Build Your Own Combat Robot

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FIGURE 12-1 From top left to bottom right, LEGO RCX brick, Handy Board, Basic Stamp 2, BrainStem, Lineo, OOPic, traditional R/C receiver, and the Pontech servo controller. Chapter 12: Robot Brains 261 which then converts this data into commands the servos and speed controllers understand. Other controllers, such as the Handy Board, take programs that can be used to alter output results based on input results. Users download a piece of code to the controller, and the code then runs on the Handy Board to control the robot. Still other microcontrollers offer reactive mechanisms that automatically manage outputs based on inputs—such as the thermostat in your house, which senses its environment and controls the furnace to keep your house at a comfortable temperature, and sometimes adjusting for times of the day when you are not home or asleep, to conserve energy. The OOPic and BrainStem controllers affect this type of control, called virtual circuits and reflexes, respectively. Some controllers can exhibit more than one type of control, and some can even perform multiple tasks at the same time. You may have robots in your lives that you may not have thought of as robots. Consider a bread maker that knows the time, can mix various bread recipes, can sense heat, and can create auditory output with beeps and displays to inform you what is happening at all times. Some cars have anti-lock brake systems (ABS) that can sense each wheel’s rotation and adjust the braking pressure so the wheels don’t lock and skid, even “pumping” the brakes for maximum stopping power on wet and slippery roads. The details of how to design electronic circuits using microcontrollers, how to write programs, and how to implement the microcontroller is beyond the scope of this book. You’ll find many different books that have been written about various types of microcontrollers and programming techniques to help you. Appendix B lists some excellent books on microcontrollers. Some microcontrollers are simple to get started with, and some are so powerful that they require prior microcontroller experience to use them properly.
262 Build Your Own Combat Robot Feature Basic Stamp 2 Table 12-1 shows a list of some specifications to several different types of microcontrollers. The number of input and output (I/O) lines represent the total number of individual control lines a microcontroller can have. This list combines both digital and analog I/O together. Digital I/O represents a data line where the input and output values are either 5 volts or 0 volts. This is to represent a binary 1 ora0—or, in other words, and on or an off state. An analog I/O signal line represents a line that can interpret a variable anywhere between 0 and 5 volts. A microcontroller’s processor speed is the actual clock speed. Some microcontrollers require the four clock cycles to execute a single command, while other microcontrollers can execute a command in a single clock cycle. The time required to execute a command doesn’t represent the time required to execute a line of programming code. When you write a program, each line will use many different internal commands that the microcontroller understands; thus, program speeds are always slower than clock speeds of a microcontroller. The specification that is really important is the execution time, which is the number of program instructions executed per second. Notice in Table 12-1 the difference in execution times when compared to the clock speeds of the microcontroller. For programming space, the common term that is used to represent how much “memory” a microcontroller has is electrically erasable programmable read only memory (EEPROM), which is the number of - kilobytes of programming memory available on the microcontroller. In the microcontroller world, memory represents how much variable space the program can keep track of, not the amount of Basic Stamp 2SX Basic Stamp 2P Basic Stamp 1 BasicX-24 OOPic BrainStem Handy Board I/O Lines 18 18 12 8 16 31 25 30 38 Processor speed, MHz Execution time EEPRPOM Kbytes 20 50 20 4 8 20 40 2 8 Bot Board 4000 10000 12000 2000 65000 2000 9000 N/A N/A 2 16 16 256 bytes 32 4 16 32 2 Multitasking No No No No Yes Yes Yes Yes Yes Package, inches 24-pin DIP 24-pin DIP 24-pin DIP 14-pin SIP 24-pin DIP Language* Basic Basic Basic Basic Basic Basic, C, and Java TABLE 12-1 Microcontroller Comparison � 2×3.5 2.5×2.5 4.25×3.15 2.2×3.2 TEA C Basic, C
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Build Your Own Combat Robot Pete Mi
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For more information about this boo
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Contents For more information about
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Current Ratings, 129 How It All Wor
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Object Detector, 290 Sensor Integra
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Acknowledgments We would like to th
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Introduction Some kids spend their
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About the Authors xv About the Auth
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2 ELCOME to the world of combat rob
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30 Build Your Own Combat Robot Befo
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42 OVING is what many might call a
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chapter Motor Selection and Perform
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Chapter 4: Motor Selection and Perf
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FIGURE 4-1 Typical motor performanc
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Determining the Motor Constants Cha
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FIGURE 4-2 Heat generated in an ele
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FIGURE 4-4 Motor power changes by d
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Chapter 4: Motor Selection and Perf
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FIGURE 4-7 24-volt, 185 rpm, 896 in
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the robot. If the engine is used to
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80 LECTRICALLY powered competition
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chapter Remotely Controlling Your R
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FIGURE 8-1 Wiring and rotational po
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FIGURE 8-2 Futaba’s top of-the-li
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Chapter 8: Remotely Controlling You
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FIGURE 8-4 Typical radio frequency
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FIGURE 8-5 Motor with three capacit
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Innovation First Isaac Robot Contro
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FIGURE 8-6 Block diagram of Isaac o
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chapter 9 Robot Material and Constr
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Metals Aluminum Chapter 9: Robot Ma
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Stainless Steel Chapter 9: Robot Ma
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Titanium used to solder small brass
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Chapter 9: Robot Material and Const
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Welding, Joining, and Fastening We
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place, or some liquid may have ente
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vibration and bounce around the ins
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204 ECAUSE robot combat has evolved
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FIGURE 14-3 Wheel shown bolted to d
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FIGURE 14-5 Front view with arm dow
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Final Words Chapter 14: Real-Life R
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Chapter 14: Real-Life Robots: Lesso
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design all the parts, and Dave did
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FIGURE 14-12 The 4-inch-tall alumin
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FIGURE 14-15 Internal view of Live
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330 The Future of Robot Combat The
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336 NLESS you’re building an exac
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344 S promised, following are some
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350 Build Your Own Combat Robot Mic
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356 OLLOWING are formulas that you
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358 Index 1BDI, 272 1/4 wave antenn
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sources of robot parts, 35 top ten
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INTERNATIONAL CONTACT INFORMATION A
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