“Robot” is imagination symbol of human. From only “Smart person” can make the robot.

Now with the modern learning development tools can help anybody to make the robots and develop bythemselves.

Today the small greatest dreams of children come true.

Welcome to Robotics !!

Class WorkshopMany students and children who are interested in robot knowledge require consturction & programming skills. Robotic Workshopis required to teach these students. However, Robo-BOX 3.0 has its own unique robotic curriculum that is included in the CD-ROM that allows students to learn their own without a teacher. This self-learn system makes it easier for teachers to teach anddeliver the workshops easily as well.

Class challengesThe nature of challenges are to assess and evaluate students’ thinking, analysis, development, programming andimplementation skills.

This is very evident in Robotics Challenges and Competitions as well. Students are very engaged and very enthusiastic aboutRobotics Competitions and put everything on the line just to have the satisfaction of achieving and winning.

ROBOBOX 3.0 can deliver great challenges as its multi functional features allow many varieties of challenges for students.

This provides and inexpensive way for learning about technology, programming, pre-engineering, and engineering skills. SuchCompetitions also guide students through a variety of electronics, programming and physics based activities as they preparetheir robots for the competition.

Family relationshipRobo-BOX3.0 encourages family bonding. Many parents are using robotics to develop their child’s thinking process.

There are also many parents who are not well versed in Robotics but still would like to use such a technology to teach theirchildren. Robo-BOX3.0 delivers such. It is an easy platform to understand and program. Parents and children can think, build,program and have an enjoyable family time learning and exploring about robotics together.

The kit provides everything a parent needs to teach and advice their children about robotics.

Part List_____________________________________________________________________________2

Getting started with the i-BOX ________________________________________________________3

System Requirement_________________________________________________________________4

Cables in Robo-BOX3.0 kit____________________________________________________________4

Software installation and Interfacing with Computer___________________________________5

Command block summary of LogoBlocks_____________________________________________6

How to develop Robot programming_________________________________________________7

Building O2 robot_____________________________________________________________________8

Basic Moving ________________________________________________________________________9

Bumper : Object detection robot___________________________________________________13

Light Bot : Light controlled robot_____________________________________________________15

Line Tracker : Simple Tracking Line robot _____________________________________________17

Building NanaTank robot____________________________________________________________18

NanaTank with simple movement___________________________________________________20

NanoTank moves in area - never fall from table ! ________________________________________22

NanoTank moves along the line______________________________________________________23

NanoTank with Touchless object detection____________________________________________26

NanoTank finds object______________________________________________________________27

NanoTank with Sound detection____________________________________________________29

NanoTank with Tilt detection - Robot will not over ! ____________________________________30

RF remote controlled NanoTank robot_________________________________________________31

Controller board and Interface part

Sensor

Machanical parts

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NotebookcomputerUSB Interface

USB cable

USB to Serial port converter

Desktop PCSerial port Interface

CX-4 cable

CX-4 cable

Piezo speaker

Digital outputconnect with LEDs,Lights or Relaydriver circuits

LDR Light sensor

Analog input

Infrared reflector

Infrared ranger

Switch/Touch sensor

Digital input

MicrocontrollerThe brain ofRobot, containsLogo interpreterfirmware

RUN/STOP switch

Stop program Run program

Motor direction indicatorForward Backward

Motor output

DC motor DC gearbox

POWER switch

Turn ON or OFF the supply voltageto all circuit

AA size Batteryi-BOX III supportssimple Alcalinebatteries andRechargeablebatteries.Use 4 “AA”(not included).

Install Batteries

Getting start i-BOX

2. Turn on POWER switch. The Red LED light willblink a few times followed by a Beeping soundfrom its speaker.

1. Flip the i-BOX around and open the batterycover to place 4 “AA” batteries into the batteryholder. Please ensure that the polarity of theplacement of your batteries are correct in orderfor the i-BOX to function.

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HardwareYou will need either a PC or laptop computer to run the Robo-BOX software.Getting started with Robo-BOX is easiest if your PC or laptop has the followingfeatures:

• Harddisk space 15MB

• 800 x 600 Resolution Color Monitor. 1024 x 768 recommended.

• A serial or USB port

• A CD-ROM drive, World Wide Web access, or both.

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Software• Install Windows ME or newer operating system. Windows XP Service-pack2 recommended.

CX-4 cable :The cable that connects between Computer’s COM port orUCON-232S DB-9 connector (if use UCON-232S) with i-BOX.

Pin 2 —— RxD Receive data

Pin 3 —— TxD Transmit data

Pin 4 —— DTR Ready signal

Pin 5 —— GND System Ground

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PCB3AA-8 cable :The cable that connects between i-BOX controller with anysensor and application module. Sometime calls “Sensorcable”. The length is 8-Inches.

