Architectural Robotics - Spring '09

Architectural Robotics on Youtube

2009-04-30T16:36:00.004-04:00

Here is the three projects that I have with (PAUL, APOORVA, IVAN) on Youtube:

ET movie on Youtube: http://www.youtube.com/watch?v=s1E3AtnlS5g
YOU on Youtube: http://www.youtube.com/watch?v=oh8m83druO8
ITOI on Youtube:http://www.youtube.com/watch?v=IxaOsKu9oBE
or http://www.youtube.com/watch?v=BHXOtuksy0k

mKare

2009-04-29T11:31:00.006-04:00

ARCH 879/ECE 893 - Architectural Robotics

mKare: The Mobile Care Unit

Abstract:- The mKare is an interactive mobile unit which is built to aid the physically challenged people in their daily lives. mKare can be controlled by a Wii remote to move in all directions. The sides have arms that rise up to provide an extension whenever necessary, thereby giving more workspace and at the same time keeping the overall size of the table compact. mKare is equipped with a smart lighting system which turns on when there is insufficient ambient light. Overall the mKare is a user-friendly mobile assistant which suits the needs and requirements of the physically challenged people.

Scenario:- Nick Papageorgerio recently suffered from a stroke, and from this, lost his ability to move his left side of his body. After Nick recovered from the initial stage, the doctors dismissed him from the hospital, prescribed him medicine, as well as a new device called the mKare to help him at home. When Nick arrived home and his immediate family left him, he soon realized how important having an assistant would be, and realized why the doctor prescribed the mKare unit along with medicine. In the morning, Nick turned on his favorite television show and then proceeded to get his daily coffee. He soon realized that controlling the wheelchair and holding a cup of hot coffee with one hand would be impossible. Nick grabbed his control for his mKare and quickly controlled it to where he was located. He placed his coffee in the built in cup holder, and went back to the living room to watch television, and controlled the mKare to follow him. After his television show was over, Nick decided to write a letter to his grandkids, however, his new wheelchair did not allow him to use the furniture currently in his house. He quickly remembered his mKare unit and aligned his wheelchair sensors to the new unit, and a table end emerged from the personal care unit and Nick was able to slide under the table and finish writing his letter.

After a long day, Nick decided it was time for bed and headed for bed. When he got to bed, he grabbed his favorite book and began reading, but his arm was getting tired from holding the book. Nick grabbed his remote and again controlled mKare to his bedside, were he activated a sensor to open the side table so he could have a reading surface for bed. Once the arm was, mKare detected low light in the room, and automatically turned on additional lights inside the form.

After Nick finished reading and went to bed, he woke up in the middle of the night to loud thunder and flashes of lighting. The next loud boom turned off the power in the house, and to Nick’s delight, the mKare unit automatically detected the dark light condition, and turned its own lights on to help Nick see.

Images

mKare is standing by ready to be used.

mKare ‘s arms have been activated by the user. Both sides are capable of being used if needed.

The inside of mKare.

Hardware requirements

4 RC servomotors

Wii Remote

IR Led’s (1)

IR Receivers (2)

PhotoResistor (1)

Resistors (1Kohm-3)

LED’s (6)

3 Arduino Boards

Omni directional Wheels (2)

Laser Cut Cardboard

Lego parts.

Code for WII Control

#include

#include "nunchuck_funcs1.h"

int loop_cnt=0;

byte accx,accy,zbut,cbut;

int servoPin1 = 9;

int servoPin2 = 10;

void setup()

{

Serial.begin(19200);

nunchuck_setpowerpins();

nunchuck_init(); // send the initilization handshake

Serial.print("WiiChuckDemo ready\n");

pinMode(servoPin1,OUTPUT);

pinMode(servoPin2,OUTPUT);

}

void loop()

{

if( loop_cnt > 100 ) { // every 100 msecs get new data

loop_cnt = 0;

nunchuck_get_data();

accx = nunchuck_accelx(); // ranges from approx 70 – 182 in X direction

accy = nunchuck_accely(); // ranges from approx 65 – 173 in y direction

zbut = nunchuck_zbutton();

cbut = nunchuck_cbutton();

Serial.print("accx: "); Serial.print((byte)accx,DEC);

Serial.print("\taccy: "); Serial.print((byte)accy,DEC);

if(accy>=180){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin1,HIGH);

delayMicroseconds(1400);

digitalWrite(servoPin1,LOW);

delay(20);

}

if(accy<=100){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin1,HIGH);

delayMicroseconds(1600);

digitalWrite(servoPin1,LOW);

delay(20);

}

if(accx>=180){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin2,HIGH);

delayMicroseconds(1400);

digitalWrite(servoPin2,LOW);

delay(20);

}

if(accx<=80){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin2,HIGH);

delayMicroseconds(1600);

digitalWrite(servoPin2,LOW);

delay(20);

}

loop_cnt++;

delay(1);

}

Code for Side Arms of the table

#include

ServoTimer1 servo1;

ServoTimer1 servo2; // variable to store the servo position

int Action1 = 2;

int A1 = 0;

int Action2 = 4;

int A2 = 0;

int servopin1=9;

int servopin2=10;

void setup()

{

servo1.attach(servopin1) ; // attaches the servo on pin 9 to the servo object

servo2.attach(servopin2) ; // attaches the servo on pin 10 to the servo object

pinMode(Action1,INPUT);

pinMode(Action2,INPUT);

}

void loop()

{

A1 = digitalRead(Action1);

servo1.write(170);

if (A1==LOW) {

int pos=0;

for(pos = 0;pos<=90;pos++)

{ // in steps of 1 degree

servo1.write(pos); // tell servo to go to position in variable 'pos'

delay(100); // waits 200ms for the servo to reach the position

}

for(pos = 90; pos<=170; pos++)

{

servo1.write(pos);

delay(100);

}

A2 = digitalRead(Action2);

servo2.write(0);

if (A2==LOW) {

int pos = 0;

for(pos = 0;pos<=90;pos++)

{ // in steps of 1 degree

servo2.write(pos); // tell servo to go to position in variable 'pos'

delay(200); // waits 200 ms for the servo to reach the position

}

for(pos = 90; pos>=1; pos--)

{

servo2.write(pos);

delay(200);

}

Code for the Lights

int photoPin = 2; // select the input pin for the pHotoresistor

int ledPin1 = 11; // select the pin for the LED

int ledPin2 = 12;

int ledPin3 = 13;

int val = 0; // variable to store the value coming from the sensor

void setup() {

pinMode(ledPin1, OUTPUT);

pinMode(ledPin2, OUTPUT);

pinMode(ledPin3, OUTPUT); // declare the ledPin as an OUTPUT

Serial.begin (9600); // tells the Arduino to get ready to send data back to the computer

}

void loop() {

val = analogRead(photoPin); // read the value from the sensor

Serial.print ("Value = "); // report the text "Value = "

Serial.println (val);

if(val<=200){

digitalWrite(ledPin1, HIGH); // turn the ledPin on

digitalWrite(ledPin2, HIGH);

digitalWrite(ledPin3, HIGH);

} // stop the program for some time

else

{

digitalWrite(ledPin1, LOW); // turn the ledPine

digitalWrite(ledPin2, LOW);

digitalWrite(ledPin3, LOW);

//delay(val); // stop the program for some time

}

Problems Encountered

1) Balancing the weight of the table on only two wheels was a challenge as it compromised the smooth movements of the table. This problem can however be very easily solved if we used four wheels controlled by 4 RC servos.

