Examples of practical applications of BASIC Stamp controller

Examples of practical applications of BASIC Stamp controller

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: //mac 5. pe. chalmers. se • Hugh Mac. Millan Rehabilitation Centre, Toronto, Ontario, Canada, has a project using the STAMP to control an artificial hand for young amputees

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

• 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/pocketbot. html

Example of Stamp Interfacing

Stamp Interfacing Example of Stamp Interfacing • Corky'z Robotz- an IR Controlled robotic toy. http: //www. geocities. com/ Silicon. Valley/Park/1302/r obotz. htm – Corky'z Robotz- an IR Controlled robotic toy. http: //www. geocities. com/ Silicon. Valley/Park/1302/ro botz. htm

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

Emminence Airship Project Purpose of this Project: ØA fun and exciting learning opportunity Practical Applications ØAdvertising ØScientific Research ØMilitary and Police ØTelecommunications

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

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

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

• 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 The Motors

Onboard System GPS Video Compas s Central Process or • Subsystems controlled by CPU Motion Control Processor Motion Control Circuitry

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

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.

Data. Turbine Developer API • Data sources are coordinated and mapped to operator

Robot Software Architecture Autonomy Application Coordination Application Data Turbine Operating System • Built on Windows OS • Developers API for data transmission with TCP/IP • Interface for operator received controls • Autonomous mission platform

Operator Software Architecture Input App Outpu t App Client Core Specification Data. Turbine Operatirng System • 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

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 Rover. Werx

Future Missions • Autonomous missions with other Intelligent Robots

MIDI communication Protocols

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

Serial Comunicacation • Bit by bit • Asynchronous • Serial Protocol for RS-232 (RS-432, MIDI. . . ) – (0 logic [+3, +25 V] and 1 logic [-3, -25 V]) RS 232 C • 110 to 256. 000 bauds • Connector with 9 pins, 3 used. – – Transmit Data (TXD) pin 3 in DB 9 Receive Data (RXD) pin 2 in DB 9 Ground (SG) pin 5 in DB 9 cables that switch 2 and 3

RS-232 transmission • UART (Universal Asynchronous Receiver/Transmitter) • Parity bits, etc, check it in your documentation. RS-232 Programming • In PC • • COM 1 COM 2 COM 3 COM 4 COM Ports 3 F 8 2 F 8 3 E 8 2 E 8

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

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)

Examples of connections

• B. STAMP – SEROUT Tpin, Baudmode, ( {#} Output. Data ) – SEROUT Tpin {Fpin}, Baudmode, {Pace, } {Timeout, Tlabel, } [ Input. Data ] – SEROUT Tpin, Baudmode, 0, [ Input. Data ] – Program Change en canal 3 0 x. C 2 192+2 = 194 – Note ON in canal 3 0 x 92 144+2 = 146 – Note OFF in canal 3 0 x 82 128+2 = 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]

• Buchla’s The thunder • Bio. Muse (Brainwave detector!)

Will be in next projects related to Cyber Theatre Many applications of DSP, speech technologies, sound technologies and microcontroller technologies

Micromouse Hardware

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

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

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

Propulsion choices • DC Motors • Servos • Stepper Motors • DC Motors – Cheap, small – Need gearbox – Need shaft encoders – H-Bridge • Discrete • SGS Thompson L 293 D – Can drive two motors – 600 m. A per motor

Propulsion • Servos – Need to modify for continuous rotation – Need shaft encoders – Can be driven without HBridge – Come with attachments – Perfect for Basic Stamp • 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 UCN 5804 LB – 1. 25 A – 35 V

• IR Sensors – Proximity • Easiest to implement – Distance • Sharp GP 2 D 02 • IR Sensors • Wall Feelers – Simple to make and adjust – Tend to get hung up at wall openings

Simple Microcontroller Techniques for Sculpture

Why use microcontrollers in Sculptures? • To sense and respond to viewer’s actions • To sense and respond to environmental changes • To sequence events • To set up contingencies • To control motion, light, sound

Mark Porter. 2001. Shield slows a self-degenerative process

Mark Porter. 2001. Shield slows a self-degenerative process

Problems to solve • reverse directions of two motors at particular points in their travel • ensure that the moving arms don’t become and remain synchronized

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

#include <12 c 509. h> #use delay(clock=4000000) void main () { set_tris_b(0 b 001111); //four lines are inputs, two are outputs while (1) { if(input(pin_B 0)==0) // if cw. Lamp. Limit is touched {output_high(pin_B 4); } // activate lamp. Motor. Relay} if(input(pin_B 1)==0) // if ccw. Lamp. Limit is touched {output_low(pin_B 4); } // de-activate lamp. Motor. Relay} if(input(pin_B 2)==0) // if cw. Shield. Limit is touched {output_high(pin_B 5); // activate shield. Motor. Relay delay_ms(500); } //wait half a second to ensure //non-synchronous movement if(input(pin_B 3)==0) // if ccw. Shield. Limit is touched {output_low(pin_B 5); } // de-activate shield. Motor. Relay} } }

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@ieee. org • Franklin Alioto, Christine Beltran, Eric Cina, Vince Francisco, Margo Gaitan, Matthew O’Connor, 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