MSP430 Teaching Materials: Advanced Laboratories

MSP430 Teaching Materials
UBI
Chapter 15
Advanced Laboratories
RoboSapien powered by MSP430
Texas Instruments Incorporated

University of Beira Interior (PT)
Pedro Dinis Gaspar, António Espírito Santo, Bruno Ribeiro, Humberto Santos
University of Beira Interior, Electromechanical Engineering Department
www.msp430.ubi.pt
Copyright 2009 Texas Instruments
>> Contents All Rights Reserved
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Contents
UBI
 RoboSapien powered by MSP430
 What is RoboSapien?
 How RoboSapien works?

 Analysis of the dynamics and kinematics of the robot
 Analysis of all sensors, actuators and signal conditioning
 MSP430 integration (PCB board and electronics)
 MSP430 C code programming
 Tests and development of new functionality

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RoboSapien powered by MSP430 (1/2)
UBI
Robotics is being increasingly used as a vehicle for

motivating students to learn:
 Embedded systems;
 Artificial intelligence;
 Computer science;
 And even general science and engineering.
Typically, laboratory classes for courses using robotics

involve the construction and programming of simple
robots, typically composed of:
 Microcontroller;
 Sensors;
 Remote communication devices;
 DC or stepper motors;
mounted in all types of robot bodies.

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RoboSapien powered by MSP430 (2/2)
UBI
The robotics topics involve both in mechanical and
electronic engineering. Projects involve both hardware
and software development, tailored to a specific
application.
This advanced laboratory takes a multidisciplinary

approach and integrates together topics from different
knowledge areas:
 Control systems, for the different control approaches;
 Embedded systems based on the MSP430;
 Instrumentation and measurements for the sensor signal

conditioning and data acquisition;
 C/C++ programming.

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What is RoboSapien? (1/7)
UBI
The RoboSapien is a humanoid robot designed by Mark W.

Tilden, marketed by WowWee (www.wowwee.com/) for
the toy market;
The RoboSapien measures approximately 34 cm in height

and its weight is about 2.1 kg, including four mono (D)
type batteries located in its feet;

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Is preprogrammed for different motions and is controlled

by an infra-red (IR) remote controller:
 Users can string together movement commands to form
either macros or mini-programs (sets of instructions);
 Send a set of instructions to the RS by IR, and save it in on-
board memory for later execution;
 Sensor-keyed instruction set, performing a specific set of
actions in conjunction with a specific sensor system.
RoboSapien is capable of:

 Walking motion;
 Grasping objects with either of its hands;
 Throwing grasped objects with mild force.
It has a small loudspeaker unit, which can emit several

different sounds.
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Some words of the Robot Tech Support, from WowWee

Ltd.:
“The RoboSapien is designed for modification. Here is the short
hint list for the budding RS hacker.
First off, we must warn you that completely replacing the

RS brain should only be attempted by those with a lot of
time, electronic skills, and programming ego.
You don’t have to though — if you carefully remove the

connectors and lift the RS motherboard, on the back you will
find all inputs and outputs labeled, and right next to gold pads
convenient for soldering wires…”
in http://www.robosapien1.com/resources/official-mod-guide/
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This biomorphic robot was designed to be easily modified

or hacked, the electronics inside the RS being easily
accessed and clearly labelled;
A growing community has devoted themselves to modify

and add new functionalities to the robot:
 http://www.robocommunity.com/
Some features have been added in order to provide new

features to the RS:

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Microbi’s Robosapien mods:

 http://www.angelfire.com/droid/rsv2/
 Active modifications: hand-beams, hand-LEDs,
heartbeat, voice off, tunnel-beam, blue eyes.
Robosapien RF Sound Mod:

 (http://home.comcast.net/~robosapien/rfmod.htm)
Robosapien Camera Mod:

 (http://home.comcast.net/~jsamans/robo/robocam.htm)
 Active modifications: wireless camera,
wireless radio, frequency audio and
pc control.

