Intermediate robot building [electronic resource] / David Cook.
Intermediate Robot Building, Second Edition offers the kind of real-world knowledge that only an experienced robot builder can offer-the kind that other beginners only learn through making mistakes. In this book, you'll learn the value of a robot heartbeat and the purpose of the wavy lines in p...
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Full Text (via Springer) |
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| Main Author: | |
| Format: | Electronic eBook |
| Language: | English |
| Published: |
[Berkeley, Calif.] : New York :
Apress ; Distributed to the Book trade in the U.S. by Springer-Verlag,
©2010.
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| Edition: | 2nd ed. |
| Series: | Technology in action series.
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| Subjects: |
Table of Contents:
- Note continued: Drilling
- Getting the Money Shot
- Enlarging Tight Fits
- Adding a Setscrew to the Coupler Fixture
- Repositioning the Coupler Fixture
- Drilling the Motor-Shaft and LEGO Axle Coupler Holes
- Swapping Drills, Not Coupler Rods
- Add the Finishing Touch: Squaring the Ends
- Examining the Coupler So Far
- ch. 4 Finishing the Solid-Rod Motor Coupler
- Installing the Coupler Setscrew
- Determining the Location for the Coupler Setscrew
- Drilling the Coupler Setscrew Hole
- Tapping the Coupler Setscrew Hole
- Selecting a Bottom-Style Tap
- Comparing to a Taper-Style Tap
- Tapping Tips
- Selecting a Setscrew
- Adding the LEGO Axle
- Summary
- ch. 5 Building a Motor Inside a Wheel
- Encountering Danger: Bent Shafts Ahead
- Driving Properly with Bearings
- Protecting Against Bumps and Falls
- Shifting Against the Coupler, Laterally
- Bending Without Support
- Making a Hub-Adapter Coupler
- Adapting the Motor Shaft's Outer Diameter to the LEGO Wheel's Inner Diameter
- Starting Simply with the Coupler Rod
- Making the Inner and Outer Hub-Adapter Discs
- Choosing a Shape
- Determining the Size
- Choosing the Raw Material
- Cutting the Raw Sheet Down to Size
- Drilling the 1/4-Inch in Diameter Center Hole
- Again, Why Measure Oversize?
- Milling Circles with a Rotary Table
- Drilling Screw Holes in the Discs
- Finishing the Inner and Outer Hub-Adapter Discs
- Coring the LEGO Hubs
- Securing the Hub During Machining
- Selecting a Silver & Deming Drill
- Drilling Out the Center of the Hub
- Sanding Away the Remains of the Center of the Hub
- Fitting and Gluing the Parts Together
- Fitting and Gluing the Outer Disc into the Hub
- Fitting and Gluing the Inner Disc onto the Rod
- Waiting for Glue to Dry
- Summary
- ch. 6 Understanding the Standards and Setup for Electronic Experiments.
- Note continued: Reading Schematics
- Connecting Wires
- Designating Parts
- Lettering Designations
- Numbering Designations
- Labeling Parts
- Labeling Resistors
- Labeling Capacitors
- Labeling LEDs and IEDs
- Labeling Other Parts
- Specifying Power Supply
- Simplifying the Positive Voltage Supply Label
- Symbolizing Ground and Simplifying Wiring
- Using Solderless Breadboards
- Selecting a Solderless Breadboard
- Setting Up a Solderless Breadboard to Match the Photographs
- Powering a Solderless Breadboard
- Selecting an AC Power Adapter
- Adding a Few Amenities
- Understanding Oscilloscope Traces
- Riding the Bandwagon of Modern Electronics
- Getting Past the Learning Curve Barrier
- Avoiding Obsolete Technology
- Using Surface-Mount Components
- Sizing Down Surface-Mount
- Saying "Good-Bye" to Through-Hole
- Working with Surface-Mount Components
- Converting Surface-Mount Components to Through-Hole
- Mixing and Matching Package Technologies
- Shrinking Below Hand-Labor Level
- Summary
- ch. 7 Creating a Linear Voltage- Regulated Power Supply
- Understanding Voltage Regulators
- Understanding Linear Voltage-Regulated Power Supplies
- 7805 Linear Voltage Regulator
- Introducing a 7805-Based 5 V Power Supply
- Building the 7805-Based Power Supply
- Improving the Power Supply by Reducing the Minimum Required Unregulated Voltage
- Substituting an LM2940, MCP1702, or LP2954 for the 7805
- Substituting a Power MOSFET for the 1N5817
- Increasing Resistance at Lower Voltages
- Selecting a Low-Resistance P-Channel Power MOSFET
- Analyzing the Minimum Input Voltage of Various Linear Regulator Circuits
- Presenting the Input/Output Voltage Results of Three 5 V Linear Voltage Regulators
- Considering Various Factors in Linear Voltage Regulators
- Protecting Against a Reverse Battery.
