Make an Arduino-Controlled Robot

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  • Format: Paperback
  • Copyright: 2012-10-23
  • Publisher: Oreilly & Associates Inc
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Arduino is a family of microcontrollers (tiny computers) and a software creation environment that makes it easy for you to create programs (called sketches) that can interact with the physical world. Arduino enables your robot to sense the environment and respond in a rich variety of ways. This book helps you to build a robot that is capable of performing a wide variety of tasks.This book is for people who want to explore robotics concepts like movement, obstacle detection, handling sensors, remote control, and all kinds of real world physical computing challenges. It is for people who want to understand how these concepts can be used to build, expand and customize your robot.

Table of Contents

Prefacep. vii
Introduction to Robot Buildingp. 1
Why Build a Robot?p. 4
How Robots Movep. 5
Toolsp. 6
Building the Electronicsp. 9
Hardware Requiredp. 9
Construction Techniquesp. 10
Solderingp. 10
Building the Motor Controllerp. 10
Soldering the Reflectance Sensorsp. 17
Making a Line Sensor Mountp. 17
Next Stepsp. 20
Building the Two-Wheeled Mobile Platformp. 21
Hardware Requiredp. 22
Mechanical Assemblyp. 23
Lay Out the Chassis Partsp. 23
Motor Assemblyp. 24
Assemble the Chassis Componentsp. 26
Attaching the Control Electronicsp. 37
Mounting the IR sensorsp. 38
Mounting the IR Sensors for Edge Detectionp. 39
Mounting the IR Sensors for Line Followingp. 41
Next Stepsp. 43
Building the Four-Wheeled Mobile Platformp. 45
Hardware Requiredp. 46
Mechanical Assemblyp. 47
Lay Out the Chassis Partsp. 47
Motor Assemblyp. 49
Assemble the Chassis Componentsp. 51
Solder the Power and Motor Connectionsp. 54
Connecting the Battery Pack and Power Switchp. 55
Building the Optional Trickle Chargerp. 56
Assemble the Chassisp. 57
Mounting Arduino and Connecting Wires to the Shieldp. 58
Mounting the IR sensorsp. 65
Mounting the IR Sensors for Edge Detectionp. 65
Mounting the IR Sensors for Line Followingp. 67
Next Stepsp. 68
Tutorial: Getting Started with Arduinop. 71
Hardware Requiredp. 72
Arduino Softwarep. 72
Arduino Hardwarep. 72
Installing the Integrated Development Environment (IDE)p. 74
Installing Arduino on Windowsp. 74
Installing Arduino on OS Xp. 75
Installing Arduino on Linuxp. 76
Driver Installationp. 76
Connecting the Arduino Boardp. 78
Using the IDEp. 78
Uploading and Running the Blink Sketchp. 81
Using Tabsp. 82
Installing Third-Party Librariesp. 83
Testing the Robot's Basic Functionsp. 85
Hardware Requiredp. 85
Software Prerequisitesp. 86
Sketches Used in This Chapterp. 87
Load and Run helloRobot.inop. 88
About the Sketchp. 95
Troubleshootingp. 98
Making the Sketch Easy to Enhancep. 99
Controlling Speed and Directionp. 103
Hardware Requiredp. 103
Sketches Used in This Chapterp. 103
Types of Motorsp. 104
Motor Controllersp. 106
Controlling Motor Speedp. 109
How Motor Speed Is Controlledp. 109
Code for Motor Controlp. 110
Calibrating Rotation and Trackingp. 116
Software Architecture for Robot Mobilityp. 119
Functions to Encapsulate Robot Movementsp. 123
Core Movement Codep. 124
Additional Core Functionsp. 126
Functions to Rotate the Robotp. 127
Higher-Level Movement Functionsp. 130
Tutorial: Introduction to Sensorsp. 133
Hardware Discussedp. 133
Softwarep. 134
Infrared Reflectance Sensorsp. 134
Sonar Distance Sensorsp. 137
Maxbotix EZ1 Sonar Distance Sensorp. 139
Sharp IR Distance Sensorp. 141
Proximity Sensorp. 142
Sound Sensorp. 143
Arduino Cookbookp. 146
Modifying the Robot to React to Edges and Linesp. 147
Hardware Requiredp. 147
Sketches Used in This Chapterp. 148
The Look Codep. 149
Edge Detectionp. 150
Line Followingp. 154
Seeing Sketch Datap. 160
Autonomous Movementp. 163
Hardware Requiredp. 163
Sketches Used in This Chapterp. 164
Mounting a Ping Distance Sensorp. 165
Making a Mount for the Ping Sensorp. 166
Mounting the Ping Sensor in a Fixed Positionp. 168
Mounting the Ping Sensor on a Servop. 168
Letting the Robot Wanderp. 170
Adding Scanningp. 178
Remote Controlp. 185
Hardware Requiredp. 185
Sketches Used in This Chapterp. 186
Design of the Remote Control Codep. 186
Controlling the Robot with a TV Type IR Remotep. 190
Installing the IR Decoder Chipp. 190
The IR Remote Softwarep. 192
Enhancing Your Robotp. 201
Using Other Hardware with Your Robotp. 205
Debugging Your Robotp. 211
Power Sourcesp. 221
Programming Constructsp. 231
Arduino Pin and Timer Usagep. 235
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