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RoboSapienPets RoboSapien page:

 http://www.aibohack.com/robosap/
 Active mods: SuperSapien microcontroller mod,
color and motion tracking CMUCam
Mark C’s Robosapien Hacking Site:

 http://homepages.strath.ac.uk/~lau01246/robot/myhackrs.shtml
 Active mods: microcontrollers (PicMicro
controllers, and Palm Pilot controllers for
the Robosapien)

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Robocup German Open 2005 tournament:

 2 teams of 3 RSs each played the 1st soccer match for humanoid
robots worldwide;
 Head replaced by a PDA, allowing a display of its environment
using the camera;
 Information sent to a PC though the IR of the PDA.
(Sven Behnke, Jurgen Muller, and Michael Schreib, „Playing Soccer with RoboSapien”, Proceedings of The 9th RoboCup International
Symposium, Osaka, Japan, July 2005)

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How RoboSapien works? (1/4)
Step 1: Analysis of the robot kinematics and dynamics
UBI
 The first task consists in the analysis of the robot

dynamics and kinematics (evaluation of the robot
movements and its characteristics).
 This task requires testing the RS movements.

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Step 1: Analysis of the robot kinematics and dynamics
UBI
 A. Analysis of the RS movements:

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Step 1: Analysis of the robot dynamics and kinematics
UBI
 A. Analysis of the RS movements:
 Dynamic walking pattern:

• (1) The trunk motor tilts the upper body to the right.
The centre of mass shifts over to the right foot. The left
foot lifts from the ground;
• (2) The hip motors move in opposite directions, resulting

in a forward motion of the robot. As the upper body
swings back, the left foot regains contact with the
ground;
• (3) Similar to (1). The trunk motor tilts the body to left;
• (4) Similar to (2). Hip motors move in other direction.

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Step 1: Analysis of the robot dynamics and kinematics
UBI
 B. Analysis of RS’s remote control commands:

 The RS’s remote control unit has 21 different buttons;
 With the help of two shift buttons, 67 different robot-

executable commands are available.

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Step 2: Actuators, sensors and signal conditioning analysis
UBI
 The next task requires a dismantling procedure to allow

detailed analysis of the:
 Actuators (motors);
 Regulation electronics;
 Sensors and respective signal conditioning;
 PCB included with the original robot.
 A procedure for dismantling the RS in order to give it

additional features is detailed in:
http://personal.strath.ac.uk/mark.craig/robot/robos.shtml

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RS’s PCB (Controller U2 and Motor Driver U3) is easily

accessed and clearly labelled:
 M:Motors;
 P: Input or output port;
 VDD: Raw battery voltage (fluctuates wildly);
 Vcc: Regulated voltage (Vcc = 3.6 V);
 Gnd: Universal ground.

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Tasks:
 List and investigate the functions of:
• All the components and devices included on the PCB;
• Actuators, sensors and output devices;
 Determine the mechanical and/or electrical characteristics of:

• Controller U2;
• Motor driver U3;
• Power switch;
• Motors: shoulder (2); elbow (2); hip (2) and trunk (1);
• Foot touch sensors (4);
• Finger touch sensors (2);
• End course position switches (shoulders and elbows);
• Sound sensor;
• Eight LEDs (fingers (2) and eyes (6));
• IR receiver and external IR remote control.
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A. Motor controller (U2) connections:
 Details of the connections to the motors of the U2 controller.
 Shoulder motors:

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 Elbow motors:

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 Hip and trunk motors:

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B. Position switches and touch sensor connections:
 Details of the connections to the switches of the U2 controller.
 Shoulder position switches:

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 Elbow position switches:

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 Finger touch sensors:

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 Feet touch sensors:

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C. LEDs connections:
 Details of the connections to the LED of the U2 controller.
 Finger LED connections:

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C. LEDs connections:
 Details of the connections to the LED of the U2 controller.
 Eye LED connections:

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D. Command and power connections:
 Details of the command and power connections.
 Command and power connections:

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E. Acquisition and analysis of digital port signals:
 Continue with the analysis of the digital signals acquired from

the ports on the PCB;
 Evaluate the original microcontroller control output ports when

the robot performs a specific command function;
 Define the time sequence of the active/inactive motor in each

specific movement;
 Procedure:
• List the active/inactive time of each motor:
o Single movement (single motor);
o Combined movements (more than one motor).

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 Task:
 Use an oscilloscope to acquire the signals used for single
movements;
 If available, use a logic analyzer to acquire the signals used
for the combined movements signals;
 Connect probes to the output port pins.

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 Single motor signal analysis:

• Compare the output signal from the original
microcontroller and the signal that the motor receives.
• Examples:
(a) Output signal vs. motor input signal. (b) Left elbow movement from the inside
to outside and vice-versa.
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 Analysis of signals for combined actions:

• Connect probes to the original microcontroller ports to
measure the digital signals with a logic analyzer.
• Example: combined movement: “Oops”.

