OTTO THE BIPEDAL ROBOT

Transcription

1 Item 19 - Otto Monday, 15 October :35 PM OTTO THE BIPEDAL ROBOT EXPLORE WALT: definition and decomposition of complex problems in terms of functional and non-functional requirements WILF - Defined how each component works by identifying or describing their qualities. - Identified where and why component are connected into the GPIO - Described how the circuit works and the relationships between components. A B C The student work has the following characteristics: The student work has the following characteristics: The student work has the following characteristics: Processes and purposeful definition and decomposition of complex problems in terms of functional production skills and non-functional requirements Investigating and defining - Defined how all components works by identifying or describing their qualities. - Identified why and where all of the components are connected into the GPIO - Described how the whole circuit works, with both text and images. effective definition and decomposition of complex problems in terms of functional and non-functional requirements - Defined how most components works by identifying or describing their qualities. - Identified why and where most of the components are connected into the GPIO - Described how the circuit works, with both text and images. definition and decomposition of complex problems in terms of functional and non-functional requirements - Defined how some components works by identifying or describing their qualities. - Identified why and where some of the components are connected into the GPIO - Described how the circuit works. Estimated Effort: 210 Mins Value: 20% Components List: Arduino Nano v 3.0 Nano Expansion Board 4 X AA SQUARE Battery Holder SPDT Miniature Toggle Switch 180 Servo Ultrasonic Sensor Arduino Nano v 3.0 An Arduino compatible nano board featuring the ATmega328p chip. A compact, breadboard friendly version of the Arduino UNO. US B mini B connection for power and serial. 5V DC input. Small size Features: Microcontroller: Atmel ATmega328 Operating Voltage (logic level): 5 V Input Voltage (recommended): 7-12 V Input Voltage (limits): 6-20 V Digital I/O Pins: 14 (of which 6 provide PWM output) Analog Input Pins: 8 DC Current per I/O Pin: 40 ma Flash Memory: 32 KB (ATmega328) of which 2 KB used by bootloader SRAM: 2 KB (ATmega328) EEPROM: 1 KB (ATmega328) Clock Speed: 16 MHz Physical Computing and Embedded Sytems Page 1

2 Dimensions: 0.73" x 1.70" Nano Expansion Board The Arduino Nano I/O Sensor Shield acts as an expansion board for the Arduino Nano. Ie it adds extra pins and sensors that you can connect to. Product wiki Nano shield V1.1 Schematic From < Toggle Switch Switch with the middle position being off (on - off - on). Therefore connect either side for on. Servos - have a rotational range of 180. We can send a command to a servo from our Arduino to tell it to go to a specific angle. Read Item 12 for all things Ultrasonic Sensor Read Item 13 for all things Breadboard The Circuit: Physical Computing and Embedded Sytems Page 2

3 Algorithms: sequence, selection Datatypes: int, bool, Code: delay(), if, Library Functions: Otto.init(), Otto.sing(), Otto.home(), Otto.playGesture(), Otto.walk(), Otto.turn(), Otto.getDistance() URL: Resources diyode_013 _doubletr... INSTRUCTIONS Answer these questions: Portfolio Task Questions for EXPLORE 1. Define how each of the components work? Identify each component and describe how they work with text and images. 2. Identify what and where components are plugged into the GPIO. Why there? 3. Describe How the circuit works? Tell the story. Include a picture. [ use ] 1. Follow along with the instructions at: NOTE: we are building the Nano version and not the wireless version. The rest of the instructions below just add some value to those instructions. NOTE: You may get some value from following the official OttoDIY Instruction Manual. The main difference is the Nano expansion shield. 2. INSTALL & HOME THE HIP SERVOS > Connect the right hip servo to Pin 2, and the left hip servo to Pin 3. The body print has an arrow in the base that points forward, so you can orient left and right. Physical Computing and Embedded Sytems Page 3

4 > HOME THE HIP SERVOS Otto_Servo Home > Unzip the archive above and copy libraries folder into arduino directory sketchbook location. You can figure this out by l ooking in the preferences in the Arduino IDE: File>Preferences Physical Computing and Embedded Sytems Page 4

5 [See Install libraries [ ]] > Your Arduino folder should now have a library folder inside it. Now when the code [#include <Otto.h>] runs, it will know wh ere to get the Otto methods. > Open the sketch below to home the servos Otto_Servo Home > Start the Arduino Software (IDE), go to Sketch > Include Library. Verify that the library you just added is available in the list. > Set board [Arduino Nano] and port and old bootloader [ATMega328P (Old Bootloader)] > Upload and run the sketch. You will hear the servos move into position then detach 3. INSTALL THE LEGS > Connect the right leg to Pin 4, the left leg to Pin INSTALL & HOME THE FEET Physical Computing and Embedded Sytems Page 5