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i-BOX can interface with your computer in 2 ways. One is the direct serialconnection to your computer with the CX-4 cable. The other mode is viayour computer’s USB port using the UCON-232S USB to Serial converterdevice. However, for the 2nd method, using the USB port, you will first needto install the driver provided by the USB to Serial converter device that isbundled in this kit.

How does the i-BOX interface with my computer

Notebook

USB Interface

USB cable

USB converter

Desktop PC

Serial port Interface

When you connect the UCON-232S to your computer’s USB port for the firsttime, windows will detect a new hardware device and will prompt you fora suitable device driver. Choose the ucon-232_driver folder within thebundled ROBOBOX CD-ROM.

After installation, you can check the newCOM port for UCON-232S. Open the Controlpanel > System > Device manager and seeunder Ports. You will see the USB serial port.

Double click

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Installation of Logo Blocks and Cricket Logo software

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Installing the USB to Serial port converter driver

After connect UCON-232S converter, at right corner of monitor will be showDetect New Hardware. Select the source of the driver for installation. Therewill be 2 drivers installed. One is the Serial device driver and the other isthe Virtual COM port driver

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Brake motor

Drive motor

Stop motor

Forward direction

Backward direction

Reverse direction

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Robo-BOX development has 3 parts.

Part-1 : Prepare and make the Robotchasis, Motor, Wheel and Mechnicalparts

Part-2 : Learn about i-BOX controllerand Sensors

Part-3 : Controlled program

Development steps show withflowchart that describe as :

1. Construct the robot base andinstall all sensors that relate in anyactivity. Such as install InfraredReflector seansor for detect andtracking the line in Line Trackingrobot activity.

2. Connect the robot with computerand apply the supply voltage to therobot.

3. Make the suitable program forcontrolling the robot with LogoBlocksor Cricket Logo.

4. Download the program into therobot

5. Press RUN switch to activate therobot, Test its operation and orservethe result.

6. If the operation not complete,check the error and find out themissing in program. Edit anddownload to testing again. Do untilthe operation complete and satisfy.

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Construction

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1. Fix on the 2 wheels with rubber tires and attach them to the DCGearbox with the 2 of 2mm. self-tapping screws provided in the kit.

2. Install both DC Gearboxes on the circle base plate at the specificpositions shown in the picture with 3 x 6mm. machine screws.

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3. Insert the 3 x 40mm. machine screws through the hole at the corner ofthe Box holder with 25mm. and 2 of 3 mm. spacers

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4. Place the Box holder on the top of the Circle base plate and attachthem with 3mm. nuts at the specific positions.

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5. Place i-BOX into the holder. Connect Motor A cable to the Blackconnector of ch-A and Motor B to the white connector of ch-B.Your Robot is ready to GO!

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The O2 robot is moved by 2 of DC motorGearboxes. Must drive both motorsfollowing the table below :

Direction Motor A Motor B

Forward CCW CW

Backward CW CCW

Turn Left Stop CW

Turn Right CCW Stop

Rotate Left CCW CCW

Rotate Right CW CW

Note :CCW = Clock clockwiseCW = Clockwise

Robot movement

Forward-Backward movement programming

4. Click block to connect with block. It will change to

means Motor A and B will spin in forward. Drag block to connect

next. It will change to . The number that follows is time operationvalue of Motor A and B. Double-click at this number block to change to2000. It is equal 2 seconds.

5. Drag block to connect to block. It change to means both motor spin backward. After that drag onfor block to connectnext and chnage the time value to 2000. The testing code-1 is finished.Turn-on i-BOX on the O2 robot. Click button to download code tothe robot.

Button will subside indownloading.

Click button to download

6. Test with press RUN switch on i-BOX.The O2 robot will move forward 2 seconds followingbackward 2 seconds and stop.If the movement direction not correct, may bechange the motor connection and test until correct.After that must remember this motor connection foranother activities in this manual.9

For Cricket Logo1. Connect the O2 robot with computer.

2. Open Cricket Logo software.

3. Type in Listing-1 into Cricket Logo editor.

4. Download program into the O2 robot byclick DOWNLOAD button.

For LogoBlocks1. Connect the O2 robot with computer.

2. Open LogoBlocks.

3. Select block group.

Code-1

Listing-1

10

Speed behavior i-BOX allows you to selectdifferent speed levels from the

block command. The

different speed means that thedistance the robot moves isdependant on this and relativeto the time taken as well.

Motor driving signal is PWM(Pulse-Width Modulation). If thewidth of signal more, meansmore voltage applied to motor.See the illustrate below.

Testing speed programming

For LogoBlocks1. Connect the O2 robot with computer. Open LogoBlocks software.

2. Select block group. Drag to connect with block.

3. The block will change to . Double-click at number to change

to 1 for slowest speed testing.

4. Drag block drop to connect with block. Double-click at

number block to change value to 200 for setting time to 2 second. TheCode-2 is finished.

5. Download the program to the O2 robot. Unplug downlaod cable.

6. Press RUN switch to activate the O2 robot. Measure the distance thatrobot move to.

7. Back to program, change setpower value as 2 to 8 and test samemethod. See the different result of each speed.

For Cricket Logo1. Connect the O2 robot with computer.and Open Cricket Logo software.

2. Type in Listing-2 into Cricket Logo editor.

3. Turn-On the O2 robot and downloadprogram into the robot.

4. Press RUN switch and see the robotoperation. Remember the speed of robot.

5. Change the speed by edit setpowernumber from 1 to 8 and downlaod programafter changing. Test and see the differentresult.

Code-2

Listing-2

Note : Default value of setpower command is 4 orNormal.

Circle movement control

By changing the individualpower of each of themotors to different levels,this will cause the speed ofthe individual motors tomove at a different speed.

In this way, the Robot willbe traveling round incircles.

For LogoBlocks

1. Connect the O2 robot withcomputer. Open LogoBlockssoftware.

2. Select Action block group.Drag and drop commandblocks to make the programin Code-3 above.

3. Turn-On the O2 robot anddownload code.

4. Press RUN switch and seethe robot operation.

For Cricket Logo

1. Connect the O2 robot withcomputer. and Open CricketLogo software.

2. Type in Listing-3 into CricketLogo editor and type startword into Run This box.

3. Turn-On the O2 robot anddownload program.

4. Press RUN switch and see therobot operation.

How to change direction ?There are 2 kinds of turning that your robot can maneuver.

A curve like turn : The curve turn usually comprisesof one motor stop and the other move.

Turning speed = Normal speed or lessdepends on friction at the stop wheel.

Turning point is a middle point of the stopwheel.

A pivot like turn : A Pivot turn on the other handturns on its spot but this requires an oppositedirection on both wheels at the same power level.

Turning speed = 2 times of normal speedand friction less.Turning point is center point of the robotbetween both wheels.

For LogoBlocks

For Cricket Logo

For LogoBlocks

For Cricket Logo

Code-3Listing-3

LogoBlocks’sCode-4 andCricket Logo’sListing-4 aresample pro-gram thatdemonstratesthis turningtechnique.

LogoBlocks’sCode-5 andCricket Logo’sListing-5 aresample pro-gram thatdemonstratesthis turningtechnique.

Code-4

Listing-4

Code-5

Listing-5

11

Basic operation of SwitchThe Touch / Switch Sensor module consist of 3 main components, theWire input, LED Indication light and the Switch. It will be give 2 status asPress and Release switch.

Switch

Indicator

Output

Switch/Touch sensorconfiguration Switch/Touch sensor diagram

When the Switch is pressed, it sends an ON Signal through the wire, back to the i-BOXand LED is lit. When the Switch is released, an OFF Signal is recognized by the i-BOX.

LED is litLED off

Not press Press

When the switch is not pressed, alogic “1” is being sent to the output.This condition is False.

When the switch is pressed, a logic“0” is being sent to the output. Thiscondition is True.

Activity with i-BOX The Touch / Switch Sensor moduleacts as a digital sensor. Connect thesensors to IN0 to IN3 respectively.

1. Connect Switch module to IN3 ofi-BOX.

2. Make Code-6 in LogoBlocks orListing-6 for Cricket Logo anddownload the code to i-BOX.

3. Press RUN switch. Press the Switchmodule and observe the operationof Motor indicators.

IN0 to IN3

When the switch is pressed, the condition willbe true. i-BOX will drive a signal to the motoroutput. The Motor indicator LED will be lightedall time that switch still pressed. If the switch isreleased, the condition will be false. Motorindicator LED will be turned off.12

Switch’s operation

Code-6

Listing-6

Switch module

Indicator

3mm. nut

3x10mm.screw

Right angle joiner

Obtuse joiner

IN0 connector

IN1 connector

Straightjoiners

Write the Code-7 to test theswitch operation. Press theswitch on the left or right.

i-BOX will generate sounds withdifferent frequencies.

This is a code of a Bumper robot to allow both of its touch sensors todetect obstacles in front of them if encountered. Download theprogram to your Bumper robot.

Prepare the test area by placing obstacles wherever you want.Then put the robot on the floor and turn on the power switch andpress the RUN switch. Observe its movements.

13Code-7

Listing-8

Code-8

Bumper robot will move forward until it encounters with any obstacle. If any obstaclesare encountered on the left, the robot will move backwards , rotate right and moveforward to continue its movement. If any obstacles are encountered on the right, therobot will move backwards , rotate left and move forward to continue its movement.

Introduction to LDR : the photoresistor

LDR configuration LDR symbol Measure LDR resistance

Light sensorThe Light Sensor has 2 main components, the Wire output and LDR. This modulesenses LIGHT densities and returns values to the i-BOX.

This can be plugged into SENSOR0 to SENSOR3 of the i-BOX. If there are morelights, output will be high in value and vise versa for low levels of lights.

