PC based Robot Controller Updated Copyright, Mark Hamester Two PCB Subsystem block diagram Two PCB Overlays I/O Detail and suggested R2D2 mappings Other functions on PCBs Software routines available –PC and OS requirements Note, whilst this document focuses on implementation with R2D2, the PCB/Software may be employed in any PC controlled Robot…

8 Chan Serial To PPM PIC Cont. 4 Chan PPM Switch Switch select RC or PC Control 4 Chan fwd/rev Motor Controllers 2 PPM Chan to 4xHigh load Outputs Std. 8 Chan RC Rec. 1.2 Amp Batt Charger 3 Amp 5 Volt Reg. 3 Amp 3-21 Volt Reg. 20amp Fused DC Outputs 4 x high current MosFet Digital Outputs For driving Motors, Lights & Relays LPT1 Laptop Or PC Parallel Port Ser. Port 16x2 Char LCD header 11 x analogue Inputs 16 x digital outputs 16 PC only out 16x2 Char LCD status Display Input from 11 Sensor devices inc. 4x IR receivers (See next slide) PC controlled low current Lights/solenoids Motors and other devices Left & Right leg motors Dome rotation motor motor or other pcb out End run sense per motor (4) 0-5V 4 2 normal PPM servo outputs Com1 Ant. 28V DC Charging Plug-pack Batteries PWR 24V PWR Stereo Audio 2 x 2.5 watt Audio Amp 2 x 8 ohm Speaker output 4 4 Chan PPM Switch Switch select RC or PC Control 4 Ribbon Connector pcb2 3 Amp 12 Volt Reg. IR LED Osc. 4 x IR leds Decade Counter outputs 10 LED only out 3 clock source sel For driving Dome LEDs Ext. Servo 1 Ext. Servo 2

Pcb1 wiring diagram Four (or more) channel receiver 28V DC 1 amp plug pack B+ SW1 CHG SW1 GND M1 M2 GND 24V 5V 12V 3-22V M3 M4 12V battery Pwr switch MMMM Connections for Gnd returns 24V unregulated battery voltage 3amp fuse protected 5V regulated voltage 3amp fuse protected 12V regulated voltage 3amp fuse protected 3-22V variable regulated voltage 3amp fuse protected Pcb1 Chan1 Chan2 Chan3 Chan4 Each is a 3 way Female-female RC Plug cable carrying Gnd, 5V and Signal RC header On pcb1 RC receiver 5v pwr is provided By pcb1 and carried in each 3way Cable. Separate receiver pwr cable Is not required. Mains AC ant

New Regulator PCB edge layout, Fuses and LEDs for all regulated outputs and 2 x LEDs for each Motor output 16 PIN CONNECTOR TO PCB 2 RC/PC SWITCH PCB 1 Revised Design 4 x Regs on edge of PCB for easy Heatsink Mount

16 X 2 LCD CONN PARRALLEL PORTSERIAL PORT PWR IN FROM PCB 1 16 PIN CONNECTOR TO PCB 1 4 X HIGH CURRENT DIGITAL OUT 16 X DIGITAL OUTPUTS 8 CHAN SERIAL SERVO CONT. 11 ANALOG IN IR TRANSMITTER 4 X IR RECEIVER STEREO AUDIO AMP SOUND SENSOR PCB 2 RC IN RC/PC SWITCH LCD CONTRAST ADJUST 4 X PPM SWITCHES 4 X IR OUT PC based Controller pcb

PCB1 I/O Detail with suggested Device mapping Fwd/Rev 20 amp proportional 4 x DC motor drive driven from either 4 channel RC receiver or serial to PPM input from PCB2 (or any 3 rd party device) 2 x main drive on left and right legs 1 x Dome Rotation 1 x 2/3/2 up/down or periscope motor Motor drive end run sense inputs –Each of the fwd/rev motor controllers has a end run sense switch to stop drive at end of run –These sensors need to be connected to external Normally Closed micro-switches positioned to go Open Circuit at the end run of the motorised device.

