Make – an Arduino- Controlled Robot – Autonomous and Remote-Controlled Bots on Wheel

Make – an Arduino- Controlled Robot
Autonomous and Remote-Controlled Bots on Wheel
Michael Margolis
Table of ContentsNext Steps 43

4. Building the Four-Wheeled Mobile Platform . 45
   Hardware Required 46
   Mechanical Assembly 47
   Lay Out the Chassis Parts 47
   Motor Assembly . 49
   Assemble the Chassis Components 51
   Solder the Power and Motor Connections 54
   Connecting the Battery Pack and Power Switch . 55
   Building the Optional Trickle Charger 56
   Assemble the Chassis 57
   Mounting Arduino and Connecting Wires to the Shield . 58
   Mounting the IR sensors . 65
   Mounting the IR Sensors for Edge Detection 65
   Mounting the IR Sensors for Line Following . 67
   Next Steps 68
5. Tutorial: Getting Started with Arduino 71
   Hardware Required 72
   Arduino Software 72
   Arduino Hardware . 72
   Installing the Integrated Development Environment (IDE) 74
   Installing Arduino on Windows 74
   Installing Arduino on OS X . 75
   Installing Arduino on Linux 76
   Driver Installation . 76
   Connecting the Arduino Board . 78
   Using the IDE 78
   Uploading and Running the Blink Sketch . 81
   Using Tabs 82
   Installing Third-Party Libraries . 83
6. Testing the Robot’s Basic Functions . 85
   Hardware Required 85
   Software Prerequisites . 86
   Sketches Used in This Chapter . 87
   Load and Run helloRobot.ino 88
   About the Sketch 95
   Troubleshooting . 98
   Making the Sketch Easy to Enhance 99
7. Controlling Speed and Direction . 103
   Hardware Required . 103
   iv Make an Arduino-Controlled RobotSketches Used in This Chapter 103
   Types of Motors 104
   Motor Controllers 106
   Controlling Motor Speed . 109
   How Motor Speed Is Controlled . 109
   Code for Motor Control . 110
   Calibrating Rotation and Tracking . 116
   Software Architecture for Robot Mobility 119
   Functions to Encapsulate Robot Movements 123
   Core Movement Code 124
   Additional Core Functions 126
   Functions to Rotate the Robot 127
   Higher-Level Movement Functions 130
8. Tutorial: Introduction to Sensors . 133
   Hardware Discussed 133
   Software . 134
   Infrared Reflectance Sensors 134
   Sonar Distance Sensors . 137
   Maxbotix EZ1 Sonar Distance Sensor 139
   Sharp IR Distance Sensor . 141
   Proximity Sensor . 142
   Sound Sensor 143
   Arduino Cookbook . 146
9. Modifying the Robot to React to Edges and Lines
   . 147
   Hardware Required . 147
   Sketches Used in This Chapter 148
   The Look Code . 149
   Edge Detection 150
   Line Following . 154
   Seeing Sketch Data . 160
10. Autonomous Movement . 163
    Hardware Required . 163
    Sketches Used in This Chapter 164
    Mounting a Ping Distance Sensor . 165
    Making a Mount for the Ping Sensor 166
    Mounting the Ping Sensor in a Fixed Position 168
    Mounting the Ping Sensor on a Servo . 168
    Letting the Robot Wander 170
    Table of Contents vAdding Scanning . 178
11. Remote Control . 185
    Hardware Required . 185
    Sketches Used in This Chapter 186
    Design of the Remote Control Code . 186
    Controlling the Robot with a TV Type IR Remote . 190
    Installing the IR Decoder Chip 190
    The IR Remote Software 192
    Appendix A. Enhancing Your Robot 201
    Appendix B. Using Other Hardware with Your Robot 205
    Appendix C. Debugging Your Robot 211
    Appendix D. Power Sources 221
    Appendix E. Programming Constructs . 231
    Appendix F. Arduino Pin and Timer Usage . 235

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