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F. Analysis of the eyes pattern:
 Evaluate the eye pattern (6 LEDs – P2.0 to P2.5) depending

on the command that is executed:
Commands Eye pattern Commands Eye pattern
Awake Angry
Down right Startled
Down left Sleep
Look up Off
Confused Wink
Look down Program mode
Up right Program right reflex
Up left Program left reflex
Listen Program sonix reflex
Listen

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G. Analysis of the IR commands:

 Using a logic analyser, determine the IR command digital
value (port IR-OUT) for each movement command of the
remote controller.
 Serial communication specifications:

• Direct serial input to the IR-OUT pin (active low signals,
1200 bps);
• Timing based on 1/1200 second clock (~ 0.833 msec)

Signal is normally high (idle, no IR);
• Data bits: for each of the 8 data bits, space encoded

signal depending on the bit values (Sends the most
significant data bit first). (Carrier is 39.2 kHz);
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G. Analysis of the IR commands:
 Serial communication specifications:

• Preamble: signal goes low for 8/1200 sec;
• data bit = 0: signal goes high for 1/1200 sec, and low for
1/1200 sec;
• data bit = 1: signal goes high for 4/1200 sec, and low for
1/1200 sec;
• Example: Command “Wake Up”: 0xB1.

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MSP430 Integration (1/9)
UBI
Development of a PCB to facilitate connections to the

MSP430;
Microcontroller: MSP430F149;
Resources:
 Motors: P6.0 – P6.7 , P2.0 – P2.5;
 LEDs: P4.0 – P4.7;
 IR: P1.1;
 Switches: P1.2 – P1.3;
This task requires the fabrication

and assembly of the components
and devices on the proposed PCB.
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UBI +3.3
New PCB schematics: TDI

P1
TDO/TDI
1 2
R1
47K C15 +3.3
3 4 +3.3
TMS
5 6 10nF R2
TCK
7 8 330R
9 10
RST/NMI P5
11 12
P14
13 14 4
P13
DS1 3
Header 7X2 P12
LED3 2
P11/IR
1
Switch
P62 61
P61 60
P60 59
RST/NMI
TCK 57
TMS 56
TDI 55
TDO/TDI
XT2IN53
XT2OUT
P6
+3.3 LED8
C4 C3 8
LED7
64
63
62
58
54
52
51
50
49
10uF 100n 7
LED6
6
LED5
5
1 48 LED4
P5.7
P5.6
P5.5
TCK
DVcc1 P5.4 4
TMS
DVss
AVss
AVcc
P63 2 47 LED3
XT2IN
P6.3/A3 P5.3 3
P6.2/A2
P6.1/A1
P6.0/A0
P64 3 46 LED2
XT2OUT
TDO/TDI
RST/NMI
P6.4/A4 P5.2/SOMI1 2
TDI/TCLK
P65 4 45 LED1
C1 P6.5/A5 P5.1/SIMO1 1
12pF P66 5 44
P6.6/A6 P5.0/STE1
P67 6 43 P47 LED
P6.7/A7 P4.7/TB7
7 uP1 42 P46
VREF+ P4.6/TB6
8 MSP430F149 41 P45
XIN P4.5/TB5
9 40 P44 P4
2
XOUT P4.4/TB4
Y1 10 39 P43 P67
VeREF+ P4.3/TB3 8
85SMX 11 38 P42 P66
VREF-/VeREF- P4.2/TB2 7
12 37 P41 P65
P1.0/TACLK P4.1/TB1 6
P11/IR
13 36 P40 P64
P1.1/TA0 P4.0/TB0 5
P1214 35 P63
3
P1.2/TA1 P3.7 4
P1315 34 P62
P1.3/TA2 P3.6 3
P1416 33 P61
C2 P1.4/SMCLK P3.5 2
12pF P60
1
Motores1
P1.5
P1.6
P1.7
P2.0/ACLK
P2.1/TAINCLK
P2.2/CAOUT/TA0
P2.3/CA0/TA1
P2.4/CA1/TA2
P2.5/Rosc
P2.6/ADC12CLK
P2.7/TA0
P3.0/STE0
P3.1/SIMO0
P3.2/SOMI0
P3.3
P3.4
P3
P2 +3.3 P25
6
P20
P22
P23
P25
P21
P24
P30
P31
P32
P33
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
P24
2 C5 C6 5
P23
1 100n 10uF 4
LED7 P22
3
LED3 LED5 P21
2
LED1 P20
R9 Q7 1
P46
P42 R5 Q3 P44 R7 Q5 BC847 Motores 2
P40 R3 Q1 BC847 BC847
4K7
BC847
4K7 4K7
4K7
LED8
LED2 LED4 LED6
P41 R4 Q2 P43 R6 Q4 P45 R8 Q6 P47 R10 Q8

