1. RoboNova 1

2. Hardware Capabilities
MR-3024C Microcontroller
24 servo / PWM output interfaces
8 8-bit A/D channels
TTL baud
Onboard piezo speaker for tone generation
HMI 8598 Servos (6V)
300 deg/s max speed A
Digital interface

3. RoboBasic Programming
Strengths
Simple syntax & structure
Servo control & timing
Canned routines for stock sensors
Limitations
Slow instruction execution (.5-2ms)
Move command does not accept variables
Limited compound arithmetic

4. External Command Interface
Interactive motor positioning
Bluetooth / serial interface
IR remote control

5. Stock Sensors Rate Gyros IR Distance Touch sensor Sound Sensor
~6 bit resolution
~70Hz update
IR Distance
3cm-15cm
Touch sensor
Contact (digital)
Sound Sensor
>80dB detection

6. Expansion & Upgrades Camera & Vision Additional Analog Sensors
Connect directly to A/D port
Up to 7 sensors
8 bit resolution
Camera & Vision
Insufficient processing power for native implementation
Compatible with CMU Cam’s serial interface
Music & Sound Detection
External device can be triggered by serial or digital IO

7. Feedback Control Requirements & Delays
Read sensor data (~1.5 ms per sensor)
Read servo position (~1 ms per)
Control algorithm on PC (.1-1ms)
Transmit & set motor positions (~1.5ms per)
Total time = 33 ms -> 30Hz update
Bluetooth/SPP PC

8. User Hacks Grippers Replace processor to use C 18 DOF upgrade
Successfully transplanted virgin ATMega chip
No libraries for servo control
18 DOF upgrade
Allows hip rotation
Improves turning
Grippers
Allows grasping with individual hands