Output connector

LDR : photoresistor

Light sensor circuit board Light sensor schematic

Please refer to the Light sensor schematic, it is a voltage divider circuit.You can calculate to find relation between LDR resistance and Outputvoltage. The supply voltage or +V is +5V. The formula can shown below :

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i-BOX has a 10-bit analog to digital converter (ADC). It can read 0 to 5Vdcand convert it to data 0 to 1,023. Thus, you can calculate the data that i-BOX reads following this formula below :

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R1 resistance

LDR resistance + R1 resistancex 5VdcOutput voltage =

4700x 5Vdc = 2.5VdcOutput voltage =

4700 + 4700

i-BOX value =i-BOX value (max) x Voltage input from sensor

Full scale analog voltage

= 5121023 x 2.5

5i-BOX value = Integer number

Light sensor is ananalog sensor type.Interface with i-BOXcan connect to anySENSOR0 to SENSOR3ports.

Reading with i-BOX

Calculation

14

3mm. spacer

3mm. nut

Obtuse joiner

3x10mm.screw

Light sensor

Constructs 2 of the Light sensor structures.

Attach the Light sensor structures to O2 robot-based

Insert Light sensor structure Connect the Light sensor toSENSOR0 and SENSOR1

Write the Code-8 or Listing-8 program to read values from the Light sensorto show at Cricket monitor on computer screen.

Shows how toopen CricketMonitor.

Shows the Cricket Monitor onCricket Logo software

From the value read, you will know which give a higher and lowerlight density.

Highvalue

Lowvalue

Result from more light density Result from less light density

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LightBot Programming

The program below (Code-9 and Listing-9) allows the LightBot toread both sensor’s data and store the for comparision. LightBotwill move following the higher value from the sensor.

Testing...Try out your robot bymoving it nearer to alight bulb.

Do you see a differencein its reaction?

Right anglejoiners

Listing-8

Code-8

Listing-9Code-9

15

Introduction to Infrared reflector sensor !"#

IR LED Photo-transistor

IR LED

Photo-transistor

Output connector

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Infrared Reflector sensor schematic Performance grpah of IR Reflector

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Example of Line-Tracking robot demonstration field

Make your own the demo field forLine-Tracking robot

16

Insert a 3x10mm. machine screw through the Infrared Reflectorsensor, followed by a 3mm. spacer and a suitable hole at front ofO2 robot base. Tighten with 3mm. nut.

3mm. nut

O2 Robot base

3mm. spacer

3x10mm. screw

Infrared Reflector Distance 5 to 10 mm.

Attach both Infrared Reflectors at bottom front of robot base.Connect the Left sensor to SENSOR0 of the i-BOX and connect theRight sensor to the SENSOR1 port.

Write this code and download it to the robot. Open Cricket Monitorto observe the results.

Shows how to openCricket Monitor inLogo BLocks.

See the result atCricket Monitoron Cricket Logosoftware

Place the robot over the white area and black line . Observe thevalue that Cricket Monitor shows and record this on a piece ofpaper. We will take this for an example. White data being 541 andBlack data being 128. Find the average of these 2 values in whichcase, it will be 335.

Write the Code-11 or Listing-11 and download it to your robot. Thiswill allow your robot to follow a black line.

Place the LineTracker robot over the black line. Run it and see howit operates.

Listing-10Code-10

Listing-11Code-11

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Part List Construction1. Install 2 DC gearboxes on the aluminum base at the specified positionsshown in the picture below and tighten them with 3 x 6mm. machinescrews.

Top side

Bottom side

3 x 6mm.screw

3 x 6mm.screw

3 x 40mm.screw

(via holder)

3 x 6mm.screw

3 x 6mm.screw

3 x 40mm.screw

(via Holder)

2. Insert 3 x 40mm. machine screws through 25mm. & 2 of 3mm. spacers.After which, place these screws through the holes at the corner of theBox Holder. Attach this with the aluminum base as shown in the diagram.(See red letters)

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3. Insert 2 Main Sprockets at the Motor shaft and secure it with 2mm. self-tappingscrews.

3 x 6 mm.screw

Right angle joiner

Right angle joiner3 x 6 mm. screw

4. Attach 2 Right angle joiners at the edge of aluminum base with 3 x 6mm.machine screws. Insert 2 Straight joiners at the end of each Right angle joiner.Attach 2 Right angle joiners at both corner of base with 3 x 6mm. machine screws

5. Construct the track support structure 3 sets. Connect 3, 5 and 12-Holes Stripjoiners. Make two of such sets. Insert 3 Axles via Strip joiners at hole 1, 11 of 12- HolesStrip joiner (count from right side) and hole 2 of 5-Holes Strip joiner (count from leftside). See the figure. Insert the medium wheels at both ends of the Axles. Securethese with Hubs. Make this part 2 sets.

