Version 01/20/03 A.R. Neureuther
Calbot Notes for EECS 43 (Fall 2002)
Welcome to the robotics notes for EECS 43. Below you will find information on building the basic Calbot and tips on how to spice it up!
Notes: You can get wire-wrap wire from the IEEE student lounge in 204A Cory, and politely request a locker from 391 Cory with a small deposit.
I. Building Robots
Calbot Manual
The CalBOT manual below should help you in completing the basic Calbot (the robot will implement basic obstacle-avoidance behavior).
Doing this project is supposed to be fun, and that has been the goal in writing this manual.
Once you have finished the basic Calbot, it is up to you to spice it up as much as you want (please, we don't want robots with shot guns
and itchy "trigger fingers"). The interfacing ideas and the links section on this page are a place to start. Once you think you have the
ultimate robot, why don't you match it up with your peers? Keep checking
the contest section on this page for more information about this.
Interfacing
to the
Title page
0. Table of Contents
1. Introduction
to robotics and the CalBOT
2. Microcontroller
basics
3. Understanding
the components of your CalBOT kit
4. Programming
the C167
5. Controlling
the motor - programming the Pulse Width Modulation unit
6. Interfacing
a touch sensor
7. Debugging
Tips
Appendix A - Number Systems
Appendix B - Pinouts and datasheets
References
1. Electrostatic
Transducer
2. 6500
Series Sonar Ranging Module
3. Hamamatsu
Optical Detectors (note, the pinout is WRONG, talk to Bharath for the correct
pinout.)
4. Magnetic
Sensor Notes (from the EECS 192 webpage)
5. Magnetic
Sensor Modelling (from the EECS 192 webpage)
6. LCD
datasheet
7. Op
amp circuit notes (from the EECS 192 webpage)
8. Op
amp bandpass filter example (from the EECS 192 webpage)
9. Miscellaneous
sensors.
Here are some further links.
1. The
C167 Design Guide from Hitex. Useful for general C167 interfacing tips.
2. Getting
Started and Creating Applications manual from Keil. Great for understanding the
KEIL IDE.
3. Our
program for the EECS 192 race car.
Downloading Code to on-board FLASH
If you want to save your code when you power off your controller board, you need
to download it to FLASH RAM, not DRAM.
Here are instructions on how to do this.
Downlading
code to FLASH.
Here is
the correct startf file for using FLASH.
II. CalBOT Contest
Categories
1. Speed - straight track, minimum length: 10 feet. maximum
length: 20 feet.
2. Coolest trick.
3. Best overall.
Prizes
1. TBA
Rules
1. All entries MUST demonstrate basic CalBOT obstacle-
avoidance functionality.
2. One prize per team member.
3. Winners decided by class vote (EXCEPT for the speed
contest)
4. For the speed contest, use SAME TYPE of motors and
batteries supplied with the kit, if you build a new chassis.
Some CalBOT contest design ideas
1. Speed.
This is more of a mechanical challenge. You are
limited with respect to your power supply (NiCD batteries
that came with your kit and the motors that came
with your kit). Therefore, you may think of alternate chassis
designs. LEGO chassis are not out of the question.
REMEMBER: YOUR ROBOT MUST DEMONSTRATE
THE BASIC CALBOT OBSTACLE AVOIDANCE FUNCTIONALITY.
2. Coolest trick(s) and Best overall.
Up to your imagination! Some ideas:
a. Edge Detection. You can use an IR and/or sonar
sensor.
b. Legged robotics. Once again, a mechanical
challenge. The MIT AI lab homepage is a great place to start.
III. Movies
Here is one of the best CalBOTs ever built. It is from Fall 2000. The instructor was William G. Oldham. You need Windows Media Player installed on your computer. (WARNING: THIS FILE IS 20 MB).
IV. Links
1. The EECS 192 (mechatronics design lab) homepage. This is the ultimate robotics class in the EECS department. They use the same
microcontroller board to design an autonomous RC race car. Check out the link above for more info.
2. Robotics @ UC Berkeley. The EECS robotics homepage
- Contents taken from EE 40 Calbot page.