2) Power supplied to the Arduino was not sufficient for the RC servos to lift the side arms to their fullest extent

Reminder

2009-04-24T09:02:00.002-04:00

Hey,
While we're all basking in the glory of our final projects and still recovering from all the work put in to the class this semester, I just wanted to remind everyone that we are meeting this coming Wednesday at the regular time to tidy up the lab space we used.

There will be tour groups and visitors stopping by over the course of the semester and while having some level of chaos shows we're doing work, it's also not fun navigating through the stuff lying around.

See you all (hopefully) on Saturday.
-Apoorva

Project CDs

2009-04-23T14:28:00.003-04:00

Hi All.

I wanted to clarify the manner in which we are going to
submit the required CDs of our projects.

Some were saying that each individual would summit
a single CD with their three projects on it (thereby giving
Drs. Green and Walker 2 copies of each project).
Others mentioned 2 copies of a single disk with everyone's
work on it.

Dr. Walker, Dr. Green: what do you prefer?

Paul.

End of the semester cookout

2009-04-22T14:52:00.002-04:00

Ok guys, as most of you know, I am defending my thesis tomorrow (Thursday), so I'd like to have all of you come to the Reserve, and eat something at the barbacue, play some pool, drink some beer...

I'm planning on doing it on Saturday since it seems to be the best day for everyone.
The day is supposed to be beautiful, so bring your bathing suit, there are two pools there.

I'll be taking care of the food so I'd appreciate if each of you could bring some snacks, or drinks, beer or whatever you want.

I think 2pm is a good time to start. We don't want to get up early on Saturday. Especially after the last week of class.

Also, this might be the last opportunity to see some of you, since I will be going back to Spain soon after graduation.

I hope I'll see you all on saturday. It's gonna be fun ;)

PS: For those of you who don't know where the place is. It is called The Reserve at Clemson (where I live) and it's right after the grocery store Ingles, if you are coming from Clemson.
If you have any trouble finding it, give me a call 864-643-9536

Power Outlets/Power Strips for Final Presentation

2009-04-20T23:54:00.004-04:00

We should take a count of how many outlets everyone will need so that we make sure we have enough outlets and power strips.

Apoorva/Joe
- 3 outlets - one ofr each arduino
- 2 outlets - one for each of our laptops

Ivan/Joe
- 2 outlets for NYC Particulate Localization model

Invitation

2009-04-19T14:33:00.002-04:00

Hi All,

I didn't get the invitation about our gallery in my email, could any one forward that to me. As I am trying to help to invite as many people as possible!

Tarek

Thanks

2009-04-15T22:22:00.001-04:00

Hi Paul, Apoorva, and Ivan ,

I am happy to work with all of you guys in this class, especially those who respect my profession and work (Ivan and Paul) and also those who are not (Apoorva) I was happy working with you too!. I learned a lot from all of you guys and my hopes are to complete working together in the future.

Best,
Tarek

'ET' FREE PHOTOS DAY

2009-04-14T18:44:00.004-04:00

Hi All,

It seems that you all like 'ET' to get you personal PHOTOS, okay that's fine!. But please prepare yourself emotionally and psychologically for tomorrow ET FREE PHOTOS DAY from 10am to 1pm.
ET is waiting for all of you tomorrow in Flour Daniel!.. Don't forget to get two free photos from ET before you leave the class....:)

Tarek, Paul and ET

Stepper Motor Notes

2009-04-13T09:00:00.002-04:00

All,

Here are a few notes on use of the stepper motors.

1) When wiring the motors to the Motorshield, use the following
color order (at terminals left to right) for the wires:
Orange, Yellow, Red, Black, Brown.

2) These motors appear to be pretty weak. A few ideas to make
them stronger are (a) use DOUBLE stepping in your arduino code,
(b) reduce the friction seen by the motors in your model, and
(c) solder a second pair of L293D H-Bridge chips "piggy back"
onto the first pair - which doubles the current capacity. The
motors are still pretty weak, but these steps helped.

Paul.

Final Architectural Robotics Presentation

2009-04-11T10:06:00.002-04:00

All

This is a reminder to bring next class the material regarding our final presentation.
Have one group member burn a CD or bring on a jump drive with:

- Few of the Best JPEG Pictures of each project.
- Video of each project
- Word document with the project description.

Thanks

henrique

"ET" wants your photos

2009-04-11T02:46:00.003-04:00

Hi all,
We have called our new project "ET": The Emotional-Together Robotic Room for people aging in place, ET has an important picture in his room!. ET wants all of you guys and teachers too to bring or send us two emotional photos for yourself that will be a part of that picture.

ET is still sleeping until Wednesday29,09, so please let him be happy by bringing these photos with you, or if you like ET team to get you a photo we are happy to do that in the next class on Wednesday (please wear the thing you like it to be in the picture and prepare yourself to get the emotional shot you like it to be (afraid, happy, sad, or angry)!:)))

here is a picture of what ET is expecting you to send:)
Tarek, Paul and ET

Shelter in a Storm

2009-04-05T13:02:00.003-04:00

Abstract:

This project presents a structure that is capable of morphing from a conventional building skin to a more aerodynamic shape that acts to dissipate the forces of high wind such as those that occur during a hurricane. A wind sensor detects the presence of wind gusts above a safe threshold. When such high wind is detected, the building self-adjusts two important components of its exterior surface: the parapet walls, and broad, flat wall surfaces. Each of these is flexed to project a curved (domed) surface toward oncoming wind. The curved surfaces act to dissipate the wind and thereby reduce the force on the underlying structure as has been shown to occur with domed buildings. After high winds have died down for a programmed period of time, the building reverts to its original, more conventional shape. Lighting is also used to outwardly express the current mode of the structure: yellow during times of normal (low) wind, and red during emergencies (high winds).

Scenario

The time before an impending hurricane making land fall in the city of Charleston, South Carolina had always been tense for its citizens. Many immediately take to the highways; seeking safety inland without knowing if they would have a home or business to return to. Many others, who would not travel due to infirmity, poverty, or misguided hubris, faced the even more worrisome specter of riding out the storm in the city.

Such was the case for Rhett and Scarlett Butler. As Rhett lay sedated in his second story room in the Hollings Cancer Center at the Medical College of South Carolina, Scarlett gazed with dread out her window at the now white capped waters of Charleston Harbor. As the winds increased, she saw the running lights of the building turn from amber to red indicating emergency status. She heard the gentle hum of motors slowly arching the building’s windward edges and face to deflect the fierce winds. She heard the outer panels lock into place as she watched emergency personnel guide people from the neighboring neighborhood into the building – a shelter in the storm.

Operation

A) Lights are amber during safe winds. Aerodynamic surfaces are relaxed to a conventional shape.

B) High winds are detected. The building building’s running lights change from yellow to red. Parapets morph to a aerodynamic convex shape.

C) An inflatable surface creates a convex protrusion to dissipate wind force on the flat faces of the building.

D) After winds abate, the structure returns to its original shape. The running lights turn back to amber.

