Creative Innovation Series NGT503 2 in1 Remote Bot

Creative Innovation Series NGT-503 : 2 -in-1 Remote Bot Obstacle Avoiding Bot

NGT-503 : 2 -in-1 Remote Bot Objective: Using Arduino, Geared Motor, Ultrasonic Distance Sensor, and Universal Ball Bearing to create a obstacle avoiding robot. Description: An Arduino based obstacle avoiding bot is created with 2 Geared Motor, an Ultrasonic Distance Sensor, and an Universal Ball Bearing module. When the bot detects any object 20 cm in front of the Ultrasonic Distance Sensor, the bot moves back and rotates random side to avoid the obstacle before moving forward. Module List: 1. faya brick. Nano x 1 2. Geared Motor x 2 3. Ultrasonic Distance Sensor x 1 4. Universal Ball Bearing Module x 1

Hardware List 1. 2. 3. 4. 5. faya brick. Nano Universal Ball Bearing Geared Motor Ultrasonic Distance Sensor Bluetooth Module (not using here) 6. micri. USB Cable 7. Brick Set 8. Brick Post 9. Extra bricks 10. Power Wire Set 11. Signal Wire Set

1. faya brick. Nano 1. Compatible to Arduino Nano 2. Includes 4 brick holes to connect to bricks. 3. Includes 2 power heads to supply power to other faya modules 4. Use micro. USB interface

2. Universal Ball Bearing Face up side Face down side Use Universal Ball Bearing Module to support other wheels and reduce moving friction.

3. Geared Motor Side A Side B 1. 2. 3. 4. Input analog signal (DC voltage) at SIG port to control motor speed. Input digital signal (HIGH) at DIR port to rotate motor counter-clockwisely. Input digital signal (LOW) at DIR port to rotate motor clockwisely. You can input signal at either side (A or B) of the module.

4. Ultrasonic Distance Sensor Trig Pin Echo Pin distance to leave wall distance to return 3 steps to calculate distance (1) Sending 10 us HIGH at Trig Pin (2) Detect HIGH TIME at ECHO pin (3) Distance (meater) = HIGH time × velocity of sound / 2 = HIGH time x (340 M/S) / 2

6. micro USB cable 1. Use micro USB cable to connect between faya brick. Nano and computer.

7. Brick Set Normal Type 1 x 1 : 12 pcs 1 x 2 : 12 pcs 1 x 3 : 12 pcs 1 x 4 : 12 pcs 2 x 2 : 8 pcs 2 x 3 : 12 pcs 2 x 4 : 24 pcs (at least) Plate Type 2 x 6 : 6 pcs 2 x 10 : 2 pcs 6 x 8 : 1 pcs 90 degree Type 1 x 1 : 10 pcs 1. LEGO brick compatible 2. Random color for each type 3. A bigger normal type brick maybe replaced by smaller brick for example, a 2 x 4 brick maybe replaced by 2 pcs of 2 x 2

8. Brick Post 1. Use brick post to interface faya modules with bricks. 2. Brick post is stackable, as shown in above pictures.

9. Extra Bricks 6 x 8 : 1 pcs 1. Use extra bricks to create a stronger bot 2. LEGO brick compatible 3. Random color 2 x 6 : 2 pcs

10. Power Wire Type A : Connector-to-Pins Type B : Connector-to-Connector Type B Type A 1. Power Wire is used to supply the power from one to another faya modules. Red Wire connects to Vcc and Black Wire connects to Gnd. 2. Above example shows that the power from Arduino is delivered to DC motor via Type A wire and delivered to other two modules via Type B wires.

11. Signal Wires 1. Signal Wire is used to connect signals between Arduino and faya module pins. 2. The size of the signal wire is AWG 22

Assembling This section introduce the assemble of bricks and faya modules

Assemble Brick Post (1) Assemble Brick Post at board corners of each module.

Assemble Brick Post (2) For Universal Ball Bearing Module, stack the brick post at another side.

Assemble Bot Body (1) Create a structure as shown above. Note that you need to use a 2 x 10 plate and four 90 -degree bricks.