- Note continued: Protecting Against Short Circuits
- Protecting Against Thermal Overload
- Simplicity and Low Cost of a Complete Circuit
- Consuming Quiescent Current
- Isolating Power and Noise
- Selecting a Linear Voltage Regulator for Your Robot
- Changing Marketplace Is Limiting 5 V Linear Regulator Selection
- Heading into Optimizations
- ch. 8 Making Robot Power Supply Improvements
- Bulking Up the Input and Output Capacitors
- Increasing Battery Lifetime with Bulk Capacitors
- Delayed Power-Off Because of Bulk Capacitors
- Using a DPDT Power Switch to Reduce Turn-Off Time
- Selecting Bulk Capacitors
- Implementing Higher Margins of Safety for Tantalum Capacitors
- Adding Voodoo Capacitors
- Sprinkling with Bypass/Decoupling Capacitors
- Bypassing the Long Path to the Power Supply
- Decoupling Noise at Each Source
- Selecting Bypass/Decoupling Capacitors
- Preventing Damage from Short Circuits or Overcurrent
- Deciding If Overcurrent Protection is Required
- Protecting with a Fuse
- Protecting with a Manually Reset Circuit Breaker
- Protecting Robots from Short Circuits and Overcurrents with a Solid-State Auto-Resetting PPTC Device
- Greatly Increasing Resistance to Greatly Reduce Current
- Installing PPTC Overcurrent-Protection Devices
- Selecting PPTC Overcurrent-Protection Devices
- Preventing Damage from Overvoltage in a Regulated Circuit
- Introducing the Zener Diode
- Using a Zener Diode to Short Circuit Power Upon Overvoltage
- Tripping Overcurrent Protection with the Overvoltage Short Circuit
- Taking One for the Team: The Sacrificial Death of Mr. Zener
- Choosing an Appropriate Breakdown Voltage
- Purchasing Zener Diodes
- Putting It All Together for a Robust Robot Power Supply
- ch. 9 Driving Miss Motor
- Why a Motor Driver?
- Running Motors at Higher Voltages Than Logic Chips Can Provide.
- Note continued: Supplying More Current to Motors Than Logic Chips Can Provide
- Causing Logic Errors with Motor Noise
- Supplying Motor Power from Unregulated vs. Regulated Power
- Demonstrating the Four Modes of a Motor
- Rotating Clockwise
- Rotating Counterclockwise
- Rotating Freely/Coasting (Slow Decay)
- Braking/Stopping (Fast Decay)
- Using Up More Energy
- Braking by Fast Decay
- Driving Simply with a Single Transistor
- Introducing the NPN Bipolar Single-Transistor Motor-Driver Circuit
- Switching with a Transistor
- Using Transistors As Off/On Switches, Not Amplifiers, in Motor-Driver Circuits
- Limiting Base Current with a Resistor
- Protecting the Transistor with a Diode
- Implementing the NPN Bipolar Single-Transistor Motor-Driver Circuit
- Introducing the PNP Bipolar Single-Transistor Motor-Driver Circuit
- Implementing the PNP Bipolar Single-Transistor Motor-Driver Circuit
- Putting the NPN and PNP Motor Drivers Together
- Implementing the Combination NPN and PNP Motor-Driver Circuit
- Avoiding a Short Circuit
- Classic Bipolar H-Bridge
- Spinning Clockwise with an H-Bridge
- Spinning Counterclockwise with an H-Bridge
- Slowing Down with an H-Bridge Electronic Brake
- Braking High
- Coasting with an H-Bridge
- Enumerating the Other H-Bridge Combinations
- Implementing the Classic Bipolar H-Bridge
- Interfacing with the High Side
- Avoiding an Interface by Not Regulating the Logic Chips
- Avoiding an Interface by Regulating the H-Bridge
- Interfacing a PNP via an NPN
- Flipping the Switch
- Selecting a Resistor Value for R5
- Specifying the Voltage Range for the Bipolar Motor-Driver Circuits
- Implementing a PNP Single-Transistor Bipolar Motor Driver with an NPN Interface
- Finishing the Bipolar H-Bridge
- Using an Interface Chip
- Choosing the 4427
- Interfacing the 4427 to the H-Bridge.
