Examples%20of%20practical%20applications%20of%20BASIC%20Stamp%20controller - PowerPoint PPT Presentation

About This Presentation
Title:

Examples%20of%20practical%20applications%20of%20BASIC%20Stamp%20controller

Description:

Chalmers University of Technology, Sweden - lab robot camera- you ... Emminence Airship Project. Physical Design of the Airship. One or more spherical balloons ... – PowerPoint PPT presentation

Number of Views:91
Avg rating:3.0/5.0
Slides: 51
Provided by: webCe
Learn more at: http://web.cecs.pdx.edu
Category:

less

Transcript and Presenter's Notes

Title: Examples%20of%20practical%20applications%20of%20BASIC%20Stamp%20controller


1
Examples of practical applications of BASIC Stamp
controller
2
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

3
Stamp Interfacing
  • A Robotic bug built by Greg Birdsall and Fred
    Richards for the X-files uses a BASIC Stamp
    controller

4
  • 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

5
Example of Stamp Interfacing
6
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

7
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

8
Emminence Airship Project
  • Purpose of this Project
  • A fun and exciting learning opportunity
  • Practical Applications
  • Advertising
  • Scientific Research
  • Military and Police
  • Telecommunications

9
Physical Design of the Airship
  • One or more spherical balloons
  • A plastic gondola to house the electrical
    equipment
  • Helium used to fill the balloons

10
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

11
(No Transcript)
12
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

13
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

14
Onboard System
Video
Compass
GPS
Motion Control Processor
Motion Control Circuitry
Central Processor
  • Subsystems controlled by CPU

15
Internet Based Operations
PC
PC
Operation Station
PC
PC
  • Operator connects to operation station to assume
    control

16
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.

17
DataTurbine Developer API
  • Data sources are coordinated and mapped to
    operator

18
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
19
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
20
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

21
(No Transcript)
22
Future Missions
  • Autonomous missions with other Intelligent Robots

23
MIDI communication Protocols
24
Reminder
  • Serial Communication (RS-232)
  • principles
  • Configuration
  • Transmission
  • Programming
  • MIDI
  • Characteristics
  • Transmission
  • Definitions
  • Standards
  • Programming

25
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

26
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

27
MIDI
  • Musical Instruments Digital Interface
  • http//www.midi.org
  • http//www.harmony-central.com/MIDI/Doc/doc.html

28
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)

29
Examples of connections
30
  • 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

31
(No Transcript)
32
(No Transcript)
33
(No Transcript)
34
  • Buchlas The thunder
  • BioMuse (Brainwave detector!)

35
Will be in next projects related to Cyber
Theatre Many applications of DSP, speech
technologies, sound technologies and
microcontroller technologies
36
Micromouse Hardware
37
Pre-Built Robots
  • Approx. 100 - 200
  • Contains chassis, motors, wheels and
    microcontroller (Basic Stamp)

38
Lego Robotics Kits
  • Easy to prototype
  • Must make your own IR sensors
  • Programming Languages
  • Logo
  • Not Quite C

39
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

40
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

41
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

42
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

43
  • Simple Microcontroller Techniques for Sculpture

44
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

45
Mark Porter. 2001.Shield slows a
self-degenerative process
46
Mark Porter. 2001.Shield slows a
self-degenerative process
47
Problems to solve
  • reverse directions of two motors at particular
    points in their travel
  • ensure that the moving arms dont become and
    remain synchronized

48
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

49
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
50
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
Write a Comment
User Comments (0)
About PowerShow.com