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SRS Robot Level 1 Kit
Table of Contents
Getting Started ................................................................................................................... 2
Computer Requirements..................................................................................................... 2
Recommended Equipment ................................................................................................. 2
Kit Contents .....................................................
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Getting Started Getting Started Congratulations on your purchase of a Seattle Robotics Society Level 1 Robot Kit! Here are suggested steps for getting your robot assembled and running. Read through the “Computer Requirements” and “Recommended Equipment” sections to be sure you have the materials you need. Compare your kit’s parts with the lists in the “Kit Contents” section to verify that you can correctly identify each of the parts in the kit. The sections after that work well as a tut
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Kit Contents Kit Contents Level 1 Kit Anti-Static Bag Item Qty Vendor Part Fairchild QRB1134 light sensor 2 Digi-Key QRB1134 ARC 1.1 PCB 1 Barello.net ARC-01 ATMEGA16-16PC microcontroller 1 Digi-Key ATMEGA16-16PC-ND TI 754410 H-bridge 1 Digi-Key 296-9911-5-ND RS232 driver 1 Future Electronics SP232ACP LM2940CT-5.0 voltage regulator 1 Future Electronics LM2940CT-5.0 ZTT-16.0MX ceramic resonator 1 Digi-Key X908-ND red LED 1 Digi-Key 160-1708 green LED 1 Digi-Key 160-17
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Kit Contents 2-56 x 1" machine screw 4 McMaster-Carr 91772A086 small wood screw (in motor if not here) 2 4-40 nut 5 McMaster-Carr 90480A005 2-56 nut 4 McMaster-Carr 90480A003 #4 flat washer 8 McMaster-Carr 92141A005 #4 lock washer 2 McMaster-Carr 91113A005 #2 lock washer 8 McMaster-Carr 91113A003 Loose Item Qty Vendor Part chassis 1 Pololu Solarbotics GM8 motor 2 Solarbotics GM8PW wheel 2 rubber band (for wheel) 4 Tamiya ball caster (pair) 1 Pololu 006
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AVR Robot Controller 1.1 Assembly Instructions AVR Robot Controller 1.1 Assembly Instructions Preparation Identify the parts used in the AVR Robot Controller (ARC). Refer to the Kit Contents section for a list of parts in each bag. • Anti-Static Bag: everything except the QRB1134 light sensors. • Electro-Mechanical Bag: everything except the velcro, mounting squares, shrink tubing, and rubber bands. • Loose items: the battery holder, 4-conductor cable, and ribbon cable. It is recomm
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AVR Robot Controller 1.1 Assembly Instructions Prepare Boards The PCB comes with a serial adapter and a programming adapter that need to be detached. First break the long line of holes. You might find it easier to break if you run a razor knife along the top and bottom of the line of holes. Then snap the two smaller boards apart. Finally, if you want, you can sand or file the rough edges smooth. Controller The control board has been designed with oversized holes to facilitate hand assembl
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AVR Robot Controller 1.1 Assembly Instructions Small capacitors and LEDs The picture on the right shows the locations for: 8 - 0.1uF capacitors 1 - red LED 1 - green LED Orientation of the small capacitors is not important. Note that one of the capacitors (second from the top) will be under the microcontroller. Be sure that it sticks up no higher than the DIP socket (to be installed in the next step). You may need to bend the capacitor’s leads a bit to get it to sit close enough
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AVR Robot Controller 1.1 Assembly Instructions Sockets, headers, and jumper The picture on the right shows the locations for: 2 - 1x3 boardmount sockets 3 - 1x4 boardmount sockets 3 - 1x3 male headers 2 - 2x3 male headers 1 - 2x5 male header 1 - shorting jumper Install the sockets along on the front of the board (as shown at the top of the picture). The headers should be installed with the shorter end of the pins inserted into the board. Install the 1x3 pin headers in the loc
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AVR Robot Controller 1.1 Assembly Instructions Install Chips Be sure to inspect the board before applying power. Connect the battery pack to the 3-pin header next to the switch (JP13). With the switch in the on position (toward the near edge of the board) the red power LED should light. Now you can install the various chips. (Turn off power to the board first.) All chips are installed with the notch (pin 1) oriented away from the switch and voltage regulator (the notch is on the left sid