List of Hardware:

• Arduino Duemilanove boards (2)
• Adafruit Motor/Stepper/Servo Shield for Arduino (1)
• Parallax servo motor (1)
• Model airplane propeller (1) (wind indicator)
• Fairchild QEC112 Infrared LED (1)
• Fairchild QSD122 Silicon Infrared Phototransistor (1) (propeller blade detector – See Figure 1)
• LEDs, Yellow (4)
• LEDs, Red (4)
• Pullup resistors (10 kΩ) (1)
• Pullup resistors (100 Ω) (9)
• Wiring
• Breadboard
• Lego Mindstorms components (for building mechanism and motor mount)
• Chipboard cutouts for outer skin
• Plastic for windows
• String

Source Code (Main Control Algorithm)

// -------------------------------------------------------
// Filename: ECE983_Proj2.txt
// Course: ECE893 - Architectural Robotics
// Team members: Adam James, Paul Yanik
//
// Description:
// This design activates aerodyamic building surfaces
// to move into place during hurricane force winds. The
// surfaces help to dissipate the wind energy so as to
// reduce the force experienced by the underlying structure;
// thereby reducing wind damage and debris.
// -------------------------------------------------------
#include
ServoTimer1 servo1;

// -------------------------------------------------------
// Pin Assignments and Variable Declarations
// -------------------------------------------------------
// Pin assignments
int servoPin1 = 10;
int propBlade = 14;
int resetButton = 15;
int highWindPin= 16;

// Variable Declarations
int loop_count = 0; // Count the number of loops during a time interval.
int blade_count = 0; // Count the number of blade passes during a time interval.
int last_reading = 0; // Last loop reading of the blade pass detector.
int curr_reading = 0; // Current loop reading of the blade pass detector.

int TIME_INTERVAL = 300; // Number of loops to execute while counting blade passes.
int SPEED_THOLD = 7; // Number of blade passes needed to determine high wind.
int high_wind = 0; // High wind indication variable.
int MAX_ANGLE = 90; // Angle to turn servo for actuation of surfaces.
int highWindPin = 0; // Indicator to second Arduino to actuate lighting

// -------------------------------------------------------
// IO Pin Setup
// -------------------------------------------------------
void setup()
{
servo1.attach(servoPin1);

pinMode(propBlade, INPUT);
pinMode(resetButton, INPUT);
pinMode(highWindPin, OUTPUT);

// Open a serial link for onscreen variable monitoring.
Serial.begin(9600);
}

// -------------------------------------------------------
// Loop for Runtime Operation
// -------------------------------------------------------
void loop()
{

// Indicate to second Arduino to turn on yellow (LEDs) - safe mode
digitalWrite(highWindPin, LOW);

// Watch for high wind until it is detected
while (high_wind == 0) {

// Read the sensor to see if the prop blade is present.
curr_reading = digitalRead(propBlade);

// Display the number of blade counts (for debug).
Serial.println(blade_count);

// Execute the loop TIME_INTERVAL times. Count the number of
// propeller blade passes that are detected during the interval.
if (loop_count < curr_reading ="=" last_reading ="=" loop_count =" 0;" blade_count =" 0;"> SPEED_THOLD) {
high_wind = 1;
blade_count = 0;
loop_count = 0;
digitalWrite(highWindPin, HIGH);
}

// Store the current reading as the last reading to compare
// with the blade pass detector on the next iteration. A blade
// pass has been detected whenever these two are different.
last_reading = curr_reading;
loop_count += 1;

// Serial.println(blade_count);

} // End while - high wind has been detected.

// Clear the high wind indication, wait for a new detection.
high_wind = 0;

// Activate the motors to move aero surfaces.
for (int r = MAX_ANGLE; r > 0; r--) {
servo1.write(r);
delay(40);
}

// Wait some amount of time before deactuating the surfaces.
delay(5000); // 5 seconds

// Deactuate the surfaces.
for (int r = 0; r <>
ServoTimer1 servo1;

// -------------------------------------------------------
// Pin Assignments and Variable Declarations
// -------------------------------------------------------
// Pin assignments
int highWindPin = 14;

int Red_ledPin1 = 13;
int Red_ledPin2 = 12;
int Red_ledPin3 = 11;
int Red_ledPin4 = 10;

int Yellow_ledPin1 = 7;
int Yellow_ledPin2 = 6;
int Yellow_ledPin3 = 5;
int Yellow_ledPin4 = 4;

int surfaces_actuated = 0;

// -------------------------------------------------------
// IO Pin Setup
// -------------------------------------------------------
void setup()
{
pinMode(highWindPin, INPUT);

pinMode(Red_ledPin1, OUTPUT);
pinMode(Red_ledPin2, OUTPUT);
pinMode(Red_ledPin3, OUTPUT);
pinMode(Red_ledPin4, OUTPUT);

pinMode(Yellow_ledPin1, OUTPUT);
pinMode(Yellow_ledPin2, OUTPUT);
pinMode(Yellow_ledPin3, OUTPUT);
pinMode(Yellow_ledPin4, OUTPUT);

// Open a serial link for onscreen variable monitoring.
Serial.begin(9600);
}

// -------------------------------------------------------
// Loop for Runtime Operation
// -------------------------------------------------------
void loop()
{
surfaces_actuated = digitalRead(highWindPin);

Serial.println(surfaces_actuated);

if (surfaces_actuated == 1) {
digitalWrite(Red_ledPin1, HIGH);
digitalWrite(Red_ledPin2, HIGH);
digitalWrite(Red_ledPin3, HIGH);
digitalWrite(Red_ledPin4, HIGH);
digitalWrite(Yellow_ledPin1, LOW);
digitalWrite(Yellow_ledPin2, LOW);
digitalWrite(Yellow_ledPin3, LOW);
digitalWrite(Yellow_ledPin4, LOW);
} else {
digitalWrite(Red_ledPin1, LOW);
digitalWrite(Red_ledPin2, LOW);
digitalWrite(Red_ledPin3, LOW);
digitalWrite(Red_ledPin4, LOW);
digitalWrite(Yellow_ledPin1, HIGH);
digitalWrite(Yellow_ledPin2, HIGH);
digitalWrite(Yellow_ledPin3, HIGH);
digitalWrite(Yellow_ledPin4, HIGH);
}

} // end
Discussion:

Examples in literature and qualitative simulations of curved structures under high wind show that these shapes effectively help dissipate the force of wind. Further, the structure need not be fully domed to take advantage of these benefits. Rounded surfaces on the crisp corners and flat surfaces of a building help to accomplish the same goals. Our building shows key instances of where this paradigm can be implemented: on the parapet walls and flat faces of a building. Given that one instance of our was an inflatable surface, an area of future work would be to explore possible materials for implementation of an inflatable surface.

Problems Encountered

A wind speed indicator was improvised using a propeller blade with sensors that detected the passing of a blade past a fixed point. The number of passes was counted to determine the spinning speed of the blade (which was used to reflect wind speed). The algorithm used to count blade passes was an effective and could be used generally as a sampling algorithm for any repetitive event.

A second Arduino board was used to control the lighting of the structure. An output from the first board was used as a signal for the lighting to change states. In order to accomplish this, it was necessary to unify the grounds between the two boards.

Future work on the general concept would include creation of curved surfaces that enclosed building corners at parapet walls. This shape posed a mechanical design challenge that was not addressed on this project. Also, the material that would be used to enclose the inflatable surface represents an unknown technology. Possible solutions include Kevlar fabric inflated with recyclable beads to produce a semi-rigid curved body. This concept could be extended to address the problem at building corners mentioned above.