7. Construct 2 of the Track wheels. Connect 2 of 8-links and 30-linkstrack together. Attach both tracks with wheels. Place the i-BOX onthe holder by the motor output side at front. Connect the LeftMotor cables to A output and the Right motor cable to B outputaccording to the photo below.

6. Attach the track support structure with base which attachedjoiners from step 4. The Axels at hole 1 of 12- Holes Strip joiner shouldbe placed on the Right Angle joiner. Attach carefully. All structureswill be fixed tighten with themselves.

Insert the endto inside

Attach the links

Attach thetracks roundthe wheels

Connect bothmotor cables

30-links 8-links (2)

N a n o T a n krobot is nowready !!!

19

Straight joiner

Right angle joiner

Right angle joiner

3 x 6 mm. screw

Right angle joiner

3 x 6 mm. screw

Hole 1Hole 11Hole 2

12-Holes Strip joiner5-Holes Strip joiner

Track support structure

Medium support wheel

Hub HubAxel

Track support structurewith Axels

7.1

7.2

7.3

NanoTank’s Turning patternThe NanoTank robot use the DC motor gearboxesdrive the track wheels. Its advantage is can movepass the flat and rough surface well. However thetouch area of track wheel is more. The turning inLeft and Right require both motors driving inopposite direction similar Rotating technigue. Youcannot use Curve Like Turn technique.

You can control the NanoTank robot to turn 90-degree easier and better than the O2 robot.Because NanaTank have more area of wheel’ssurface to touch the floor and move more stable.

90-Degree Turning Turning technique is drivingboth motors in differentdirection in same powerinterval. It is called “PivotTurn” technique. Theimportant parameter isinterval value of applyingpower to both motors.

Make the code in Code-12 orListing-12. Download into theNanoTank robot. Run it andsee its operation.

Square movementNext step from 90-degree turning iscontrolling the robot to move in squareshape. This is simple procedure. Go strengthand turn 90-degree and go straight, turnagain, go straight, turn again and go backto the start point.

In programming, will use Looping techniqueto help. With loop command will help tomake the program shortly and easy tounderstand.

Make the code in Code-13 or Listing-13.Download into the NanoTank robot. Run itand see its operation.

20

If the robot still not move or turn at 90-degree correctly, you can change theinterval parameter at onfor command in the program. Edit, download and testagain and again until correct. However the suitable interval will depend on thepower supply level at that time. You may adjust the more suitable value ifnecessary.

Possible the robot moves not precise and not back to start point correctly. Becausehave many factors relate such as floor friction, motor cannot spin simultaneouslyand robot’s battery level. This activity’s target is introducing the moving methodin different conditions and understand about limitation of each movement.

Code-12

Listing-12

Listing-13Code-13

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Part List

Construction

1. Insert a 3 x 10mm. machinescrew through the InfraredReflector sensor, followed by a3mm. spacer attach with a Rightangled joiner. Tighten with 3mm.nut. Make 2 sets.

2. Attach 2-pieces of Right anglejoiners at in front of the robot basewith 3 x 6mm. machine screws.

4. After installation, both sensors should be far from the floor not over 5mm.for detection in same time.

Now the NanoTank ready for next activity..Go !!

3. Connect 2 Infrared Reflector structures from step 1 with the Right anglejoiner from step 2. Connect the Left sensor cable to SENSOR0 of the i-BOXand connect the Right sensor to the SENSOR1 port.

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SENSOR0 and SENSOR1

Distance from floor is not over 5mm.

21

ConceptFrom light reflection knowledge, the Robot should detect the reflectedposition or area. Thus, you can control the NanoTank robot which installedInfrared Reflector to move in area. Such as circle or table. The robot willmove on the table always and never fall from table (based on the batterystill alive).

ProgrammingFrom the previous activity, the Infrared Reflectors are installed at the frontof robot. NanoTank robot can detect the front area before move pass. Iffound WHITE space, robot still move forward to pass. If found BLACK orBLANK space (out of area in case robot move on the table), robot mustmove backward and turn left to change the moving direction.

Testing1. Write the Code-14 or Listing-14 and download it to your robot.

2. Turn-off power and unplug the download cable.

3. Place the NanoTank robot on the table and turn-on Power switch

4. Press RUN switch on the robot to see its operation.

No infrared reflect

Non-reflect

I n f r a r e dReflects fromthe floor

White surface

22

Code-14

Listing-14

1. Sensor outs of the table surface

2. Robot movesbackward

White surface

Infrared reflectwith the whitefloor.

3. Robot turns left

Robot moves along the WHITE line

Set motor power

SENSOR0 and 1detect “BLACK” both

Yes

Drive robot tomove forward.No

SENSOR0 and 1detect “WHITE” both

Yes

Yes

No

No

No Yes

Robot turns left90 degree

Only SENSOR0detects “WHITE” area

or line

Robot turns left

Only SENSOR1detects “WHITE”

area or line

Robot turns right

Programming procedure1. Make the code to check the sensor operation. See similar example inO2 Robot activities : Line Tracker.