Assemble Bot Body (2) Put two 2 x 3 bricks on the top of body

Assemble Bot Body (3) Put another two 2 x 4 bricks on the top of the body.

Assemble Bot Body (4) Cover the body with a 2 x 10 plate and use four 90 -degree, one 2 x 2, and one 2 x 4 bricks on the top of this plate.

Test Body (5) With this Bot Body, you may connect two Geared Motor Modules to each side through 90 -degree bricks. Please use a Geared Motor Module to make sure that it fits the Bot Body. When pass, remove the Geared Motor Module.

Assemble Bot Body (6) Use 1 2 x 3 plate at the front of the Bot Body, as shown above.

Assemble Bot Body (7) Put two 2 x 4 bricks on the top of the 2 x 3 plate.

Assemble Bot Body (8) Cover the two 2 x 4 bricks with another 2 x 3 plate.

Assemble Bot Body (9) Put two 2 x 6 plate on the brick post of Universal Ball Bearing Module.

Assemble Bot Body (10) + = Refer to the location in above picture, connect the Universal Ball Bearing Module to the Bot Body.

Assemble Wheels Connect two Geared Motor Modules to each side of the Bot Body.

Assemble Bot Body (11) Place a 6 x 8 brick plate on the top of the Bot Body. Please refer to the position shown above.

Assemble Bot Body (12) Put a 2 x 6 brick plate at the end of the Bot Body. Please refer to the position shown above.

Assemble Bot Body (13) Put a 2 x 3 brick next to two 90 -degree bricks.

Assemble Bot Body (14) Cover the end of the body with a 2 x 6 brick plate.

Assemble Bot Body (15) Put a 2 x 6 and a 6 x 8 brick plate on the top of the Bot Body. See above for exact location.

Assemble Bot Body (16) Cover another 2 x 6 brick plate as shown in above location.

Assemble brick. Nano Assemble the brick. Nano at the top center of Bot Body.

Create a Room for Mobile Power (1) Next few steps will show an example to create a room at the end of the Bot for Mobile Power. You may adjust the structure of the room based on the shape / size of your Mobile Power.

Create a Room for Mobile Power (2) 1 st Floor

Create a Room for Mobile Power (3) 2 nd Floor

Create a Room for Mobile Power (4) 3 rd Floor

Create a Room for Mobile Power (5) 4 th Floor

Create a Room for Mobile Power (6) Complete

Assemble Ultrasonic Distance Sensor Assemble the Ultrasonic Distance Sensor at the front of the Bot. Note that only two brick posts are required.

Bot Body Complete Photo after completing Bot Body

Wire Connection This section introduce the connections of power and signal wires

Power Wire Connection Type B Power Wire Use one type B Power Wire to connect the power jack between brick. Nano and Ultrasonic Distance Sensor, as shown in above picture.

Power Wire Connection Use another type B Power Wire to connect the power jack between Ultrasonic Distance Sensor and LEFT Geared Motor Module, as shown in above picture.

Power Wire Connection Use another type B Power Wire to connect the power jack between brick. Nano and Right Geared Motor Module, as shown in above picture.

Power Wire Connection Arrange power wires to make it more neatly. You may hide power wires under modules as shown above.

Signal Wire Connection (Right Wheel) brick. Nano_D 11 Geared Motor_SIG brick. Nano_D 12 Geared Motor_DIR

Signal Wire Connection (Left Wheel) brick. Nano_D 6 Geared Motor_SIG brick. Nano_D 7 Geared Motor_DIR

Signal Wire Connection (Ultrasonic) brick. Nano_D 2 Ultrasonic Distance_Trig brick. Nano_D 3 Ultrasonic Distance_Echo

Source Code Obstacle. Avoiding_1 E. ino https: //goo. gl/W 9 t 5 c. E Copy source code [Obstacle. Avoiding_1 E. ino] to a folder named [Obstacle. Avoiding_1 E]

Code Explanation (1) Distance (2) (3) Wa ll (1) Detect distance (2) If less than 20 cm, change direction (3) If more than 20 cm, go straight