PCB2 I/O Detail with suggested Device mapping 4 RC or PC PPM and digital outputs –Standard servo output x 1 for moving front HP –Standard servo output x 1 for open/close claw –High Current digital outputs x 2 for moving claw in/out (or another std servo output) –High Current digital outputs x 2 for switching front/top/rear HP lights on/off (or another std servo output) PC only digital outputs –16 digital low current (100mA) digital outputs 5V or 12V selectable –Can be used to; open/close R2 body panels with a suitable low power solenoid Drive Dome LEDs if not using decade outputs Drive low current DC motor Drive low current relays 4 x Infra-red LED driver outputs –These provide oscillator signal suitable for driving 4 x IR LEDs 11 analogue Inputs –4 x conditioning ccts for external IR Collision avoidance inputs –2 x inputs for external Darlington light sensor inputs –2 x inputs for external miniature PIR movement sensor in dome –1 x LM 380 amplified sound sense input from external electret mic. –1 x 24v Battery Voltage sense input to provide low battery warning –1 x Dome Position sense using external POT feedback input. Note; If using PPM 20amp servo pot for dome position feedback, then above Dome Position input could be used for another function e.g a 3 rd PIR sensor, or RC on/off sense input 10 Decade Counter low current digital outputs –Suitable for sequencing Dome logic displays –Can drive up to 30 LEDs if 3 ganged of single output

Other Devices on PCBs PCB2 2.5 Watt Stereo Audio Amplifier –Connects to speaker out on LT –Drive 2 x 8 ohm speakers –Volume control ? 16 x 2 LCD display –To provide status of Qbasic program and i/o sensors e.g. Show Batt voltage Show voltage of any analogue input Show Function currently selected in the program -Dome Sense, Random Sound, autonomous mode etc. -Human version of current R2 sound PCB1 1.2 amp constant current Charger 3 x 3 amp Voltage Regulators –5v, 12v, 3-22v 4 x 20 amp glass fuses i.e. 1 per PPM controller 1 x 30 amp Glass fuse for main 24v power to motor drives 4 x 3 amp glass fuses for 24V and 12V, 5V and 3-22V regulated outputs Screw type connectors for power and Motor connections Standard 3 pin headers for RC and analogue inputs

Included Qbasic Software routines 486 based system – DOS 6.2 only required for these functions Qbasic Routines –40 Random R2 sounds triggered from sound/light/PIR sensed –40 Random movie sounds – sound/light/PIR sensed –HP light and data LEDs triggered from sound/light/PIR sense –HP servo movement triggered from sound/light/PIR sense –Monitor analogue voltage inputs –Display R2 message concurrently with a particualar R2 sound –Keyboard driven motor routines – main drive/dome –Follow the light –Move dome towards PIR movement –Sound sensed LED sequences This list is incomplete and will be added to as I or others think of new functions Functions are also dependant on optional Hardware in R2 –E.g. retractable Claw, Periscope, servo or switch controlled panels

Speech recognition control of R2’s –Movement –Lights –Sounds –Modes Note, need Pentium 90 or better to play MP3 files Included Qbasic Software routines with 32Mbyte minimum Windows 95 or 98

Remote PC control (VNC) via WIFI (802.11b) PCMCIA NIC –Requires Wireless LAN base station and remote PCs. –Could provide web access if develop web server interface USB Logitech or similar Webcam for visual remote PC control Notes; – Windows XP, NT, 2K are not supported for current Qbasic environment because Qbasic cannot address serial/parallel ports in these OS) –Windows 95 does not support USB Additional functions Pentium 166 (pref 300Mhz+) or better (Windows 98 only for Qbasic Code)

Other Ideas… Remote FM mic for Speech recognition –“Shut down all the garbage compactors in the detention level!” –Need professional quality FM transmitter/receiver for this… Video camera in Main eye or body with VHF/UHF Transmitter –Alternative to webcam Means you can use a low cost laptop and still get video Drive R2 remotely using just RC and Vid camera See my existing droid at –