Cerebot & LEGO Mindstorms/en - Revision history

Balogh at 21:58, 4 March 2009

2009-03-04T21:58:36Z

Palo at 22:39, 12 January 2007

2007-01-12T22:39:54Z

Palo at 11:54, 12 January 2007

2007-01-12T11:54:21Z

Palo: /* Powering up */

2007-01-05T01:09:33Z

‎Powering up

Palo: /* NXT Servo Motors */

2006-12-18T04:34:43Z

‎NXT Servo Motors

Palo: motors through timers

2006-12-18T04:32:04Z

motors through timers

Palo: /* Other Sensors: Fly Eye */

2006-12-17T04:55:04Z

‎Other Sensors: Fly Eye

Palo: formating

2006-12-17T04:52:08Z

formating

Show changes

Palo at 03:06, 15 December 2006

2006-12-15T03:06:24Z

Palo: /* Light sensors */

2006-12-14T17:51:56Z

‎Light sensors

← Older revision		Revision as of 21:58, 4 March 2009
Line 263:		Line 263:
	{{Footer}}		{{Footer}}
	</noinclude>		</noinclude>
		+
		+	[[Category:LEGO]]

@@ Line 149: / Line 149: @@
   printf("string: %s\n", "strng");
   printf("hex: %x\n", 12345);
-  printf("long int: %ld\n", 123456789);
+  printf("long int: %ld\n",);
   printf("unsigned: %u\n", -1);
@@ Line 159: / Line 159: @@
   string: strng
   hex: 3039
-  long int: 123456789
+  long int:
   unsigned: 65535
@@ Line 257: / Line 257: @@
 * [http://www.jopdesign.com/lego/index.jsp Interfacing FPGAs with LEGO Mindstorms]
 * [[Nidarbot|Nidarbot - first robot with Cerebot we built]]
 <noinclude>
 {{Footer}}
 </noinclude>

← Older revision		Revision as of 11:54, 12 January 2007
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	A test program is here: [[Media:fly_eye.zip\|fly_eye.zip]].		A test program is here: [[Media:fly_eye.zip\|fly_eye.zip]].
		+
		+
		+	=== Tutorial ===
		+
		+	* [[Cerebot Sensors Tutorial]]

	=== References ===		=== References ===

@@ Line 8: / Line 8: @@
 The board is powered with 3.6 - 9V DC power. It can receive power on three
-different connectors (either in wire screw interface, or jumper cable, or
+different connectors (either in wire screw terminal, or jumper cable, or
 usual plug of universal power adapter). It runs fine from 9V battery.
 In addition, it has another power input that can be used to drive the servo

@@ Line 233: / Line 233: @@
 We have now tried with HB2 pmod from Digilent, and obtained a little bit [[First experiments with HB2 PMOD|confusing behavior]]. But it works, and that is important. Our first robot with an example program is described at its [[Nidarbot|own page]].
-ATmega64 provides the possibility to configure its timers so that they generate a specific duty-cycle on one of the OCNx output pins (6 output pins for timer1, and 1 output pin for timer0, and finally timer2 can generate a signal as well, but shares a pin with one of those of timer1 - so we rather keep it for generating interrupts for reading sensors, task-switching or other purpose). The following project demonstrates how to control 7 independent DC motors through HB2 PMODs connected to Cerebot. It allows setting speed for each motor, or to groups of motors, changing their directions, and turn them on and off, all individually: [[Media:cerebot_motors.zip]] (this is still yet fully tested). In this way, the motors are controlled by PWM signal that is generated by the AVR processor without using any CPU time (not even interrupts).
+ATmega64 provides the possibility to configure its timers so that they generate a specific duty-cycle on one of the OCNx output pins (6 output pins for timer1, and 1 output pin for timer0, and finally timer2 can generate a signal as well, but shares a pin with one of those of timer1 - so we rather keep it for generating interrupts for reading sensors, task-switching or other purpose). The following project demonstrates how to control 7 independent DC motors through HB2 PMODs connected to Cerebot. It allows setting speed for each motor, or to groups of motors, changing their directions, and turn them on and off, all individually: [[Media:cerebot_motors.zip|cerebot_motors.zip]] (this is still yet fully tested). In this way, the motors are controlled by PWM signal that is generated by the AVR processor without using any CPU time (not even interrupts).
 === NXT Sensors ===

← Older revision		Revision as of 04:32, 18 December 2006
Line 232:		Line 232:

	We have now tried with HB2 pmod from Digilent, and obtained a little bit [[First experiments with HB2 PMOD\|confusing behavior]]. But it works, and that is important. Our first robot with an example program is described at its [[Nidarbot\|own page]].		We have now tried with HB2 pmod from Digilent, and obtained a little bit [[First experiments with HB2 PMOD\|confusing behavior]]. But it works, and that is important. Our first robot with an example program is described at its [[Nidarbot\|own page]].
		+
		+	ATmega64 provides the possibility to configure its timers so that they generate a specific duty-cycle on one of the OCNx output pins (6 output pins for timer1, and 1 output pin for timer0, and finally timer2 can generate a signal as well, but shares a pin with one of those of timer1 - so we rather keep it for generating interrupts for reading sensors, task-switching or other purpose). The following project demonstrates how to control 7 independent DC motors through HB2 PMODs connected to Cerebot. It allows setting speed for each motor, or to groups of motors, changing their directions, and turn them on and off, all individually: [[Media:cerebot_motors.zip]] (this is still yet fully tested). In this way, the motors are controlled by PWM signal that is generated by the AVR processor without using any CPU time (not even interrupts).

	=== NXT Sensors ===		=== NXT Sensors ===

@@ Line 243: / Line 243: @@
 With Cerebot, we use the VU, and GND signals for the two power wires of Fly Eye, and connect the last wire to a resistor divider with its probe connecting to the ADC0. Since Cerebot does not have the AVR's AREF pin connected, we have to scale the 0-5V into one of the internal ADC levels - for example to the VCC. Our attempt with 150k/120k resistors requires a bit modified formula, but otherwise seems to detect the ball nicely - and even at a relative long distance!
-A test program is here: [[Media:fly_eye.zip]].
+A test program is here: [[Media:fly_eye.zip|fly_eye.zip]].
 === References ===

← Older revision		Revision as of 03:06, 15 December 2006
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	* [http://www.jopdesign.com/lego/index.jsp Interfacing FPGAs with LEGO Mindstorms]		* [http://www.jopdesign.com/lego/index.jsp Interfacing FPGAs with LEGO Mindstorms]
	* [[Nidarbot\|Nidarbot - first robot with Cerebot we built]]		* [[Nidarbot\|Nidarbot - first robot with Cerebot we built]]
		+
		+	<noinclude>
		+	{{Footer}}
		+	</noinclude>

@@ Line 251: / Line 251: @@
 A testing program that samples all 8 ADCs and prints their values on the UART1 is
 available as a whole WinAVR project here: [[Media:cerebot_sample_ADCs_LEGO.zip|cerebot_sample_ADCs_LEGO.zip]].
 === RCX 9V Motors ===