Robots generating hypotheses, designing experiments, analyzing data article

2009-04-02T17:17:00.001-04:00

http://news.yahoo.com/s/nm/20090402/sc_nm/us_science_robots

Wii Nunchuck Demo code

2009-04-01T13:59:00.003-04:00

This is the example I used to make the nunchuck work with Arduino.

http://todbot.com/arduino/sketches/WiichuckDemo/

International Trivia

2009-03-30T14:07:00.003-04:00

Since this is International Awareness week, an International Trivia is being held at Mellow Mushroom on Thursday night at 8pm, so I was wondering if people are interested in forming an Architectural Robotics team.

Krishna and I could be the Indian specialists, Ivan the European expert, Henrique the South American guru, Tarek the Mid-East Master and Joe, Adam and Paul the token Americans.

Any takers? Feel free to ask others to join in, the more the merrier.
-Apoorva

Problem (possible) with new Arduinos

2009-03-30T14:00:00.004-04:00

Hi All.

Here's a heads up to help you avoid a potential frustration...

It appears the new Arduino boards have a different microcontroller
from the ones we've all been using up to now.

To accommodate these (Atmega 328) microcontrollers, you must
download the latest version of the Arduino IDE software.
Then, set up your software by clicking:

Tools -> Board -> Duemilanove w/Atmega 328

I am assuming this pertains to all the new boards, although
I haven't checked each one. I examined two at random and both
had the new chip.

Best,
Paul.

WiiSpray

2009-03-28T15:27:00.000-04:00

http://www.doobybrain.com/2008/06/06/wiispray-the-spray-paint-can-for-the-wii/comment-page-1/

Revised Proposal 3 - Intelligent Environmental Respnse of Systems to Inhabitant Location

2009-03-25T09:38:00.003-04:00

Interactive Emergency System for Low Income Settlements

2009-03-24T22:02:00.012-04:00

ARCH 879/ECE 893 - Architectural Robotics
Henrique Houayek
Krishna Teja

Interactive Emergency System for Low Income Settlements

Problem Statement

A recent Federal Census (IPP 2009) has estimated that today there are more than a thousand slums in Rio de Janeiro. These have spread rapidly in the past forty years and are now a constant part of this Brazilian city landscape. Despite their number they remain a marginalized part of the city with lack of important infrastructure and susceptible to emergency situations.

Design Proposition

To help improve the infrastructure of these spaces this group proposes the creation of a mobile interactive robot that could float around the slum in a cable, sensing diverse situations and reacting and communicating the population.
Emergency Situations would be communicated via color signals, these could be:

• At night: sense movement of the inhabitants, turn a light on and follow that specific person all the way to their house.

• Signal population if there is any police and criminal conflict.

• Possible fire

• Earth Slides/ Heavy Rain

• Health issues

Possible emergency situations

Robot would walk over cables suspended by poles in the area

(A) Yellow: Light to illuminate streets and pedestrians
(B) Green: Fire
(C) Blue: Conflict between police and criminal conflict
(D) Red: Heavy rain, Possible earth slides

Scenario

(A) It’s night in the neighborhood, Manuela needs to leave home to buy some medications in the pharmacy.

(B) While Manuela walks, the sensors embedded in the street sense her presence. This actuates the light and moves the robot in the direction of her movement.

(C) Every time Manuela walks, different sensors in the street sense and move the light according to her trajectory.

Diagram of parts

1- Sensor: transmitter/receiver
2- RC Servo motor connected to pulley
3- Suspended robot over two poles embedded with multiple lights

Possible scenario

Danger situation in the area, sensors embedded around the area would tell the robot that this could be a possible earth slide. Robot senses the movement of people and sends a light signal: The space is dangerous to walk or the structure of the wood bridge can be damage.

Hardware used:

Arduino Board RC-servos
(2) IR Led’s
(3) IR Receivers
(3) Resistors (3-10k ohms, 3-100 ohms)
(2) Pulleys

Script

int servoPin1 = 9; int servoPin2 = 10; int Action1 = 2; // Action sensors (Digital Inputs 2-4) int Action2 = 3; int Action3 = 4; int Yellow = 12; int Action = 0; int A1 = 0; int A2 = 0; int A3 = 0; void setup() { pinMode(servoPin1,OUTPUT); pinMode(servoPin2,OUTPUT); pinMode(Yellow,OUTPUT); pinMode(Action1,INPUT); pinMode(Action2,INPUT); pinMode(Action3,INPUT); } void loop() { digitalWrite(Yellow,LOW); while (Action == 0) { A1 = digitalRead(Action1); //when motion is detected if (A1==HIGH) { Action = 1; } else { Action = 0; } } digitalWrite(Yellow,HIGH); //led turns on int temp; for (temp = 0; temp <=250; temp++) { digitalWrite(servoPin1,HIGH); delayMicroseconds(1600); digitalWrite(servoPin1,LOW); delayMicroseconds(20); digitalWrite(servoPin2,HIGH); delayMicroseconds(1600); digitalWrite(servoPin2,LOW); delayMicroseconds(20); } A2 = digitalRead(Action2); //when motion is detected if (A2==HIGH) { Action = 1; } else { Action = 0; } while (Action == 0) { A2 = digitalRead(Action2); if (A2==HIGH) { Action = 1; } else { Action = 0; } } for (temp = 0; temp <=250; temp++) { digitalWrite(servoPin1,HIGH); delayMicroseconds(1600); digitalWrite(servoPin1,LOW); delayMicroseconds(20); digitalWrite(servoPin2,HIGH); delayMicroseconds(1600); digitalWrite(servoPin2,LOW); delayMicroseconds(20); } A3 = digitalRead(Action3); if (A3==HIGH) { Action = 1; } else { Action = 0; } }

Problems encountered:

1) The number of sensors used was not enough to capture real time movement of pedestrians. 2) The cable used to support the movement of the robot was not rigid; better motion would been obtained by using different material for the string. 3) One Arduino board can only handle a limited number of inputs and outputs it was difficult to use more than 2 RC-servos which would have given a better directional control.

Robots that lie & martyr robots

2009-03-17T11:05:00.001-04:00

Hello, Everyone. This is an interesting (and very short) article.

http://discovermagazine.com/2008/jan/robots-evolve-and-learn-how-to-lie

YOU in Youtube

2009-03-13T03:45:00.001-04:00

Hi all,
Here is YOU in youtube. Enjoy

Tarek

Particulate Gas Localization - Joe & Ivan - Project #2

2009-03-12T23:36:00.009-04:00

Particulate Gas Localization - Project 2 - Joe Manganelli & Ivan Siles

Problems encountered:

- The water pump we bought did not have enough pressure to make the water become mist through the misters.