- Note continued: Selecting the 4427 or a Close Family Member
- Mastering Motor Control
- ch. 10 Driving Mister Motor
- Driving Motors with MOSFETs
- Introducing the N-Channel Power MOSFET Single-Transistor Motor-Driver Circuit
- Controlling the Transistor Switch with Voltage, Not Current
- Always Connecting the Gate of a MOSFET
- Implementing the N-Channel Power MOSFET Single-Transistor Motor-Driver Circuit
- Providing a Default Input Value with a Resistor
- Setting the Input High by Default with a Pull-Up Resistor
- Setting the Input Low by Default with a Pull-Down Resistor
- Choosing a Value for a Pull-Up or Pull-Down Resistor
- Choosing Between No Resistor, a Pull-Up Resistor, or a Pull-Down Resistor
- Revising the N-Channel Power MOSFET Single-Transistor Motor-Driver Circuit to Include a Pull-Down Resistor
- Implementing the N-Channel Power MOSFET Single-Transistor Motor-Driver Circuit with a Pull-Down Resistor
- Introducing the P-Channel Power MOSFET Single-Transistor Motor-Driver Circuit
- Implementing the P-Channel Power MOSFET Single-Transistor Motor-Driver Circuit
- Introducing the Power MOSFET H-Bridge
- Adding Schottky Diodes Is Optional but Recommended
- Implementing the Power MOSFET H-Bridge
- Interfacing to a Power MOSFET H-Bridge
- Selecting Power MOSFETs
- Reducing Switch Resistance Is Desirable
- Recognizing That MOSFETs Have Resistance
- Heating Up Increases a MOSFET's Resistance
- Paralleling MOSFETs Decreases Resistance
- Contrasting Parallel MOSFET Transistors with Parallel Bipolar Transistors
- Driving Motors with Chips
- Dreaming of the Ideal
- Using the 4427-Family As a Stand-Alone Motor Driver
- Getting the Classic Bipolar H-Bridge on a Chip
- Introducing the MC33887: A Feature-Rich MOSFET H-Bridge Motor Driver
- Understanding the Pins
- Implementing the MC33887 H-Bridge Motor Driver
- Sensing Motor Current.
- Note continued: Evaluating Motor Drivers
- Evaluating Motor-Driver Power Delivery
- Evaluating Motor-Driver Voltage Output with a Very Light Load
- Evaluating Motor-Driver Voltage Output with a Moderate Load
- Evaluating Motor-Driver Efficiency
- Evaluating Motor-Driver Efficiency with a Very Light Load
- Evaluating Motor-Driver Efficiency with a Moderate Load
- Summary
- ch. 11 Creating an Infrared Modulated Obstacle, Opponent, and Wall Detector
- Detecting Modulated Infrared with a Popular Module, or, Another Reason to Hog the Remote Control
- Introducing the Panasonic PNA4602M Photo IC
- Hooking Up the PNA4602M Photo IC
- Testing the PNA4602M Photo IC
- Looking Closely at the Modulated Signal
- Looking Even More Closely to See the Detection Delay
- Expanding the Detection Circuit to Include an LED Indicator
- Adding a 74AC14 Inverter Chip to Drive the LED
- Examining the Indicator Circuit
- Cleaning the Power Supply with Local Capacitors
- Powering the LED with an Advanced CMOS Logic Chip
- Showing Both Detect and No-Detect States with a Bicolor LED
- Completing the Reflector Detector Circuit
- Examining the Complete Reflector Detector Schematic
- Generating the 38 kHz Wave
- Emitting the 38 kHz Wave
- Implementing the 38 kHz Reflector Detector on a Solderless Breadboard
- Selecting an Infrared LED for the PNA4602M
- Purchasing an Appropriate Infrared LED
- Selecting Trimpots for R7 and R6
- Selecting Capacitors
- Making It Work
- ch. 12 Fine-Tuning the Reflector Detector
- Tuning In 38 kHz
- Selecting Halfway Between the Start of Detection and End of Detection
- Never Indicating Detection Suggests Something Is Wrong with the Emitters
- Always Indicating Detection Suggests Signal Leakage
- Using a Multimeter with Frequency Detection
- Using an Oscilloscope
- Revealing the Purpose of a Schmitt-Trigger Inverter.
- Note continued: Diagnosing Problems Encountered in Circuit Tuning
- Targeting Reasonable Frequency Accuracy
- Stretching for Unreasonable Frequency Accuracy
- Accepting the Limited Accuracy and Stability of the Oscillator Circuit
- Limitations of the Reflector Detector
- Failing to Work Outdoors or Under Bright Lights
- Failing to Detect Certain Kinds of Objects
- Failing to Detect Objects Far Away or Really, Really Close
- Comparing Your Distances to Mine
- Analyzing the Distance Results
- Failing to Provide a Range Value
- Getting Ready for a Practical Robot Application
- ch. 13 Roundabout Robot!
