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UMHB ENGR 1310 - Lab 1: Building a Boe-Bot

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ObjectiveAssembly (Pre-Lab)Servos (In-Lab)EvaluationParts ListEGR 1301 Lab 1 EGR 1301: Introduction to Engineering Lab 1: Building a Boe-Bot Objective This lab will both introduce you to the operation of your Boe‐Bot and help you assemble it. The Boe‐Bot will be used (in future labs) to investigate various concepts, including circuits, programming, and energy. Assembly (Pre-Lab) Before coming to the lab, you should assemble your Boe‐Bot as a team. A list of parts that came with your Boe‐Bot is provided at the end of this document. The following is a guide for what sections of the manual are most relevant to assist you in the assembly: 1. Ch 1 – Activities 1, 2, 3 – p. 1‐27. At this point, your BASIC Stamp should be connected to your computer and a message should have been displayed on the screen. a. Your kit should have come with a Board of Education (BOE), so follow those instructions (not those for the HomeW o rk board). b. Your USB to serial adapter will look different than the one in the manual. 2. Ch 3 – Activity 1 – p. 91‐101. Now, your Boe‐Bot should be fully assembled and almost ready to operate. a. Do not worry about “centering” the servos. See below. b. You will have 2 long (7/8”) screws, 2 short (1/2”) standoffs, and 2 nylon washers left over. Servos (In-Lab) Note: You are ENCOURAGED to do this on your own, as it will give you a better understanding of your Boe-Bot. The second part of this lab will focus on servo control and making the Boe‐Bot move. First, you will “center” your servos. Then, you will write code which moves the Boe‐Bot forward, backward, left, and right. 3. “Centering” the servos means adjusting them so that they will not move when the “speed = 0” command is sent to them. Servos use the timing in a signal to determine how to move. See p.52 – Introducing the Timing Diagram and p.53‐54 – Viewing a Servo Control Signal with an LED in your manual for more information. Note: be sure that the jumper between the servos connectors is set to Vdd if you are using the plug-in power supply, or Vin if using the battery pack. See p.61. 1‐1 EGR 1301 Lab 1 4. Ch 2 – Activity 4 – p.66‐69. This will explain the process for centering your servos. Note that the servos adjust very quickly, so turn the screwdriver slowly. Use the following code to do so: ‘ CenterServos ‘ {$STAMP BS2} ‘ {$PBASIC 2.5} DEBUG “Program Running...” DO PULSOUT 12, 750 PULSOUT 13, 750 PAUSE 20 LOOP END Note: you DO NOT have to understand the code to use it. Simply type it into the BASIC Stamp Editor, connect your Boe-Bot, and click the Run (Play) button. 5. The DrivingTest code below will check that your servos are working correctly. Ch 2 – Activities 5 & 6 – p.71‐83 explains various parts of this code. ' DrivingTest ' Move BoeBot forward, back, and then turn to each side ' ' Loops iterate 40 times to get ~1 sec duration ' {$STAMP BS2} ' {$PBASIC 2.5} DEBUG "Driving Test...", CR i VAR Byte Lspeed VAR Byte Rspeed VAR Byte Lspeed = 20 ' Set how fast the left servo moves Rspeed = 20 ' Set how fast the right servo moves DEBUG "Forward..." FOR i = 1 TO 40 PULSOUT 12, 750-Rspeed PULSOUT 13, 750+Lspeed PAUSE 20 NEXT DEBUG "Backward..." 1‐2 EGR 1301 Lab 1 FOR i = 1 TO 40 PULSOUT 12, 750+Rspeed PULSOUT 13, 750-Lspeed PAUSE 20 NEXT DEBUG "Turn Left..." FOR i = 1 TO 40 PULSOUT 12, 750-Rspeed PULSOUT 13, 750-Lspeed PAUSE 20 NEXT DEBUG "Turn Right..." FOR i = 1 TO 40 PULSOUT 12, 750+Rspeed PULSOUT 13, 750+Lspeed PAUSE 20 NEXT DEBUG “Finished.”, CR END 6. You will need to demonstrate in lab that you can download this code to the Boe‐Bot and that the Boe‐Bot correctly executes the instructions. Evaluation Bring your assembled Boe‐Bot and a laptop computer to lab. 1. Show the lab instructor your Boe‐Bot, and he/she will verify that the Boe‐Bot has been assembled properly. 2. If not already done, have the lab instructor help you center your servos. 3. Demonstrate that you can download the DrivingTest code to your Boe‐Bot and that it executes correctly. Parts List • “Robotics with the Boe‐Bot” Manual • Power Supply (i.e. wall‐wart) • Software CD • Serial cable • USB cable • Screw driver 1‐3 EGR 1301 Lab 1 1‐4 • USB to serial adapter • BASIC Stamp (BS2) • And the following: (from http://www.parallax.com/Default.aspx?tabid=366) Qty Item21 kΩ Resistor, 1/4 watt410 kΩ Resistor 1/4 watt22 kΩ Resistor, 1/4 watt8 220 Ω Resistor 1/4 watt4 470 Ω Resistor 1/4 watt24.7k Ω Resistor 1/4 watt20.0 1µF 50v Poly Capacitor20.1 µF Mono Radial Capacitor2 Infra red LED (clear)2Red LED2Photo Resistor (2 leads)2 Infra red Receiver (3 leads)2LED Standoff for Infrared LED2LED Li ght Shield for Infrared LED2Tact Switch23‐pin Male/Male Header 8 Panhead screw, 4/40, 3/810 4/40 x 3/8" Nut 1Tail Wheel Ball2#4 Nylon Wa s her 2Flat Head screw, 4‐40,3/8"1Boe‐Bot Aluminum Chassis1 Cotter Pin‐1/16" Di ameter1 Rubber Grommet ‐13/32" Hole Diameter8 Panhead screw, 4/40, 1/41 Battery holder , 4‐cell AA wi th ca bl e and barr el jack2Whisker wires4 Standoff, threaded aluminum, round 4‐402Pan‐head screw, 7/8" 4‐402Spacer, 1/2" round #42Wheel, Pla stic , 2.58 Dia, .3 W2 Rubber Band Tire23" Jumper Wi res (1 Bag of 10)*1Piezospeaker*2 Continuous Rotati on Servo


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