2. Make Code-15 or Listing-15 download it to your robot.3. Turn-off power and unplug the download cable.4. Place the NanoTank robot over the line. Turn-on Power switch.5. Press RUN switch on the robot to see its operation.The NanoTank robot should moves along the line. When found the crossing,the NanoTank robot turns left 90-degrees and moves forward continue.

Programming ConceptSee the flowchart below :

23

Code-15

Listing-15

Concept

From the example field above, the robot must check every the crossingline and turn left or right swap. The programming must control the robotmoves along the line, checks and counts the crossing line to collectnumber of the crossing line. It will be use that number to selects the movingdirection later.

How to useThe Global variable is temporarily buffer. It collects the result of operation.This code example below (Code-16 or Listing-16) will be show how to useGlobal variable. The result increase the variable value 1 point per secondand shows at Cricket monitor.

24

TestingSee the Code-17 or Listing-17 and try to make understand. This program shouldcount the crossing lines. For first, second, fifth and sixth detetction, robot willturn right and will turn left in third and forth detection.1. Make the Code-17 or Listing-17 download it to your robot.2. Turn-off power and unplug the download cable.3. Place the NanoTank robot over the line on the Crossing Line-demonstrationfield. Turn-on Power switch. Press RUN switch on the robot to see its operation.

Code-17

Listing-17

> from >

double-click

Code-16

Listing-16

Uses Infrared light reflection to measure range

Can measure a range from 10 to 80 cm forGP2D12 and 4 to 30 cm for GP2D120

4.5-5 V supply and 33mA electric current

The output voltage range is 0.4 to 2.4V @ +5V

The output voltage of GP2D120 at arange of 30 cm and +5V power supplyis between 0.25 to 0.55V, with the meanbeing 0.4V. At the range of 4-30 cm, theoutput voltage will change at 2.25±0.3V.

From testing table beside, at 26cm.length Vout is 0.5V. The conversion valueis 102.

Inrefacing with i-BOX must connect atSENSOR0 to SENSOR3 port and useSENSOR command block to read datefrom it. For example, if i-BOX reads 307mean GP2D120 far from object 8cm.

GP2D120 Infrared Ranger module has 3 terminals: Vcc, Ground and Vout. Toread the voltage values from the GP2D120, you must wait till after theacknowledgement period which is around 32 to 52.9 ms.

Test GP2D120 with i-BOX1. Make the programming code below to read value from GP2D120Infrared distance sensor to show values via Cricket Monitor.

2. Connect GP2D120 to i-BOX at SENSOR0 port. Download testing codefrom step 1. Press RUN switch on i-BOX. Move GP2D120 module slowly andsee the result at Cricket Monitor.

Connect to computer

Distance

Cricket Monitor displaysthe sata reading fromGP2D120 sensor

3. Convert the data reading to distance value. Compare the result withGP2D120 table.

4. Change object to BLACK color and test operation again. Comparethe result between both activities.

From step 4, after change to black color object GP2D120 module cannotwork well. Because it use infrared reflection but blakc color absorb allinfrared. It reflects very low density or sometime not reflect. Then usingGP2D120 must becareful this limitation.

GP2D120 operation table

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GP2D120 features

Part List

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Construction1. Attach 2 Right angle joiners with both sides of GP2D120 with 3 x 10mm. machinescrews and 3mm. nuts. After that attach the 12-hole Strip joiners with both Right anglejoiners with 3 x 10mm. machine screws and nuts at hole 3 of both end of Strip joiner.

2. Attach the structure from step 2 onwards to the front of NanoTank robotwith 2 of 3x10mm. machine screws. See the suitable position from photo.Connect GP2D120’s cable to SENSOR0 of i-BOX.

Programming of Touchless obstaclesavoidance robotThe program code below (Code-19 and Listing-19) controls the robot tomove forward and check with the GP2D120 data if its more than 300 ornot. If its more, this means that it has detected some obstacles. The Robotwill move backwards and turn left. The turning value is a random numbernot equal in each turning time.

Code-19 Listing-19

3. Turn right

2. Move backward1. Detect object

Right angle joiners

GP2D120

3 x 10mm. screw

3mm. nut

3 x 10mm. screw12-Hole Strip joiner

3mm. nut

Connect SENSOR0

3 x 10mm. screw

The NanoTank IR Objectorrobot

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ConceptOriginally concept of this activity is finding the competitor robot in SUMO game.With GP2D120 Infrared Distance sensor characteristic, it sends the outputvoltage vary from object distance detected. After finding, robot will move toclose as possible and generate a beep before stop.

ProgrammingThe code below (Code-20 and Listing-20) controls the robot movement andthe reading of the GP2D120 value.

If its value is lower than 50, this means there is no object in front of it.

The value that the GP2D120 sensor will feedback with and object is found ismore than 50. The first value that detect object will be store in memory. Robotwill still move forward if value continues to increase. This means that the objectis close.