- Examining Roundabout
- Viewing Roundabout from the Sides
- Viewing Roundabout from Above and Beneath
- Roundabout's Circuitry
- Supplying Power
- Controlling Direction with Simple Logic
- Turning Left and Turning Right
- Gradually Heading Left and Gradually Heading Right
- Avoiding Infrared Leaks
- Building Roundabout's Body
- Declaring Caveats Because of Gearmotor Availability
- Using Precision Escap Gearmotors in Roundabout
- Leaning Toward Particular Attributes
- Designing a Robot Body
- Creating a Template
- Printing a Template
- Attaching a Template
- Squaring the Template with the Workpiece
- Punching Holes for Better Centering
- Removing Tape Before Machining Sides
- Constructing the Center Platform of Roundabout
- Milling or Purchasing a Disc
- Placing and Tapping Screw Holes in Roundabout's Center Platform
- Examining Roundabout's Motor Mechanism
- Using Matching Rectangular Motor Mounts
- Choosing Between Friction-Fit Motors and Using Mounting Screws
- Mounting Motors with Screws
- Connecting to LEGO Gears and Wheels
- Selecting LEGO Gears
- Centering Wheels with Idler Gears
- Slowing Down the Speed and Increasing the Torque
- Increasing Speed in Exchange for Torque.
- Note continued: Altering Speed and Torque with Pulleys Instead of Gears
- Reaching the Physical Limits of LEGO Moving Parts
- Making Roundabout's Motor Mounts
- Defining Motor-Mount Dimensions
- Preparing the Raw Material
- Selecting Ready-Made Material Instead of Milling
- Drilling All of the Motor Mounts at the Same Time
- Making Holes to Secure the Motor Mounts to the Center Platform
- Revealing the Finished Motor Mounts
- Summarizing Roundabout
- ch. 14 Test Driving Roundabout
- Preparing for the Test Drive
- Setting All Controls to Safe or Moderate Positions
- Testing One Module at a Time
- Measuring the Resistance of the Complete Circuit
- Draining Power
- Measuring Resistance
- Getting Too Low of a Resistance
- Getting Too High of a Resistance
- Placing the Robot on Blocks
- Checking Battery Voltage and Polarity
- Watching Current Usage During Power-Up
- Preparing the Robot and Correcting Minor Glitches
- Fine-Tuning the Infrared Reflector Detector
- Flipping Bicolor LEDs
- Testing the Sensors
- Mixing Up Motor Connections
- Evaluating Roundabout's Performance
- Encountering Problems with the Test Drive
- Encountering a Reversing Robot
- Encountering a Stalling Robot
- Encountering a Slow-Motion Robot
- Encountering a Speeding Robot
- Encountering a Rotating Robot
- Exercising All of the Robot's Maneuvers
- Challenging Roundabout
- Avoiding Toilet Paper Alley
- Switching to Blocks of Wood
- Ringing Around the Robot
- Getting Stuck
- Evaluating a Drunkard's Walk
- Evaluating Roundabout's Walk
- Reducing Detection Ambiguity
- Attempting to Use a Resistor-Capacitor Circuit
- Attempting to Use High-Beam Hysteresis
- Rerouting Signals and Controls with a Multipin Header
- Running Out of Simple Ideas
- ch. 15 If I Only Had a Brain
- Considering the Atmel ATtiny84 Microcontroller As an Example.
- Note continued: Comparing a Microcontroller to a Logic Chip
- Choosing a Logic Chip Over a Microcontroller
- Choosing a Microcontroller Over a Logic Chip
- Programming a Microcontroller
- Storing Programs
- Sizing Up Program Storage
- Wriking Programs
- Working Without a.NET
- Compiling and Downloading the Program
- Debugging the Program
- Lighting Up an LED
- Changing a Pin
- Creating a Heartbeat
- Driving a Display
- Exploring Common Microcontroller Features
- Microcontroller Packages
- Microcontroller Pins
- Input Pins
- Output Pins
- Microcontroller Memory
- Nonvolatile Memory
- Supplementing with External Nonvolatile Memory
- Volatile Memory
- Microcontroller Instruction Size
- Microcontroller Instruction Complexity
- Microcontroller Speed
- Comparing Clock Speed
- Generating a Clock Signal
- Using the Clock As a Timer
- Special Watchdogs
- Low-Voltage Watchdog
- Choosing a Microcontroller
- Running Out Of
- Recommending Atmel AVR 8-bit Microcontrollers
- Recommending the Parallax BASIC Stamp
- Asking Around
- Graduating Your Robot
- ch. 16 Building Roundabout's Daughterboard
- Converting to a Two-Story Configuration
- Connecting to the DIP Socket
- Using Machine-Pin Sockets and Headers
- Securing the Daughterboard to the Motherboard
- Soldering the Headers
- Soldering the New DIP Socket
- Difficulty Accessing the Motherboard
- Relocating the Power Switch
- Perilously Stacking Sockets
- Shading the Infrared Reflector Detectors
- Intercepting Signals: Meeting the New Boss
- Retaining Valuable Functions
- Rerouting the Infrared Detection Signals
- Catching and Disrupting the Stalled State
- Rerouting the Motor and Bipolar Controls
- Producing (Almost) Complete Control
- Expanding Functionality
- Examining the Microcontroller Pins
- Powering the Microcontroller.
