Drivetrain Microcontroller and Transmitter Controlling Robots can be

Drivetrain, Microcontroller and Transmitter

Controlling Robots can be controlled in 2 ways: 1. Some robots use software to run by themselves without human input. 2. Some use an input device that allows a human to control.

The Control Subsystem The control subsystem, which provides the link between the robot and human operator, consists of: 1. The Transmitter (TX) 2. The Receiver Module (RX) 3. Microcontroller 4. Motor Ports

Transmitter and Receiver Module

Transmitter § Primary input device § 2 joysticks that move up/down/left/right § Has 6 channels located on the back of the transmitter § Communicates signals to the receiver module.

Receiver Module § Receives electromagnetic signals from the transmitter. § Passes the signals to the microcontroller

Microcontroller

Microcontroller § Uses software to interpret the signals from the § § receiver. Passes signals to the motors, which move. Contains 8 motor ports. Motor ports are directly mapped to the channels on the transmitter. To control a motor using the buttons for Channel 5, you plug the motor into Motor Port 5. There are 8 motor ports but only 6 channels. Therefore, some channels will control more than 1 motor port at the same time.

Electromagnetic Signals for VEX Robots § http: //www. education. rec. ri. cmu. edu/roboti cscurriculum/vex_online/lessons/remote_c ontrol/mult/cont_res. html

Tank Drive vs Arcade Drive § The default configuration for the microcontroller is for tank drive. Also in the default drive, Motor Port 7 is driven by channel 5 and Motor Port 8 is driven by channel 6. § Tank drive will utilize both joysticks while arcade uses only the right joystick. § In arcade drive, the right motor must be plugged into motor port 2, the left into motor port 3 and a jumper clip inserted into I/O port 14.

Tasks 1. Construct a squarebot and configure for tank and arcade drive using Unit 4, pp. 11 -13, from Science 701. 2. Construct protobot and compare to squarebot with respect to stability, speed, propulsion and control. 3. Learning Journal a) make notes on comparison of 2 robots. b) Identify the advantages and disadvantages of tank and arcade drive. Use Unit 4 p. 15 as a guide if necessary. 4. Be able to demonstrate hoe to configure transmitter for both drives.