Code:

//////////////////////////////////////////////////////////////////////////////////////////

// //

// Particulate/Gas Localization - Board 1 (Ivanduino) //

// //

// Joe Manganelli and Ivan Siles //

// //

// Project #2 - Architectural Robotics (Arch879/ECE893) //

// //

// Spring 2009 //

// Clemson University, Clemson, SC //

// //

/////////////////////////////////////////////////////////////////////////////////////////

#include

// Declare all the IN/OUT pin variables

// Inputs

int Sensor = 6; //variable for ir sensor

//Outputs

int Joeduino = 5; //variable for communication with second arduino

int UV_LED = 13; //variable for UV LED

int Pump = 4; //Variable for water pump

//Servos

ServoTimer1 Bellows;

ServoTimer1 Breathers;

int Angle_Bellows = 0;

int Angle_Breathers = 0;

int Smoke = 0;

int IR = 0;

void setup()

{

Bellows.attach(9); // attaches the servo on pin 9 to the servo object

Breathers.attach(10); //attaches the servo on pin 10 to the servo object

pinMode(Sensor, INPUT);

pinMode(UV_LED, OUTPUT);

pinMode(Pump, OUTPUT);

pinMode(Joeduino, OUTPUT);

} //Close void setup

void loop()

{

digitalWrite (UV_LED, LOW); //Make sure all LEDs are OFF

digitalWrite (Pump, LOW); //Make sure Pump is OFF

digitalWrite (Joeduino, LOW); //Make sure Arduino 2 is OFF

// goes from 0 degrees to 35 degrees

for(Angle_Breathers = 0;Angle_Breathers <=35;Angle_Breathers+=1) {

Breathers.write(Angle_Breathers); // tell servo to go to position in variable

delay(20); // waits 20ms for the servo to reach the position

}

// goes from 180 degrees to 100 degrees

for(Angle_Bellows = 180;Angle_Bellows >=100;Angle_Bellows-=1) {

Bellows.write(Angle_Bellows);

delay(10); // waits 10ms for the servo to reach the position

}

while (Smoke == 0) { //If no smoke, keep updating sensor

IR=digitalRead(Sensor); //Read from Sensor

if (IR==HIGH){

Smoke=1;

}

else{

Smoke=0;

}

} //Close while

digitalWrite (Pump, HIGH); //Activate relay for the Pump

// goes from 100 degrees to 180 degrees

for(Angle_Bellows = 100;Angle_Bellows >=0;Angle_Bellows-=1) {

Bellows.write(Angle_Bellows); // tell servo to go to position in variable

delay(30); // waits 30ms for the servo to reach the position

}

digitalWrite (UV_LED, HIGH); //Activate UV_LEDs

digitalWrite (Joeduino, HIGH);

while(1) {

for(Angle_Breathers = 10;Angle_Breathers <=60;Angle_Breathers+=1){

Breathers.write(Angle_Breathers); // tell servo to go to position in variable

delay(20); // waits 30ms for the servo to reach the position

}

for(Angle_Breathers = 60;Angle_Breathers >=10;Angle_Breathers-=1) {

Breathers.write(Angle_Breathers); // tell servo to go to position in variable 'pos'

delay(20); // waits 20ms for the servo to reach the position

}

} //Close while loop

} // Close void loop

//////////////////////////////////////////////////////////////////////////////////////////

// //

// Particulate/Gas Localization - Board 2 (Joeduino) //

// //

// Joe Manganelli and Ivan Siles //

// //

// Project #2 - Architectural Robotics (Arch879/ECE893) //

// //

// Spring 2009 //

// Clemson University, Clemson, SC //

// //

/////////////////////////////////////////////////////////////////////////////////////////

// Declare all the IN/OUT pin variables

//Inputs

int Ivanduino = 5; //variable for input from Ivanduino

//Outputs

int LED_right_breather = 9; //variable for Green LED

int LED_left_breather = 10; //variable for White LED

int Signal = 0; //variable for Ivanduino

int Pin5 = 0; //variable for Pin5

int LED_rb = 0; //variable for activiating LED_right_breather

int LED_lb = 0; //variable for activating LED_left_breather

void setup()

{

pinMode(Ivanduino, INPUT);

pinMode(LED_right_breather, OUTPUT);

pinMode(LED_left_breather, OUTPUT);

} //Close void setup

void loop()

{

analogWrite (LED_right_breather, 55); //Make sure right breather lights are low

analogWrite (LED_left_breather, 55); //Make sure left breather lights are low

while (Signal == 0) { //If no smoke, keep updating sensor

Pin5=digitalRead(Ivanduino); //Read from Ivanduino

if (Pin5==HIGH){

Signal=1;

}

else{

Signal=0;

}

} //Close while

while(1) {

for(LED_rb = 55, LED_lb = 255;LED_rb <=255,LED_lb>=55;LED_rb+=4,LED_lb-=4) {

analogWrite (LED_right_breather, LED_rb);

analogWrite (LED_left_breather, LED_lb);

delay(20);

} //Close for loop

for(LED_lb = 55, LED_rb = 255;LED_lb <=255,LED_rb>=55;LED_lb+=4,LED_rb-=4) {

analogWrite (LED_right_breather, LED_rb);

analogWrite (LED_left_breather, LED_lb);

delay(20);

} //Close for loop

} //Close while loop

} // Close void loop

Initial Idea for Project 3

2009-03-12T12:11:00.003-04:00

Hello, Everyone,

We are posting this quick sketch of an idea to get initial feedback. The scenario below goes beyond the scope of what is possible within the next several weeks. From it, we extract what we think is a compelling scope of work. Your feedback is greatly appreciated.

Miss Jane wakes in the morning, feels around for her glasses, and pulls her walker up to the bedside. The television is in the middle of the room facing her. As she gets up and proceeds to the kitchenette, the television tracks her movement, follows her and orients itself to her position. When she turns and faces it, it recognizes that she is looking directly at it and waits for instruction. Simple standard gesturing allows her to turn it on or off or change the channel and volume. As Miss Jane progresses through her daily routine, the television passively tracks her position, follows her and waits for her to gaze at it. The television uses a combination of ultrasonic sensors and IR sensors to locate Miss Jane and determine gaze. This allows her to watch TV from anywhere in the apartment with a single television. Since Miss Jane follows a more or less set pattern in her daily routine, the television uses a neural network algorithm to anticipate expected behavior. This allows the television, after just a couple of days, to preposition itself based upon her routine and wait for her gaze. In case Miss Jane is out or has fallen asleep, it can anticipate where it should be when she returns or wakes up. In addition, the lights within the room are keyed off of the same input data and adjust automatically as she moves about her day so that she does not have to work the switches in the rooms. One wall in the main living space performs a keyword search of the digital TV Guide and understands what types of shows Miss Jane likes. When it identifies shows in certain genres that she likes, it changes color to passively suggest to her that something is on that she may like to watch. The effect of the wall would be similar to the Detroit Airport's Colorful Light Tunnel.

This scenario includes several features, each of which would be appropriate as the scope of Project 3. We are most interested in the learning problem and are interested in using Project 3 to explore neural networks. We would like to work on the algorithm that will allow a television to track position and learn a routine. The other part that interests us is focusing on how the television distinguishes when the user is gazing at it as a way to prime it for use. Having in-house experience with either of these issues will have broader applicability and future usefulness as we move forward with our endeavors in the IMSA lab.

Again, your thoughts are greatly appreciated.

Apoorva and Joe

Haptics

2009-03-12T08:45:00.001-04:00

I can see this technology being useful for aging in place:

http://www.spectrum.ieee.org/mar09/8147

Paul.

Purchase for Project #3 - ADD EVERYTHING BY SUNDAY NIGHT

2009-03-11T15:50:00.015-04:00

Hi all,

again, I'll write the list of components to purchase for this coming project.

Feel free to edit the post and add anything you might need.

If you know what you want but don't know what it's called or where to get it I'll be happy to help with that.