Until the value is over 400, the robot will stop before it touches the object. Ifthe value decreases, the robot will turn back to anther direction and find forthe next object.

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Code-20Listing-20

Introduce ZX-SOUND : Sound detector moduleFeatures : Detect sound pressure with Condenser Microphone.

Output voltage 0 to +5V varies from soundpressure level that microphone detected.If pressure more, the output voltage goes highand vice versa.

InstallationFor the best performance of detection, must select the suitable positionfor installation the ZX-SOUND module. In this example should be install atback of the NanoTank robot.

1. Attach the 5-Hole Strip joiner with base of ZX-SOUND module by 3 x 10mm. machine screw and 3mm. nut.

2. Connect the Right angle joiner at the end of the 5-Hole Strip joiner. Youwill receive a Sound detection structure.

Robot operarationMake the Code-22 for LogoBlocks or Listing-22 for Cricket Logo and download to theNanoTank robot which installed ZX-SOUND module.In starting, robot will check the sound value.If value is between 300 to 400, the robot will move forward.If value is between 401 to 500, the robot will turn left and over 500 robot will turn right.

ProgrammingBefore apply ZX-SOUND module with the robot, must educate its behavior before. Makethe Code-21or Listing-21 and download to i-BOX. Still connect the serial cable and runthis code. Open Cricket monitor for checking the result.Try to clap near microphone of ZX-SOUND module and see the result on Cricket monitor.Try to clap many times and see the different result.If sound pressure level that detected high, the value on Cricket Monitor willbe high (reach to 1024). In other hand, output will less if detect low level.

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Code-21 Listing-21

Code-22 Listing-22

3. Connect a Sounddetection structure to theend of Strip joiner at backposition of the NanoTankrobot. See the photo.

4. Connect sensor cable toSENSOR0 port on i-BOXboard.

Now NanaTank is ready fordetecting sound signal.

Connect toSENSOR0

ZX-SOUND module

5-Hole Stripjoiner

Right anglejoiner

The Sound detectionstructure

ZX-TILT : 4-Direction Tilt sensor Sharp GP1S036HEZ Tilt sensor with built-in super compact ball for detectingtilt direction.

Active with 2-bit logic

2 Status LED indicators.

Detect 4 directions : 0, 90, 180 and 270 degree.

Suitable supply voltage +5Vdc.

Schematic diagram of ZX-TILT module

Tilt direction detection versus Output Logic

0 degree DirectionA Condition is falseB Condition is false

90 degree DirectionA Condition is trueB Condition is false

180 degree DirectionA Condition is trueB Condition is true

270 degree DirectionA Condition is falseB Condition is true

Installation1. Attach 3-Hole Strip joiner to back of ZX-TILT module with 3x20 mm. machine screw and tighten by 3mm. nut. After that connect the Straight joiner at end of Strip joiner.

2. Attach the Right angle joiner with end of Straight joiner from step 1 with 3x10 mm. machinescrew. Adjust the suitable angle following tighten by 3mm. nut.3. At the NanoTank robot, attach a Right angle joiner at the back of Robot’s base with 3 x 10mm. machine screw and tighten by 3 mm. nut. and connect 5-Hole Strip joiner at another end.4. Connect structure from step 2 to the Strip joiner which attached the robot’s base fromstep 3 and connect Output B of ZX-TILT to IN0 port of i-BOX3.0.

ProgrammingProgramming will control the robot movement as : Move robot forward until the robot is tilt from thestep floor. In case robot tilts, program will control the robot move backward and turn left. After robotcan stay in flat, robot will move forward again.

Output B

3 x 20mm.screw

Right angle joiner

Adjust the angleposition ofZX-TILT

IN0 port

5-Hole Strip joiner

Right angle joiner

Make the Code-23 for LogoBlocks or Listing-23 for Cricket Logo anddownload to the robot. Place the robot on the floor and run itsprogram. See the operation on flat area and slop or step area.

Range operation0o range is 330 to 360 or 0o

90o range is 60 to 90o

180o range is 150 to 180o

270o range is 240 to 270o

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Code-23

Listing-23

Operate with 3V Litium battery (included inside)

Selectable 256 different code via DIP switch

4 button switch

315 or 434MHz carrier frequency

Operating range 3 to 4 metres.

The heart of transmitter is UHFTX module. You can select 315or 434MHz. Switch’s data isencoded by Encoder IC. DIPswitch is used to set the codeof RF module. TX and RX mustuse same code in workingtogether.

DIP switch setting must setsame between Transmitter andReceiver.

Features Operating supply +3 to +12V

Selectable 256 different code via DIP switch

4 Outputs with LED indicators

315 or 434MHz carrier frequency

Operating range 3 to 4 metres. can add antennafor range extension.