6 > NOTE: You will find that you need to break off the feet to install them. This is OK, just use superglue to position and glue them back. 5. BATTERY HOLDER AND BATTERIES > Cut a male-male jumper cable in half and solder one end to the anode (black lead) of the battery holder and the other to an 'on' termina l of the switch. > Use some electrical tape to insulate the solder joints Physical Computing and Embedded Sytems Page 6

7 > Tap into the power from the APC220 Radio Data Module header by connecting the Anode (black lead from the battery pack) to pin 1 (GND) and the Cathode (red lead originating from b attery pack, joined to switch the middle post of the switch and coming out of the 'on' post) to pin 2 (VCC 5V power). > Place Battery pack in body 6. ULTRASONIC SENSOR Physical Computing and Embedded Sytems Page 7

8 > connect the "trig" to pin 8 (on the sensor shield it's labelled as column "D" on pin 8. The "echo" connector then goes to pin 9 (also the "D" pin in that column). The Vcc and GND pins from the ultrasonic are then connected to VCC and GND columns respectively, in Row 8. Place the Nano board & shield into the head. This will push into the ultrasonic sensor, but it will help keep it all firmly in place. Once you have it located, place four small screws into the four points of the board. Connect the battery to the board and test with battery power to ensure it is functioning (ie, there's an LED on the nano). We have made a small 6mm hole in the base of the body. Remove the switch nut and push through the hole, securing it on the other side with the nut. Be mindful that with a toggle switch we do not want the toggle to be rubbing against the legs. Place the battery pack into the body between the hip servos, and then clip the body together. From < DEVELOP WALT: design and evaluation of user experiences and algorithms WILF Design - interpret existing code: > Analyse to identify where input, output, processing and storage occurs in the code. > translated code into pseudocode - Plan to modify parts of the code to make it work differently or more effectively Evaluation - Recommended ways to use the technology differently. Processes and production skills Generating and designing - producing and implementing A B C The student work has the following characteristics: The student work has the following characteristics: The student work has the following characteristics: purposeful design and evaluation of user experiences and algorithms - identified where all input, output, processing and storage occurs in the code. - translated all code into pseudocode - Plan to modify several parts of the code to make it work differently - Recommended ways to use the technology differently. effective design and evaluation of user experiences and algorithms - identified where most input, output, processing and storage occurs in the code. - translated most code into pseudocode - Plan to modify some parts of the code to make it work differently - Recommended some ways to use the technology differently. design and evaluation of user experiences and algorithms - identified where some input, output, processing and storage occurs in the code. - translated some code into pseudocode - Plan to modify some parts of the code to make it work differently - Recommended a way to use the technology differently. Physical Computing and Embedded Sytems Page 8

9 Coding Option 1: Example code: This seems to be the supported option. However, you do need to download mblock. Option 2: Arduino Blocks This is an online IDE based on Google Blockly. As communicating with an online IDE and our Arduino Nano through a proxy and other security blocks is an issue, we will be exporting out the.ino file and uploading it with the Arduino IDE. 1. Register at and create a new project 2. Start a personal project 3. Choose this: Physical Computing and Embedded Sytems Page 9

10 4. Build the following to test that Otto is plugged in correctly: 5. Download.ino file for Arduino IDE NOTE: If you haven't done this for homing the servos, then > Unzip the diyode_013_doubletrouble_resources.zip archive above and copy libraries folder into arduino directory sketchbook location. You can figure this out by looking in the preferences in the Arduino IDE: File>Preferences [See Install libraries [ ]] > Your Arduino folder should now have a library folder inside it. Now when the code [#include <Otto.h>] runs, it will know wh ere to get the Otto methods and the other libraries: #include <Servo.h> #include "Otto.h" #include "US.h" #include "Oscillator.h" > You may need to restart the IDE. > Start the Arduino Software (IDE), go to Sketch > Include Library. Verify that the library you just added is available in the list. > Set board [Arduino Nano] and port and old bootloader [ATMega328P (Old Bootloader)] 6. Load the.ino file that you downloaded from Arduino Blocks into Arduino IDE Your code should look like this: walk_avoid Next try these: Otto_BASIC Otto_avoid Otto_single ladies Physical Computing and Embedded Sytems Page 10