Code Explanation (L 40~L 45) use pulse. In to measure this time L 42~L 44: To activate the ultrasonic distance sensor, it need a 10 us trigger pulse at Trigger pin. L 45: Use pulse. In function to detect the “Time it takes pulse to leave and return to sensor”. This time is the speed of sound (340 m/sec) travel from sensor to the wall and back to the sensor. As the result, the distance can be calculated: 1 cm 34000 cm/sec = 29 us to travel 1 cm Distance = pulse. In Time / 2 29 us = pulse. In Time 58 us

Code Explanation (L 51~L 64) L 51~L 59 : use detected distance as a condition. If less than 20 cm, stop move first, , move back a little bit, and use random function to decide a direction to turn. L 60~L 63 : If distance is more than 20 cm, meaning that there is no obstacle ahead, the bot can keep move forward.

Code Explanation (Bot Movement-1) Forward R-Wheel: CK L-wheel : CCK turn. Right R-Wheel: CCK L-wheel : CCK turn. Left R-Wheel: CK L-wheel : CK CK: clockwise Backward R-Wheel: CCK L-wheel : CK CCK: counter-clockwise

Code Explanation (Bot Movement-2) Important: you can adjust the value of analog. Write to adjust the speed and balance of the bot.

Code Upload (1) Connects USB cable (3) Select Proper COM Port [COMx] (4) Press [Upload] button (2) Select [Arduino Nano] (5) Done uploading

Playing Obstacle Avoiding Bot

Test Run https: //youtu. be/Na_h. Jfmj. LG 0

Note: Adjust the Movement 130 or 170 Due to mechanical tolerance of the geared motor, the speed value of each motor may not be equal. You may adjust the speed of the wheel to ensure that the forward and backward movement follows the straight line. Take right figure for example, if the Bot shift right in Fowrard movement, you can either (1) reduce the speed value of Right wheel, or (2) increase the speed value of the Left wheel.

Note: Additional Brick Post It is strongly recommend to use additional brick post to stack the geared motor at both side to make a stronger structure.

Additional Brick Post You may also use the additional brick post to extend and decorate your Bot

Appendix A : Arduino Installation (1) Visit (www. arduino. cc) and click SOFTWARE (2) Save file in your computer and follow the instructions to install Arduino IDE in your computer https: //www. arduino. cc/en/Guide/Windows

Appendix B : brick. Nano Installation (1/3) (1) Connect brick. Nano to Windows PC with micro. USB cable (2) Windows should search device and install the device driver automatically. When success, A [USB Serial Port (COMx)] should and list it in Device Manager.

Appendix B : brick. Nano Installation (2/3) (3) If windows does not install the driver automatically, please install the driver manually. (3 -1) Right click and select Properties (3 -3) Browse my computer for driver software (3 -4) Browse folder [Arduino/drivers/FTDI USB Drivers] to complete the driver installation. (3 -2) Update Driver

Appendix B : brick. Nano Installation (3/3) (4) When driver installed successfully, the device manager and Arduino IDE should appear the COM Port number for brick. Nano.

Appendix C : Trouble Shooting The default processor firmware is built with ATmega 328 B (Old Bootloader). If you encounter a problem during upload, change the Bootloader to upper one (ATmega 328 P) may help.

Reference Getting Started with Arduino https: //www. arduino. cc/en/Guide/Home. Page Arduino Tutorial https: //www. arduino. cc/en/Tutorial/Home. Page Arduino Programming Language Reference https: //www. arduino. cc/reference/en/ Arduino Playground http: //playground. arduino. cc/ fayalab Module specification and sample code http: //www. kandh. com. tw/products_1. php? gid=33

Technical Support contact us at fayalab@kandh. com. tw K&H MFG CO. , LTD. 5 F. , No. 8, Sec. 4, Ziqiang Rd. , Sanchong Dist. , New Taipei City 241, Taiwan R. O. C. TEL： 886 -2 -2286 -0700　FAX： 886 -2 -2287 -3066 E-Mail：education@kandh. com. tw WEB：http: //www. kandh. com. tw