Operation diagramThe heart of receiver is UHFRX module. You can select315 or 434MHz. Switch’s datais decoded by Decoder IC.DIP switch is used to set thecode of RF module. TX andRX must use same code inworking together.

315MHZ/433MHzReceivermodule

Decoder

315/433MHzTransmitter

Encoder

Features

Operation diagram

Battery maintainance/Code selectionInterface with i-BOX

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IN0-IN3

UTX-4 is installed with a 3V lithium battery inside which is ready to be used. Inoperation, little current is needed. However battery maintenance is stillnecessary. You must change the battery after 3 to 4 hours of continuousruntime. Remove the 4 screws at the back of TX box and tare the box. Youwill see the CR2032 battery in the holder. Remove and change it. Afterchanging, secure the 4 screws to close the TX box.About DIP SWITCH selection, you can set any 8 positions of the DIP switch.It is important that the DIP SWITCH selection on the TX and RX is the same.The default switch selection is 0.

Firstly you must check the SWITCH SELECTION of the TX before. After that set the DIPSW of the Receiver to the same TX. The LED indicator will light up after the Receiverdetects data from the Transmitter. The output of this receiver is 4-bit digital data. Ifany switch at TX is pressed, the LED at the same bit position will turn off. The differentbit is still on. It means active at logic LOW. You can connect this to the i-BOX with onlyone channel or both or depending on your activity.

Interfacing is connected to OUT1 to OUT4 ports to IN0 to IN3 of i-BOX. In programmingyou can read data from IN0 to IN3 and process following at any condition.

Part list

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Construction1. Attach 2 Right angle joiners to the receiver with screws and nuts. ConnectStraight joiners at end of each Right angle joiner.

3x10mm.screw

3mm. nut Right angle joinerStraight joiner

2. Connect the receiver structure with Straight joiner at robot’s backside.Connect 4 cables from Receiver output (OUT1 to OUT4) to IN0 to IN3 of i-BOX.

Possible to extend range fo control, it’s very easy. You plug the solid wirethat bundled in this kit into antenna connector at Receiver. Use cable tireto bind this wire with hole. May be you change the length of antenna forbetter control. Normally the lenght of wire is 16 to 20cm.

In programming must read input data from all digital input port; IN0 to IN3.The program has 4 subprograms for supports all condition from Transmitter.This programming will be control robot movement; forward, backward, turnleft and turn right.

Extend range of control

Antenna

Cable tie

Antenna point

Cut the cable tie

Code-24

Listing-24

Remote control programming

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Basic electronic components

ResistorCapacitor

Transformer

Crystal

Text books

Digital Circuit

AND

Flip-Flop

NOT XOR

Memory

RF receivermodule

Ultrasonic (Distance)

SwitchStrain gauge (Force)

LDR (Light)Thermistor

(Temperature)

Input device/Sensor

Active components

LEDTransistor

ICDiode

Analog Circuit

Full-wave rectifierHalf-wave rectifier

Amplifier circuit Driver circuit

Power Supply

Battery Desktop Power supply

Output device

DC motorStepper motor Servo motor

Piezo speakerRelay

Lamp/LED

LCD module

7-Segments LED RF transmittermodule

Go to... Automatic Robot

MedicineInstruments

Data Logger systemInvention

Inductor

Hall effect sensor

Since the conception of the human brain, technology has tried it bests to duplicate such marvels. Robots have always been innovativeoptions for humans as far as intellect and performance are concerned. This is the reason why most people who are behind the technologyof robots have created robot kits in order to pacify the humanity’s need for a power-driven device that will perform the same tasks thathumans do.

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Building and programming a robot is a combination of mechanics, electronics, and problem solving. What you’re about to learn whiledoing the activities and projects in this manual will be relevant to “real world” applications that use robotic control, the only differencebeing the size and sophistication. The mechanical principles, example program listings, and circuits you will use are very similar to, andsometimes the same as, industrial applications developed by engineers.

Message from :

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This is an intellgence robot kit for beginner. The brain is a compact-size programmable microcontroller board.Users can program by Logo language in text and graphical based icons. It’s a fully automatic robot which issuitable for lower and higher educational students as well as many people who are interested in microcontrollerapplications without much programming knowledge & skills. This kit is suitable for everyone who wants to learnrobotics.

Robo-BOX3.0 allows you to constuct many different mobile robots for many different applications.

There are many interesting and fun things to do with Robo-BOX3.0. Not only does it employ electronic circuits and systems,it also teaches on robotic technologies. The Construction od Robo-BOX3.0 delivers precious lessons and experience onmotors, gears, motion control, sensory systems, microcontrollers, programming and technical problem solving skills.

Only 3 easy steps to are required :

(1) Construction and building of your robot.

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Robo-BOX3.0 is a fully comprehensive kit that delivers loads of learning together with FUN in robotics. With such awide variety of sensors and mechanical parts, you can build and modify your robot for any purpose, applicationand activity.

This is a ROBOT for all seasons !!!