Total so far: $1,000.00+

From Adafruit.com (Arduino supplier) - Total: $482.00 + shipping

- Arduino board - 10x $30.00 = $300.00

- Arduino motor shield - 5x $19.50 = $97.50

- Arduino proto shield (Joe) - 1x $15.00 = 15.00

- 9V Adapter for Arduino - 10x $7.00 = $70.00

From Parallax.com - Total: $200.25 + shipping

- 180-degree rotating servo - 10x $11.69 = $116.90

- PIR Sensor - 5x $9.49 = $47.45

- Temperature Sensor - 10x $3.59 = $35.90

From Mouser.com - Total: $212.80 + Shipping

- IR Distance sensor - 10x $8.85 = $88.50
- IR Distance Sensor (AWE) - 2x $8.00 = $16.00

- High Power White LED - 30x $0.91 = $27.30

- 100-ohm resistors - 50x $0.04 = $2.00

- 220-ohm resistors - 50x $0.04 = $2.00

- 1 kohm resistors - 50x $0.04 = $2.00

- 10 kohm resistors - 50x $0.04 = $2.00

- Infrared LED - 40x $0.23 = $9.20

- Infrared Receiver - 40x $0.24 = $9.60

- Multicolor LED (RED/GREEN) - 20x $0.92 = $18.40

- Thermistor - 20x $0.46 = $9.20

- 2N2222 General Purpose Transistor - 20x $0.21 = $4.20

- Buzzer - 10x $0.74 = $7.40
- 5VCD 16A Relay - 10x $1.70 = $17.00

From Robsonco.com - Total: $37.50 + Shipping

- 1490 Sensor (Digital compass) - 5x $7.50 = $37.50

Order using the fax order form to get student discount.

From Radioshack.com - Total: $67.74 + Shipping

- Photo resistors (5-pack) - 10x $2.99 = $29.90

- Dual mini PCB - 10x $1.99 = $19.90

- Multi-purpose PCB - 5x $1.99 = $9.95

- Breadboard (Krishna) - 1x $7.99 = $7.99

From Acroname.com - Total: $28.50 + Shipping

- Connector for Sharp IR Sensor - 15x $1.90 = $28.50

From eBay.com - Total: $49.63

- SMC Solenoid Valve - 1x $9.99 = $9.99 + $4.95 Shipping
- CO2 Cartridge (12-pack) - 1x $12.95 = $12.95 + $6.75 Shipping
- Qualatex Ballon - 1x $11.99 = $11.99 + $3.00 Shipping

From Amazon.com - Total: $9.99 + Shipping

- 24V Power Adapter - 1x $9.99

Wednesday lunch options

2009-03-09T10:15:00.004-04:00

Just confirming, all students are invited for lunch on Wednesday after project presentations and demos. The choices are Mellow Mushroom or Ancheaux's. If anyone would like to go elsewhere, I don't think we'd mind checking that place out too.

And to ensure this is not a fluff post, here's an interesting article that we might not have hit upon. http://blogs.zdnet.com/emergingtech/?p=587

Hope everything is set for Wednesday morning. See y'all then.

-Apoorva

Sensors purchase

2009-02-27T10:28:00.002-05:00

Hey

Part of the sensors purchase is already at the lab. Its on the top of one of the green tables in a white box with my name.

H.

Wind Simulator Link

2009-02-25T11:07:00.002-05:00

Here is the link Paul and I used for a wind simulator. Its fairly easy to upload a .bmp just read the instructions on the last tab. Let me know if you have any questions.

LINK

what about YOU?

2009-02-20T20:56:00.002-05:00

Hey all,

We have published the new project posting yesterday! Hope that you have time to look at it and send comments!.

Enjoy

YOU is waiting for helping you in Tornados

2009-02-20T01:01:00.007-05:00

Hi All,
Here is YOU the iprosthetics in 2009, all are welcome for feedback. Enjoy

'YOU' is an iProsthetics for Gustnado and Tornado:

Welcome to Kansas, the heart of Tornado Alley. 2008 was noted to be the deadliest year in terms of fatalities and loss of life since 1998 and the second most active in terms of touchdowns on record. 2009 brings with it the fear that 2008 might be topped, and the hope that it might not happen. Wichita is a growing metropolis, and was ranked 9^th by CNN/Money in 2006, as one of the 10 best big cities to live in. In 2008, MSN named Wichita the best affordable city to live in. These statuses bestowed on Wichita have only served to increase the population in the greater metropolitan area, making it more susceptible to damage in the event of an F5 tornado.

On a beautiful warm April Saturday afternoon, Wichita is bustling. While it is overcast, people are spilling onto the streets, enjoying all that the city has to offer on the multiple designated “strips” around the city. Matinee shows are packed, al fresco diners line Little Italy, and the handicraft street vendors are making a killing. Suddenly, unbeknownst to most, there is a sudden chill in the air, and the wind has picked up…

'You' should know what is around you. So, 'You' is a device to protect you from Gustnados, Tornados and can easily be adapted for other natural disasters, like wildfires and lightning strikes! If 'You' is aware of the environmental changes and can send signals to the ambient lighting, and digital senses around you, then it will make you safer than you are now:

Essentially ‘YOU’ is an iProsthetic device in the environment around you, with leaves pointers, tree trunk clock pointer and a speaker, with a radio wave sensor that sends and receives data from the environment around it. The speaker will tell people what they have to do, while the iprosthetic tree leaves will direct people where to go.

YOU is an interactive multi prosthetic device consists of :

iprosthetic TREE LEAVES: is the leaf pointers in trees that will point to where you have to go and talk to you to tell you news and send you warnings.

iProsthetic EYE: is the eye that looks for disasters "mainly is the forecast station".

iProsthetic EARS: are the two receivers –one in buildings and street signals, and the other is in the iprosthetic leaves.

iProsthetic LIPs: are the three speakers, one that sends the data wirelessly from the base station to YOU prosthetic leaves, the second will informs you of the weather situation, and the third one will react whenever there is a tornado by activating the environment and telling you to keep shelter.

Application and Design at it's finest!!!

2009-02-19T16:35:00.001-05:00

Check out the pics of the bridge on this site. So cool!!!

http://jalopnik.com/5135415/wheres-this-bridge-awesome-cantilevered-drawbridge

Todays Pic

2009-02-18T23:56:00.001-05:00

Today's lab pic.

Clock (not Sundial)

2009-02-18T22:17:00.004-05:00

Hey everyone,
One of my thoughts for our project was trying to get the motor to move like a clock, and then in the event of a tornado, it glows and points in the direction of the nearest shelter or in the general direction orthogonal to the motion of the tornado. That way the clock provides the time to passersby and then provides direction to safety in the event of an impending disaster.

Everyone's opinion on this modification will be greatly appreciated.
-Apoorva

Purchase for Project #2 - Please add everything by Sunday Feb 22

2009-02-18T21:04:00.008-05:00

Hello all,

Like for the previous project, let's make a list of all the components we all think we might need in order to build Project #2.

Edit the post and add the links to the websites.

First, let's add 6 adaptors to connect the Wii Nunchuck into the arduino ($4 each). HERE

LET'S START:

Joe & Ivan:

- 2x Gas sensor (Air Quality Control Sensor, the last in the list, $6.90 each) HERE

- 1x Solid State Relay (4.95$) HERE

Guys, check out this website FUTURLEC because they have many sensors, kits and other components at a very reasonable price. Let's try to save on shipping and get the things from the least number of websites we can.

Also, the vibration sensors and the new Angle Rotating servos are in the lab. Next to the blue toolbox.

