 127
• PAUSE 2000
• SEROUT 15, 60, 0, 146, 48, 0
• SEROUT 15, 60, 0, 130, 48, 0

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• Buchlas The thunder
• BioMuse (Brainwave detector!)

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Will be in next projects related to Cyber
Theatre Many applications of DSP, speech
technologies, sound technologies and
microcontroller technologies
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Micromouse Hardware
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Pre-Built Robots

• Approx. 100 - 200
• Contains chassis, motors, wheels and
  microcontroller (Basic Stamp)

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Lego Robotics Kits

• Easy to prototype
• Must make your own IR sensors
• Programming Languages
• Logo
• Not Quite C

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Custom Made Mouse

• Can choose the individual components
• Can achieve better performance over kits
• Much more satisfying and fun

• Main components
• Microcontroller board
• Wall sensors
• Motors
• Batteries

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Propulsion choices

• DC Motors
• Cheap, small
• Need gearbox
• Need shaft encoders
• H-Bridge
• Discrete
• SGS Thompson L293D
• Can drive two motors
• 600mA per motor

• DC Motors
• Servos
• Stepper Motors

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Propulsion

• Stepper Motors
• Less torque than DC motors for a given size and
  weight
• Do not need shaft encoders
• LSI chips can handle logic and power
• Allegro UCN5804LB
• 1.25 A
• 35 V

• Servos
• Need to modify for continuous rotation
• Need shaft encoders
• Can be driven without H-Bridge
• Come with attachments
• Perfect for Basic Stamp

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Sensors

• IR Sensors
• Proximity
• Easiest to implement
• Distance
• Sharp GP2D02

• IR Sensors
• Wall Feelers

• Wall Feelers
• Simple to make and adjust
• Tend to get hung up at wall openings

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• Simple Microcontroller Techniques for Sculpture

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Why use microcontrollers in Sculptures?

• To sense and respond to viewers actions
• To sense and respond to environmental changes
• To sequence events
• To set up contingencies
• To control motion, light, sound

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Mark Porter. 2001.Shield slows a
self-degenerative process
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Mark Porter. 2001.Shield slows a
self-degenerative process
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Problems to solve

• reverse directions of two motors at particular
  points in their travel
• ensure that the moving arms dont become and
  remain synchronized

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PIC is used to

• check when the motors have hit their CW and CCW
  limit switches
• reverse the motors direction
• add a little delay to the time it takes one of
  the motors to reverse directions in order to
  prevent synchronization

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include lt12c509.hgt use delay(clock4000000) void
main () set_tris_b(0b001111) //four lines
are inputs, two are outputs while
(1) if(input(pin_B0)0) // if cwLampLimit
is touched output_high(pin_B4) // activate
lampMotorRelay if(input(pin_B1)0) // if
ccwLampLimit is touched output_low(pin_B4)
// de-activate lampMotorRelay if(input(pin_B2)
0) // if cwShieldLimit is touched output_hig
h(pin_B5) // activate shieldMotorRelay delay_m
s(500) //wait half a second to
ensure //non-synchronous movement if(input(p
in_B3)0) // if ccwShieldLimit is
touched output_low(pin_B5) // de-activate
shieldMotorRelay
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Sources

• Curtis Bahn, RPI
• J.E. Wampler
• Michael Rodemer, University of Michigan, School
  of Art and Design
• Physics and Media Group, MIT
• Josh R. Fairley
• Dr. Raymond S. Winton
• Mike Haney, University of Illinois
• Steve Benkovic, Cal State University ,
  Northridgehttp//homepage.mac.com/SBenkovic
• s.benkovic_at_ieee.org
• Franklin Alioto, Christine Beltran, Eric Cina,
  Vince Francisco, Margo Gaitan, Matthew OConnor,
  Mike Rasay.
• Kenneth Chin and Prang Chim
• Dr. Jim Ostrowski, Bob Miller, Wally Szczesniak,
  Terry Kientz,
• Brett Balogh , Siddharth Deliwala, John Bowen,
• Darnel Degand, Kapil Kedia,
• Adrian Fox, Christopher Li