BC847 BC847 BC847 BC847
4K7 4K7 4K7 4K7

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New MSP430 PCB Connector Motors_1 connections to the

RS controller: Pin U2 controller
P2.0 M1+
P2.1 M1-
P2.2 M2+
P2.3 M2-
P2.4 M3+
P2.5 M3-
New MSP430 PCB Connector Motors_2 connections to the

RS controller: Pin U2 controller
P6.0 M4+
P6.1 M4-
P6.2 M5+
P6.3 M5-
P6.4 M6+
P6.5 M6-
P6.6 M7+
P6.7 M7-
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New MSP430 PCB Connector LED connections to the RS

controller:
Pin U2 controller RS location LED position Figure
LED1 (P4.0) L1 Left eye Upper
LED2 (P4.1) L2 Left eye Middle
LED3 (P4.2) L3 Left eye Lower
LED4 (P4.3) L4 Right eye Middle
LED5 (P4.4) L5 Right eye Upper
LED6 (P4.5) L6 Right eye Lower
LED7 (P4.6) L7 Left gripe

LED8 (P4.7) L8 Right gripe

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New MSP430 PCB connector switch connections to the RS

controller:
Pin U2 controller RS location
P1.1 IR
P1.2 LFT / LFG Left foot + Left finger
P1.3
P1.4 RFT / RFG Right foot + Right finger
(*)
LEL Left elbow
(*)
LSH Left shoulder
(*)
REL Right elbow
(*)
RSH Right shoulder
(*) These connections were not used because the code has
been developed to take into account the shoulders and elbows
motors active period time, to obtain the end positions.
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New MSP430 PCB masks:

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Remove the original U2 controller from the RS PCB:
(a) RoboSapien PCB board without microcontroller. (b) Original ASIC.

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The next task requires soldering wires onto the

RoboSapien PCB at each pin location of the U2 controller:

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Examples:
 MSP430 mounted on the back of the RoboSapien PCB;
 Connections to the original PCB assembled in the RS.
(a) Connections to the RoboSapien PCB. (b) New PCB with the MSP430.

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MSP430 C code programming (1/13)
UBI
Project files:
 C source files: Chapter 15 > Lab11a > main.c

Chapter 15 > Lab11a > Global.h
Chapter 15 > Lab11a > Commands.h
Chapter 15 > Lab11a > Commands.c
Chapter 15 > Lab11a > Actions.h
Chapter 15 > Lab11a > Actions.c

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Overview:
 The C code allows the MSP430 to control the RS movements.

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Resources:
 TIMER_A is configured in compare mode, providing an ISR

once every 1 msec;
 Timer_B is configured in capture mode, providing an ISR to

implement the receiver command task;
 This application makes use of the following MSP430F149

resources:
• Timer_A;
• Timer_B;
• I/O ports;
• Interrupts; Copyright 2009 Texas Instruments
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Software application organization:
 Definition and implementation of the command receiver task

(Commands.h and Commands.c);
 Implements all the functions of the system task, to drive the

motors and LEDs, and monitor the switches (Actions.h and
Actions.c);
 Defines the movement tables ACTION DATA TABLES

(main.c):
• Times when to toggle each motor state (active/inactive);
• LED patterns;
• Motors initially active;
• Motors enabled;
• Data from Step2E and Step2F.
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 Definition and implementation of the command receiver

task (Commands.h and Commands.c);
 Functions of the System task to drive the motors and LEDs,

and monitor the switches (Actions.h and Actions.c);
 Define the movement tables ACTION DATA TABLES (main.c):

• Time to toggle each motor state (active/inactive);
• LED patterns;
• Motors initially active;
• Motors enabled;
• Data from Step2E and Step2F.