- Note continued: Detecting Walls and Obstacles
- Controlling the Motors and Bipolar LEDs
- Controlling the Bipolar LEDs
- Reading the Push Button
- Debouncing an Input
- Adding the Push Button to the Daughterboard
- Providing Options with a DIP Switch
- Debouncing Through Software
- Avoiding Intermittent Switch Changes
- Making Music
- Remaining Pins Available for Expansion
- Communicating with Other Modules or a Computer
- Upgrading a Robot
- ch. 17 Adding the Floor Sensor Module
- Sensing Brightness with Photoresistors
- Converting Varying Resistance into Varying Voltage Through a Voltage Divider
- Selecting a Voltage for the Voltage Divider
- Selecting a Resistor for the Voltage Divider
- Staying Below the Maximum Power Dissipation Rating of the Photoresistor
- Photoresistor Response is Nonlinear
- Graphing the Response of a Specific Photoresistor
- Calculating Sensitivity
- Calculating Any Resistance for a Given Illuminance
- Recognizing Inconsistency Between Photoresistors
- Testing Variance
- Rising and Falling Resistance Speeds
- Reusing the Balanced Brightness-Sensing Circuit
- Sensing Brightness with a Photodiode IC
- Presenting the Floor Reflectivity Circuit
- Implementing the Floor Reflectivity Circuit
- Cutting Out a Semicircular Breadboard
- Baffling the Board
- Putting on a Black Skirt
- Gutting a LEGO Brick
- Tuning and Testing the Floor Reflectivity Circuit
- Tuning Just Below 5 V on a Maximally Reflective Surface
- Testing on a Minimally Reflective Surface
- Following a Line
- Autodetection of Line Brightness
- Reading Floor Sensor Values
- Inverting Sensor Values
- Following the Dark Line
- Centering Over the Dark Line
- Improving the Line-Following Algorithm
- Competing in Robot Sumo
- Entering Roundabout in Robot Sumo
- Strategizing with DIP Switch Settings
- Expanding Possibilities.
- Note continued: ch. 18 Cooking Up Some Robot Stew
- Making Music
- Presenting the Audio Circuit
- Implementing the Audio Circuit
- Turning the Volume
- Listening to Binary
- Boosting Loudness
- Driving a Speaker
- Selecting a Speaker
- Choosing an Audio Amplifier Chip Instead of a Simple Transistor
- Seeing Sound
- Playing a Note
- Playing a Tune
- Playing Tunes Simultaneous to Robot Action
- Scaling Up
- Creating a Double Platform
- Sliding Around
- Providing Greater Headroom with Homemade Spacers
- Wheel Slots
- Supporting Both Ends of the Axle
- Mounting Motors
- Mounting with Angle Stock
- Purchasing Aluminum Angle Stock
- Preparing the Proper Lengths
- Drilling Holes with a Template
- Purposely Incorporating Wiggle Room by Drilling Unthreaded Oversized Holes
- Saving Space with Right Angle Gearing
- Notching and Grooving
- Inserting Wheel Axles
- Reducing Friction
- Placing the Drive Train into the Robot's Body
- Adapting a Small-Diameter Motor Shaft and Integrated Mount for LEGO Compatibility
- Altering the Gearmotor Shaft
- Grinding the Shaft
- Adding Tubing
- Attaching the Motor with a Peg-Based Mount
- Roaming the Solar Terrain
- Selecting Wheels for a Smooth Ride
- Detecting Obstacles
- Looking for Light and Sensing Shadows
- Feeling Around with Whisker Sensors
- Using Spring Tubing
- Lever Switches
- Standing in a Robot's Shoes for a While
- Adding a Wireless Video Camera to Any Existing Robot
- Exploring with Wireless Video
- Exploring Yourself with Wireless Video
- Thank You.