11 Otto_BASIC Otto_avoid Otto_single ladies INSTRUCTIONS 1. Save the sketch (code) below and then open in the Arduino IDE (File>Open..) walk_avoid Next try these: Otto_BASIC Otto_avoid Otto_single ladies 2. Copy the code into a place where you can edit it to add comments. 3. Answer the following: Portfolio Task Questions for DEVELOP 1. Where are the Input, output, storage in the code? Feature Code Description 2. How does the code work - pseudocode a. Copy the existing code b. Place comments (//) next to each line of code in pseudocode 3. How will you modify the circuit and/or the code to make it do something different or more effectively? 4. How could you use this technology in another way to improve the way it works or apply it to a different situation? How to write pseudocode Accepting inputs Operation Pseudocode Programming equivalent Prompt user for surname Input surname var person = prompt("please enter your name"); Producing outputs Print the message Hello World console.log( Hello World ); Assigning values to variables Set the total to 0 var total = 0; Performing arithmetic set total to items times price var total = items * price; Selection and Perform alternative actions Iteration or Repeating operations 1. Pre-test loop also known as the WHILE loop Iteration or Repeating operations 2. Post-test loop eg the REPEAT/UNTIL or DO/WHILE loops Iteration or Repeating operations 3. Counting loop also known as the FOR loop. IF mark is greater than 49 THEN print Pass ELSE print Fail WHILE total greater than 0 subtract new purchase from total ENDWHILE REPEAT <Block> UNTIL condition FOR Index = START_VALUE to FINISH_VALUE <Block> ENDFOR if (mark > 49) { console.log( Pass ); } else { console.log( Fail ); } while (total > 0) { total = total - new_purchase; } var i = 0; do { text += "The number is " + i; i++; } while (i < 5); var i; for (i = 0; i < cars.length; i++) { text += cars[i] + "<br>"; } Physical Computing and Embedded Sytems Page 11

12 GENERATE WALT: design and implementation of modular programs, including an object-oriented program, using algorithms and data structures involving modular functions that reflect the relationships of real-world data and data entities WILF - Code implemented Processes and production skills Generating and designing - producing and implementing A B C The student work has the following characteristics: The student work has the following characteristics: The student work has the following characteristics: purposeful design and proficient implementation of modular programs, including an object-oriented program, using algorithms and data structures involving modular functions that reflect the relationships of real -world data and data entities - All code implemented effective design and effective implementation of modular programs, including an object-oriented program, using algorithms and data structures involving modular functions that reflect the relationships of real -world data and data entities - Most code implemented design and implementation of modular programs, including an objectoriented program, using algorithms and data structures involving modular functions that reflect the relationships of real-world data and data entities - Some code implemented Answer the questions below: Portfolio Task Questions for GENERATE 1. Get the hardware and software working 2. Get your modifications working and highlight where you have altered the code. document 3. Record a very short video of your working solution. EVALUATE AND REFINE WALT: evaluation of information systems and their solutions in terms of risk, sustainability and potential for innovation and enterprise WILF - Makes judgments about ideas, works, solutions or methods in relation to risk, sustainability and potential for innovation and enterprise Processes and production skills Evaluating A B C The student work has the following characteristics: The student work has the following characteristics: The student work has the following characteristics: discerning evaluation of information systems and their solutions in terms of risk, sustainability and potential for innovation and enterprise - All sections of evaluation completed and thorough. informed evaluation of information systems and their solutions in terms of risk, sustainability and potential for innovation and enterprise - Most sections of evaluation completed and thorough. evaluation of information systems and their solutions in terms of risk, sustainability and potential for innovation and enterprise - Most sections of evaluation completed. Portfolio Task Questions for EVALUATE AND REFINE 1. Update your kanban and burndown chart 2. Write a short evaluation Evaluation Critically evaluate your completed digital solution by using the organiser below. Make sure that you use full sentences and copy and paste text into paragraphs rather than leaving it in table form. Digital solution evaluation Enterprise needs and opportunities What needs or opportunities does the solution address? Risks Physical Computing and Embedded Sytems Page 12

13 What risks does the digital solution pose to the user s personal security? Could the digital solution have any adverse effects on the stakeholders? Sustainability How could the digital solution impact the environment? What economic factors might influence the digital solution? Is your solution easy to use and learn? Why/Why not? Are there any social factors which could affect the solution? Innovative How is the digital solution innovative? Recommendations Recommend at least one improvement that you would like to see made to the digital solution. Other Resources Want More? Other Projects from "THE ARDUINO INDENTOR S GUIDE, LEARN ELECTRONICS BY MAKING 10 AWESOME PROJECTS", by SparkFun Electronics, 2017, BRIAN HUANG and DEREK RUNBERG: 8 Drawbot, The Robotic Artist Physical Computing and Embedded Sytems Page 13