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AVR Robot Controller 1.1 Software Tools Programming Cable The kit is supplied with material to make a programming cable that works with the BASCOM Basic Compiler or the AVRDUDE program (included in the WinAVR suite for C/C++ programming). BASCOM and AVRDUDE work with any third party programmer that has an Atmel 10-pin programming socket, so you only need to build the cable if you don’t already own a programmer. The programmer uses a male DB25 connector that plugs directly into a PC p
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AVR Robot Controller 1.1 Software Tools Tool Options Free, high-quality tools are available for the Atmel AVR series of microcontrollers. On Windows systems, two popular options are the BASCOM (BASIC) compiler and the WinAVR suite of tools for C/C++ programming. Mac OS X supports the avr-gcc C/C++ compiler (which should work equally well on Linux and FreeBSD). The following sections each provide instructions for installing a compiler and downloading a simple program to your ARC board. Cho
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AVR Robot Controller 1.1 Software Tools Double-click on “LaunchPN.bat” in the “C Samples” folder. This will launch Programmers Notepad with the path changes needed by the compiler and downloader. (If you installed WinAVR in a non-default location, you’ll need to edit this batch file.) While power to the ARC board is off, plug the programming cable into the ISP header on the board and the parallel (printer) port of a PC. (If you are using an AVRISP via a serial (or USB) port, you will need
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AVR Robot Controller 1.1 Software Tools to 8 MHz; (2) enable brown-out detection; (3) disable JTAG; and (4) disable erasing EEPROM when downloading a new program. Please refer to the chip data sheet (www.atmel.com) for a complete list of the fuse bits. The following steps set the microcontroller to the suggested state. If you are using BASCOM-AVR: Connect the programmer to your board as above, select “Send to Chip” from the Program menu to bring up the Sample programmer window. Click on th
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Chassis Assembly Chassis Assembly Preparation Identify the parts used in the chassis. Refer to the Kit Contents section for a list of parts in each bag. • Anti-Static Bag: QRB1134 light sensors. • Electro-Mechanical Bag: velcro, mounting squares, shrink tubing, and rubber bands. • Hardware Bag: everything except the four 1” standoffs and eight of the 4-40 x 1/4” machine screws. • Loose items: everything except the 4-conductor cable and ribbon cable. Remove the paper from the (twelve) ch
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Chassis Assembly Light Sensors Find the two copies of the “light sensor plate” pictured on the right. Hardware: 1 4-40 x 1” screw 1 4-40 nut 2 4-40 lock washers 4 4-40 flat washers Stack items onto the screw as follows: lock washer, plate, 2 flat washers, both light sensors (orient them the same way), 2 flat washers, the other plate (oriented the same direction as the first plate), lock washer, nut. Tighten. Bottom Plate The picture below shows the bottom plate. Open the
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Chassis Assembly Strip about 2” from one end of each 7” length of 18 AWG insulated wire. Hardware (for one side): 1 4-40 x 1/4” round standoff C 1 4-40 x 1/4” screw 2 4-40 x 1/2” screws A B 2 4-40 washers 2 4-40 nuts Mount the standoff in hole C, on the same side of the plate as the caster, using the 1/4” screw. For holes A and B, put a washer on a 1/2” screw and put the screw through the plate from the side with the caster. Attach a nut (on the side with the standoffs).
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Chassis Assembly Flip the top plate over. The screws will be visible, and the standoffs will be underneath (and you should have a hole in the lower right corner). Find this piece (the battery spacer), and hold it like this: You will mount this to what is the underside of the top plate (which is now face up since you flipped it over!) Stick the two mounting squares onto the battery spacer. Then, flip the spacer over and attach it to the top plate, as shown on the far right. The b
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Wiring Connections Leftover Parts At this point, your robot is together and you’re probably wondering about those extra parts. They are used for Levels 2 and 3 of the SRS Robot. Here’s a summary. The hardware bag should still contain four 1” standoffs and eight 1/4” machine screws. They are explained below. There will be five plastic chassis pieces remaining: These two pieces are used to hold Sharp GP2D12 infrared distance sensors (part of the Level 2 kit). They mount on the front corner
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ATmega16 Programming ATmega16 Programming Part 1 11-3-2005 19
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ATmega16 Programming 20 11-3-2005