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 A. Organization of the information required for the RS

actions:
• The table pointers ensure rapid access to the “access
table” information:
o Contains all the structure addresses (move data);
o Movements = data structures “data movements ()”;
o Structure = {time, sequence, initial state, stop};
o Each motor starts at the initial state and toggles
between states On and Off when the timer decreases

to 0;
o When a counter reaches 0, the next timer is activated;
o The motor stops if the counter reaches 0 and the next
counter contains a count of zero.

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 A. Organization of the information required for the RS

actions (continued):
Data Movement (1) Data Movement (2) Data Movement (3) Data Movement (n)
ActPtr[]
Access table
n= Max RS accions

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 B. Logic motors:
• The RS motors have 3 states:

o Rotate clockwise;
o Rotate counter clockwise;
o Stop.
• Control of each motor is implemented as two logic

signals.

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 B. Logic motors:
Timers
[0] [1] [2] [3] [4] [13] [14]
Motor 1
M1+ [0] 2643 425 0 0 0 0 0 1 0 Example: M1 = state 0
M1- [1] 525 531 319 1693 0 0 0 1 1
[2] 0 0 0 0 0 0 0 0 0
If M1+ = High & M1- = Low
Motors
[12] 0 0 0 0 0 0 0 0 0
then, M1 runs counter
[13] 0 0 0 0 0 0 0 0 0 clockwise
Motor State Motor
Motor Initial Value State
4
Clockwise
1 3 5
M1+, M1- are logical motors; M1 Stoped
Cclockwise
0 2
Both represent the physical motor M1; M1 +

Low
HI
Note: M1+, M1- cannot have the M1 -

HI
same high state (short circuit) Low

t [ms]
525 531 319 1693
2643 425
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 C. Software architecture:

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 D. Background task:

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 D. System task:

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 E. IR command task:

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Tests and development of new functionalities
UBI
The final task consists of performing tests to evaluate the

robot movements and perform fine-tuning;
Proposals for the development of new functionalities;
Examples:
 Wireless communications instead of IR remote control;
 Voice commands (use other devices in the MSP430 family);
 Integrate sensors (optical, acoustics and others...);
 Digital camera to provide more autonomy for the RoboSapien.
Now, it is up to you! Try to reach the next phase of the

RoboSapien evolution.

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MSP430 Teaching Materials

Texas Instruments Incorporated

 How RoboSapien works?

 MSP430 integration (PCB board and electronics)

 MSP430 C code programming

 Tests and development of new functionality

Copyright 2009 Texas Instruments

Robotics is being increasingly used as a vehicle for

Typically, laboratory classes for courses using robotics

Copyright 2009 Texas Instruments

This advanced laboratory takes a multidisciplinary

 Embedded systems based on the MSP430;

 Instrumentation and measurements for the sensor signal

Copyright 2009 Texas Instruments

The RoboSapien is a humanoid robot designed by Mark W.

The RoboSapien measures approximately 34 cm in height

Copyright 2009 Texas Instruments

Is preprogrammed for different motions and is controlled

RoboSapien is capable of:

It has a small loudspeaker unit, which can emit several

Some words of the Robot Tech Support, from WowWee

First off, we must warn you that completely replacing the

You don’t have to though — if you carefully remove the

This biomorphic robot was designed to be easily modified

A growing community has devoted themselves to modify

Some features have been added in order to provide new

Copyright 2009 Texas Instruments

Microbi’s Robosapien mods:

Robosapien RF Sound Mod:

Robosapien Camera Mod:

Copyright 2009 Texas Instruments

RoboSapienPets RoboSapien page:

Mark C’s Robosapien Hacking Site:

Copyright 2009 Texas Instruments

Robocup German Open 2005 tournament:

Copyright 2009 Texas Instruments

 The first task consists in the analysis of the robot

 This task requires testing the RS movements.

Copyright 2009 Texas Instruments

 A. Analysis of the RS movements:

Copyright 2009 Texas Instruments

 A. Analysis of the RS movements:

 Dynamic walking pattern:

• (2) The hip motors move in opposite directions, resulting

• (4) Similar to (2). Hip motors move in other direction.

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 B. Analysis of RS’s remote control commands:

 With the help of two shift buttons, 67 different robot-

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 The next task requires a dismantling procedure to allow

 A procedure for dismantling the RS in order to give it

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RS’s PCB (Controller U2 and Motor Driver U3) is easily

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 Determine the mechanical and/or electrical characteristics of:

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 Hip and trunk motors:

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 Shoulder position switches:

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 Elbow position switches:

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