Apoorva & Tarek:
http://www.robsonco.com/Dinsmore/Untitled_7.html
We want the 1490 sensor. By using the fax order form, we should be able to avail of the student discount, which would get the cost of 1 sensor to $7.50. We would like 2 sensors, so the cost will be $15+ $5 shipping.
http://www.canakit.com/universal-fm-transmitter-with-mic-and-line-inputs-kit-ck108-uk108.html
The FM transmitter is $16.95 + $10 shipping because it is coming from Canada.

http://www.futurlec.com/Speakers.shtml
I'd also like 2 of the $0.75 speakers (the first ones on the page)

If need be, I don't mind buying either the compass or the fm transmitter myself...
-Apoorva

Henrique & Krishna:

Adam & Paul:

Try to decide the final components and add everything by this Sunday night, so we can order them on Monday morning.

Thanks,

Test post - to resolve email problem

2009-02-18T15:38:00.000-05:00

sent 2/20, 3:41 pm.

Wii nunchuck Arduino adapter website

2009-02-18T15:24:00.002-05:00

For Ivan and others interested in the hardware required to plug the Wii nunchuck into an Arduino, this website shows it pretty clearly:

http://www.tinker.it/en/Tutorials/WiiNunchuck

Could the person keeping the shopping list could buy a few of these adapters?

Paul.

Ecomorphic Design - UCL

2009-02-16T20:03:00.001-05:00

http://www.vr.ucl.ac.uk/research/ecomorphic/

Here is another - v. cool

Dual Reality

2009-02-16T19:49:00.000-05:00

http://www.media.mit.edu/resenv/dual_reality_lab/

Great - short - webpage speaking to something very close to what we're doing. The few reference materials linked to the page are also very good.

Project 2 Proposal - Adaptive Evacuation Route

2009-02-16T13:28:00.005-05:00

Proposal:

Emergency situations may require evacuation of a building or outdoor area. However, the shortest evacuation route may not be the fastest or safest due to the presence of perils or other obstructions. Such impediments may not be readily visible to the population being evacuated. Further, the best route for each person may not be the same or may change dynamically.

We propose an array of communicating sensors. When sensors detect an obstruction or fail to communicate (due to being destroyed), the system enters an emergency mode. In this mode, active lighting fixtures pan each room or passage way (street or hall) to pervasively display directional queues denoting the safest route for people or vehicles to travel.

Processing by the system would include a cellular decomposition of the area so that safe paths are computed in real time and each light fixture given commands on which travel direction to suggest. Sensors status would denote which cells represent safe paths.

Example—Metropolitan Museum of Art
Nearest stairwell blocked. Cells broken down by gallery space. An alternate route is chosen through safe cells.

Example—Washington DC
Pennsylvania Avenue to I395 is blocked. Cells broken down roughly by sensor placement at major intersections. An alternate route is chosen through safe cells.

Project 2 Draft Proposals - 1)Dynamic Bollards - 2)Particulate/Gas Localization

2009-02-15T13:27:00.004-05:00

Interactive Emergency System for Low Income Settlements

2009-02-14T11:09:00.008-05:00

Henrique Houayek
Krishna Teja
Project Statement
A recent Federal Census (IPP 2009) has estimated that today there are more than a thousand slums in Rio de Janeiro. These have spread rapidly in the past forty years and are now a constant part of this Brazilian city landscape. Despite their number they remain a marginalized part of the city with lack of important infrastructure and susceptible to emergency situations.

Design Proposition

To help improve the infrastructure of these spaces this group proposes the creation of a mobile interactive robot that could float around the slum in a cable, sensing diverse situations and reacting and communicating the population. Emergency Situations would be communicated via color signals, these could be:
• At night: sense movement of the inhabitants, turn a light on and follow that specific person all the way to their house.
• Signal population if there is any police and criminal conflict:
• Possible fire
• Earth Slides/ Heavy Rain
• Health issues

Possible emergency situations

Robot would walk over cables suspended by poles in the area

(A) Yellow: Light to illuminate streets and pedestrians
(B) Green: Fire
(C) Blue: Conflict between police and criminal conflict
(D) Red: Heavy rain, Possible earth slides

Project 2 Idea: Adaptive evacuation route

2009-02-12T18:29:00.002-05:00

Although Adam and I are still exchanging ideas for project 2, I wanted to toss out an idea I've been thinking of and see what comments anyone might have.

The scenario would be some sort of localized urban disruption of traffic such as a fire, explosion, downed power line, etc. In this situation, traffic might be unaware of which routes out of the area might be optimal or even passable. One would not want to unwittingly turn down a road that led toward a blockage.

I propose an array of communicating sensors at street intersections in a city. If some significant number adjacent sensors were to become disabled (as by an explosion), then the system could go into emergency mode and automatically direct traffic away from the area. The system could consist of, for example, motorized laser pointers affixed to light poles. Each pointer would project a moving dot onto the street in front of vehicles so as to direct them in a safe direction to travel at each intersection.

This sort of technology might be readily extended to hallways in a skyscraper,
stadium or other structure where many exit paths might be available.

I would appreciate any thoughts. Of course, this is half-baked and Adam and
I have a lot of talking yet to do.

Paul.

ITOI new news

2009-02-11T23:25:00.001-05:00

New news : A Chinese or Japanese website have the ITOI in its front page and there is also thousands of comments. Do any one know that language which he can explain what it says?.

http://cynews.cyworld.com/service/news/shellview.asp?LinkID=12&ArticleID=2009020911044838210&w=cy

Really it is a strange phenomenon!.
Enjoy

Animal House

2009-02-10T15:07:00.007-05:00

Abstract: The proposal for this project was to integrate an interactive puzzle into an environment in which it was placed. To begin the puzzle, a series of screens in the room would show animal scenes with a place for an animal puzzle piece to fit in. Once the habitat lights up, the child would have to find the animal shaped piece that matches the scene from a circulating tray located in the room. Once the correct animal and habitat match up, another scene lights up. When all scenes are completed correctly, a celebration of lights activates the room. As a demonstration, we chose a cow on a farm, an elephant in the jungle, a bird in the sky and a crab in the sea.

Scenario

Hardware

2 Arduino Prototyping board

1 Arduino Motor Shield

4 Push button switches

4 LEDs (1 Orange, 1 Green, 1 Red, 1 Yellow)

1 Servo Motor

Wire

Code

Part 1: Sequential Puzzle Evaluator

int inPin[5]; // Setting the variable for the input from the 4 switches

int outPin[5]; // Seting the variable for the output to the 4 LEDs

int val[5]; // State of the switch: either HIGH(pressed) or LOW(open)

int flag[5]; // Not used here, required for random number code.

int i, j, k, l, m, n; // Counter variables: only “I” and ”l” used here

long time; // Variable used to check current time

long debounce = 2000; // Debounce time to prevent noise from being read

void setup()

{

inPin[1] = 2; // Input to pin 2 from switch 1

inPin[2] = 4; // Input to pin 4 from switch 2

inPin[3] = 6; // Input to pin 6 from switch 3

inPin[4] = 8; // Input to pin 8 from switch 4

outPin[1] = 10; // Output to pin 10 for LED 1 (Red)

outPin[2] = 11; // Output to pin 11 for LED 2 (Orange)

outPin[3] = 12; // Output to pin 12 for LED 3 (Green)

outPin[4] = 13; // Output to pin 13 for LED 4 (Yellow)

// Setting up the modes of the input and output pins and initializing // the status variable val.

for (i=1;i<5; class="Apple-style-span" style=" ">++)

{

pinMode(inPin[i], INPUT);

pinMode(outPin[i], OUTPUT);

val[i] = 0;

}

a = random(5); // Not used here

count = 0; // Not used here

}

// In this part of the code, we are always reading the status of the

// input switches. The program works sequentially, in that only the

// completion of the first task allows the second task to be reached.

