Designer / builder : Alan Stewart STINGRAY – WiFi ROBOT Designer / builder : Alan Stewart

Introduction Experiences 3:03 AM Over 25 years of experince at University of Ottawa 15 years with University of Ottawa Haz- Mat Team 10 years with Clarence-Rockland Fire Dept. 3:03 AM

New Stingray WiFi Robot Differential steering using two servo motors, Futaba FP-S148 Powered by 2 NiCad 1700 mA/h batteries and AC adaptor controlled. Dual in lab battery chargers. New photo reflector circuit, using Hamamastu photo reflector P5587 with wheel incremental encoders (64 increments for 360 degrees therefore 5.6 degrees per increments Parallax Ping ultrasonic sonar on rotating motor DIY Sandbox Hydrogen Wi-Fi with built in webserver Serial 16x2 LCD display Arduino Mega 2560 microcontroller Wireless Network connection SSID : Robolab 3:03 AM

www.site.uOttawa.ca

www.site.uOttawa.ca

Inside wheel incremental encoder www.site.uOttawa.ca

NEWArduino Mega 2560 3:03 AM Microcontroller ATmega2560 Operating Voltage 5V Input Voltage (recommended) 7-12V Input Voltage (limits) 6-20V Digital I/O Pins 54 (of which 14 provide PWM output) Analog Input Pins 16 DC Current per I/O Pin 40 mA DC Current for 3.3V Pin 50 mA Flash Memory 256 KB of which 8 KB used by bootloader SRAM 8 KB EEPROM 4 KB Clock Speed 16 MHz 3:03 AM

Parallax PING Ultrasonic Sensor Features: • Provides precise, non-contact distance measurements within a 2 cm to 3 m range • Simple start pulse in (40khz)/echo return variable-width ouput • Burst indicator LED shows measurement in progress • 20 mA power consumption • Narrow acceptance angle • 3-pin header makes it easy to connect using a servo extension cable, no soldering required http://www.parallax.com/StoreSearchResults/tabid/768/txtSearch/ping/List/0/SortField/4/ProductID/92/Default.aspx]\ 3:03 AM

Serial LCD 16X2 Display 3:03 AM Features: Embedded PIC 16F88 utilizes onboard UART for greater communication accuracy Adjustable baud rates of 2400, 4800, 9600 (default), 14400, 19200 and 38400 Operational Backspace Greater processing speed at 10MHz Incoming buffer stores up to 80 characters Backlight transistor can handle up to 1A Pulse width modulation of backlight allows direct control of backlight brightness and current consumption All surface mount design allows a backpack that is half the size of the original Faster boot-up time Boot-up display can be turned on/off via firmware User definable splash screen http://www.robotshop.com/ca/productinfo.aspx?pc=RB-Spa-333&lang=en-US 3:03 AM

www.site.uOttawa.ca Possible add on sensor 8 Pixel Thermal Array Sensor Voltage - 5v only required Current - 5mA Typ. excluding servo Temperature Range - 4°C - 100°C Accuracy (Full FOV) - +/-2°C +/-2% from 10°C to 100°C, Accuracy (Full FOV) - +/-3°C from 4°C to 10°C Field of View - 41° x 6° (8 pixels of approx. 5° x 6°) Outputs - 1 ambient + 8 pixel temperatures Communication - I2C Interface Servo - Controls servo in 32 steps to 180° rotation Small Size - 31mm x 18mm Detects a candle flame at a range 2 metres (6ft) and is unaffected by ambient light! Detect Human Body heat! Servo control for image construction! http://www.robotshop.com/devantech-8-pixel-thermal-array-sensor-1.html www.site.uOttawa.ca

Arduino WiFi Hydrogen from DIY Sandbox Product Features: 802.11b (11mbps) certified (throughput TBD) Existing Arduino Ethernet library compatibility Flexible communication method with WiFi module between hardware UART and software UART 3 pulse width modulated (PWM) LEDs for customizable notifications (can be disabled for low power) MicroSD card holder with selectable chip select (CS) pin Wireless Features: Support for adhoc and infrastructure networks DHCP DNS lookup Supports up to 16 TCP or UDP connections Web provisioning via either a webserver or WPS WEP 64/128, WPA/WPA2 personal security Fast passphrase key calculation (WPA/WPA2) Stores two connection profiles for easy reconnection Dynamic site scanning of nearby access points, including RSSI information (can be used for coarse grain triangulation) Arduino WiFi Hydrogen from DIY Sandbox http://diysandbox.com/our-products/arduino-shields/hydrogen 3:03 AM

www.site.uOttawa.ca

Stingray Robot Arduino pinout Wi-Fi Hydrogen board Arduino Wi-Fi COMMUNICATION 6 Tx2 COMMUNICATION 5 Rx2 PWM 10 sd card CS PWM 11 Sd card MOSI PWM 12 Sd card MISO PWM 13 Sd card CLK PWM 3 Led blue PWM 5 Led green PWM 6 Led red RESET Reset Servo Motors Arduino PWM 7 center servo motor PWM 4 right servo motor PWM 2 left servo motor Servo Motors Arduino PWM 7 center servo motor PWM 4 right servo motor PWM 2 left servo motor Sensor and display Arduino Digital I/O 22 Sonar input Digital I/O 26 Left encoder input Digital I/O 28 Right encoder input Serial TX1 LCD display SDA 20 I2C data bus SCL 21 I2C clock bus Sensor and display Arduino Digital I/O 22 Sonar input Digital I/O 26 Left encoder input Digital I/O 28 Right encoder input 3:03 AM

Arduino Sketch IDE www.site.uOttawa.ca Arduino Sketch software download: http://arduino.cc/hu/Main/Software www.site.uOttawa.ca