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

2. 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.
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3. 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
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6. Inside wheel incremental encoder

7. 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
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8. 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
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9. 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, 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
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10. 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!

11. 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
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13. 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 center servo motor
PWM right servo motor
PWM left servo motor
Servo Motors
Arduino
PWM center servo motor
PWM right servo motor
PWM 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
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14. Arduino Sketch IDE www.site.uOttawa.ca
Arduino Sketch software download: