Makeweekend Robotics

TANDEMIC
WE BUILD TECHNOLOGY TO
MAKE THE WORLD A
BETTER PLACE
THANKS
The Challenges

The Challenges
1. The Water Drone Challenge
2. The Awesomeness Challenge

But pick something...
That you can build in 1-2 days
Where you can get the necessary supplies
over the weekend
Water Drone Challenge
Launch into the water
Follow a course path
In less than 10 minutes

Winners...
Are fastest
Autonomous, self-powered with the battery and single
motor
Don't sink or explode, deviate from the course
Awesomeness Challenge
Autonomous - instructions from Arduino board

Winners...
Make us go wow!
Must work during the demo session

Prize for Speed Challenge (x5)
The 3pi robot is designed to excel in line-
following and maze-solving competitions
Prize for Awesomeness challenge
(X5)
Zumo Bot - To compete in sumo bot
competitions.
Where you can find supplies
Outdoor hardware station - outside
Anything that is not electronic
Cutting and drilling stuff -- work bench outside (wood,
pipes, etc)

Food - outside
Programming, soldering, electronics - at your
tables


Recommended Process
Program & build
Check with Sky / Chris
Test in kiddie pool

Makeweekend Robotics
How2
Arduino +
Hardware
Christopher Hrabia (Chris)
chris@tandemic.com
The Agenda
Arduino
Setup
IDE introduction
Arduino programming
Hardware setup
Useful things
Additional requirements
Further information
Arduino

Arduino
Arduino is an open-source
electronics prototyping
platform based on flexible,
easy-to-use hardware and
software.
Setup

Setup
Install Arduino-IDE
o Unzip arduino-1.0.4-windows.zip
Insert the USB cable into the Arduino and
your computer
If the drivers are not automatically detected,
you find them inside the extracted folder
Open the Arduino.exe

IDE Introduction

Arduino IDE
Editor
Build Flash
Error
Configuration
Configuration
Load Basic example
Arduino
Programming

Sketch
A sketch is the name that Arduino uses for a
program. It's the unit of code that is
uploaded to and run on an Arduino board.






http://arduino.cc/en/Tutorial/Sketch
Example

C\C++ with Arduino
General:
Statements are closed with a ;
Curly brackets define a scope { }





http://arduino.cc/en/Tutorial/HomePage
C\C++ with Arduino
Variables: Named place to store information of
a specific type

Different types: int, char, long,
float,boolean
Declare and define: int x;
Store data on a variable: x=10;
Use a variable:
y=x+x;


http://www.arduino.cc/en/Reference/VariableDeclaration
C\C++ with Arduino
C\C++ with Arduino
Functions: Reusable/Recallable piece of code

Functions define an own scope
Declare and define:
Name(Parametertype parametername, ...){
Functionbody
}
Call function:
Name(variable or value to pass if any);
http://arduino.cc/en/Reference/FunctionDeclaration

C\C++ with Arduino
C\C++ with Arduino
Special functions:
Setup:
The setup function is called once on power
up of the Arduino. This is the place to
initialize and setup your environment.
Loop:
Loop is called endless in a "Loop" as long
your device is powered. Here you place the
program logic.

C\C++ with Arduino
C\C++ with Arduino
Objects: Objects combine functions and
variables to an own stateful object, described
by classes. The object behavior is defined by
the functions, the state by the variable
content.
Created with declaration and definition
similar to basic variable types
Classname objectname;
Use . operator to access object variables
and functions: objectname.function();

C\C++ with Arduino
C\C++ with Arduino
Control structures:
Conditions:
if (x<10) {...} else{...}
Loops:
while (x<10){...}
for(int i=0; i<10;i++)
{...break;...continue;..}
switch(variable){case 1: ... break;
}
http://www.cplusplus.com/doc/tutorial/control/
C\C++ with Arduino
C\C++ with Arduino
C\C++ with Arduino
C\C++ with Arduino
Variable arrays: An array is a collection of
variables that can be accessed with an index
number.
Declaration and definition:
int myInts[6];
Declaration, definition and initialization:
int myPins[] = {2, 4, 8, 3, 6};
int mySensVals[6] = {2, 4, -8, 3, 2};
char message[6] = "hello";
Use: myInts[5]=myInts[4]+2;
http://arduino.cc/en/Reference/Array








http://arduino.cc/en/Reference/Array
C\C++ with Arduino
Libraries
Libraries in the Arduino world are reusable
code snippets, which usually encapsulate
complex hardware access or algorithms
Install:
Copy library directory into the libraries folder
of your Arduino IDE
Restart the IDE
Use: Menu - Sketch - Import Library


http://arduino.cc/en/Reference/Libraries
C\C++ with Arduino
Hardware Setup

Brushless motor
Propeller
Servo
LiPo-Battery
Sonar - Ultrasonic-Range-Finder
Hardware setup
Signal
VCC
5V
GND
Brushless-
Motor
ESC
Arduino
Vin
GND
Pin9
Servo
Signal
VCC
5V
GND
Pin10 5V GND
Sonar
GND ECHO TRG VCC
GND Pin12 Pin13 5V
Signal
VCC
5V
GND
Brushless-
Motor
ESC
LiPo-Battery
- +
Arduino
Vin
GND
Pin9
Servo
Signal
VCC
5V
GND
Pin10 5V GND
Sonar
GND ECHO TRG VCC
GND Pin12 Pin13 5V
Useful Things

How to control brushless motors
and servos
Brushless motors are
controlled by ESC
ESC and servos are
controlled by a PWM signal
Arduino Servo library
generates PWM signals
ESC will not use the full range
of 180
For usage, check example
code of Servo library
How to control brushless motors
and servos
How to use the sonar
How to deal with time
Get timestamp in milliseconds:
o int now = millis();
Delay or wait for a while:
o delay(1000);
o Will not affect Servo/Brushless PWM generation
Debug practise
Use Serial Monitor to read write outs created
by your device while it is connected to usb
Serial Monitor: Arduino-IDE -> Tools ->
Serial Monitor (CTRL+SHIFT+M)
Debug practise
Print text:
o Serial.print("TESTTEXT");
o Serial.println("TESTTEXT");
Print variable
o Serial.print(variablename);
o Serial.println(variablename);
General tips
Good programmers are not reinventing the
wheel, copy and paste is king!

But be careful,

and learn from your copies!
Additional
requirements

Requirements
Shut off engines after 10 seconds of full
collision, sonar distance below 10cm
Shut off engines after 3min of runtime

Requirements
Design
boat/vehicle
Assemble/Solder
electronics
Program Drone
Quality control at help
desk before plugging in
the battery
Test vehicle in water
pool before inserting
electronics
Put everything
together
Dry testing without
propeller
First supervised
test in pool without
propeller
Test with propeller
in pool
Test in
lake
Further
Information

Further information
Examples included in the Arduino IDE
Arduino tutorials:
http://arduino.cc/en/Tutorial/Sketch
http://www.ladyada.net/learn/arduino/index.html
Simple sonar example projects:
http://www.instructables.com/id/Simple-Arduino-and-HC-SR04-Example/
http://tutorial.cytron.com.my/2012/10/11/testing-ultrasonic-ranging-module-sn-
hc-sr04/
Sonar libararies:
https://code.google.com/p/arduino-new-ping/
http://freecode.com/projects/hc-sr04-ultrasonic-arduino-library
Further information
Controlling a brushless motor and ESC with
Arduino:
http://techvalleyprojects.blogspot.com/2012/06/arduino-control-escmotor-
tutorial.html
The URL for the forum
moot.it/makeweekened