// The first LED glows requiring the first switch to be pressed,

// resulting in successful completion of the first task), before the

// second LED glows and a similar pattern follows for the second, third // and fourth LED and switch pairs.

// After all four tasks are completed successfully, the program moves // into the celebration function where all the LEDs blink, before

// returning to the initial state of the program.

void loop()

{

val[1] = digitalRead(inPin[1]);

val[2] = digitalRead(inPin[2]);

val[3] = digitalRead(inPin[3]);

val[4] = digitalRead(inPin[4]);

// the “millis() – time > debounce” part of the attempts to ensure that

// a noise signal is not incorrectly for a successful completion of a // task. millis() is an Arduino function that provides elapsed time.

if((val[1]==LOW) && (millis() - time > debounce))

{

digitalWrite(outPin[1],HIGH); // LED 1 glows

digitalWrite(outPin[2],LOW); // LED 2 is off

digitalWrite(outPin[3],LOW); // LED 3 is off

digitalWrite(outPin[4],LOW); // LED 4 is off

time = millis();// timestamp for this scenario occuring

}

if((val[1]==HIGH) && (millis() - time > debounce))

{

// val[1]==HIGH means first switch is pressed, now move to 2^nd

// puzzle.

if(val[2]==LOW && (millis() - time > debounce))

{

digitalWrite(outPin[1],LOW); // LED 1 is off

digitalWrite(outPin[2],HIGH); // LED 2 glows

digitalWrite(outPin[3],LOW); // LED 3 is off

digitalWrite(outPin[4],LOW); // LED 4 is off

time = millis();

}

if((val[2]==HIGH) && (millis() - time > debounce))

{

if(val[3]==LOW && (millis() - time > debounce))

{

digitalWrite(outPin[1],LOW);

digitalWrite(outPin[2],LOW);

digitalWrite(outPin[3],HIGH);

digitalWrite(outPin[4],LOW);

time = millis();

}

if((val[3]==HIGH) && (millis() - time> debounce))

{

if(val[4]==LOW && (millis() - time > debounce))

{

digitalWrite(outPin[1],LOW);

digitalWrite(outPin[2],LOW);

digitalWrite(outPin[3],LOW);

digitalWrite(outPin[4],HIGH);

time = millis();

}

if((val[4]==HIGH) && (millis() - time > debounce))

{

digitalWrite(outPin[1],LOW);

digitalWrite(outPin[2],LOW);

digitalWrite(outPin[3],LOW);

digitalWrite(outPin[4],LOW);

celebration();

}

// The simple blink code provided in the Arduino examples is applied

// in the celebration code to get all the LEDs to blink 5 times.

void celebration()

{

for(l=1;l<5;l++)

{

digitalWrite(outPin[1],HIGH);

digitalWrite(outPin[2],HIGH);

digitalWrite(outPin[3],HIGH);

digitalWrite(outPin[4],HIGH);

delay(500);

digitalWrite(outPin[1],LOW);

digitalWrite(outPin[2],LOW);

digitalWrite(outPin[3],LOW);

digitalWrite(outPin[4],LOW);

delay(500);

}

digitalWrite(outPin[1],LOW);

digitalWrite(outPin[2],LOW);

digitalWrite(outPin[3],LOW);

digitalWrite(outPin[4],LOW);

delay(10000);

}

Part 2: Tray Rotator

#include >

Servo tray;

int pos = 0;

void setup()

{

tray.attach(9);

}

void loop()

{

for(pos = 0; pos <>

{

tray.write(pos);

delay(150);

}

Issues

One issue that could not completely be resolved at the time of submission of the project was that of noise from the pushbutton switches. This turned out to be crucial for the system to work properly. Attempts were made to resolve this issue using software, but they all were unsuccessful. As pointed out by Ivan, a simple snubber circuit could be applied to possibly solve this issue using hardware, which was considered, but from simple observation, it was difficult to see how given that a change of state from LOW (button not pressed) to HIGH (button pressed) was occurring and even passing the software noise filter.

On occasion, it was also noticed that a change of state was registered simply be moving a finger in the vicinity of the switch without making contact with any part of the circuit. That said, we think it would be only fair to try the snubber circuit before declaring the problem as insurmountable.

Finally, we would like to use this situation as an example to warn users in this course about the danger of relying solely on the tiny pushbutton toggle switches as a sensor.

changes to the video

2009-02-09T23:37:00.003-05:00

Hi all,
Here is another link to the video, as Ivan suggests that it is better not to put names or Clemson name on the video, I had changed that! Enjoy.
http://www.youtube.com/watch?v=BHXOtuksy0k

New on ITOI 2009

2009-02-09T22:11:00.002-05:00

Hi all,
We have got a lot of viewers and many honors for our video in you tube!. I had talked with Dr. James Witte concerning how we can get a statistical understanding of whether if it is just a play or it attracts people to comment, and he suggests to change the title to be "Interactive Device 2009" and see how many viewers will watch and comment on that " I think it will be very low!". Anyway, here is the new link to the uploaded video on You Tube try to see the difference and if you have any suggestions, I highly appreciate any comments. Enjoy:)
http://www.youtube.com/watch?v=SIS7AudJ6bE

Interactive Flower

2009-02-05T21:07:00.005-05:00

Abstract:

This project presents an interactive flower which aims to cultivate children’s creativity by affording an hands on interactive experience which teaches basic notions of flower natural cycle. Initially the child is attracted to the shape, color and lights of the flower. He or she gets puzzle pieces which are forms of three ingredients needed to make the flower bloom: seeds, sun, and rain. As each ingredient is added, an optical sensor detects its placement. Each placement causes the flower to expand by a fraction of its total open configuration. When all three pieces have been place, the flower will have fully bloomed. As each piece is removed, the flower will close by the same fraction. When all pieces have are removed the flower be in its wilted configuration, awaiting another user.

The prototype developed would be part of a larger environment containing dozens of different of interactive flowers, maybe even different species of flora and fauna. Together they develop different interconnected puzzles where the children could learn basic nature concepts.

First scenario developed to study a more environmental experience with the flower. Proximity sensors would be embedded into the floor to sense and react to childrens’ movements.

(A) Flower is in rest mode

(B) First piece of the puzzle is set, the sun, its petals gently open

(C) Second piece of the puzzle is set, the water, its petals open a bit more

(D) Third piece of the puzzle is set, the seeds, completing the cycle and opening the flower.

(E) Flower in its complete open state

Hardware Used:

• Arduino Duemilanove board
• Adafruit Motor/Stepper/Servo Shield for Arduino
• Futaba servo motor
• Photo resistors (1.5 k – 50 k) (3)
• Pullup resistors (6.8 k) (3)
• Wooden base
• Articulated arm lamp (as flower stem)
• Lego Mindstorms components (for flower mechanism and motor mount)
• Chipboard cutouts for outer coverings and decoration

Source Code:

// -------------------------------------------------------
// Filename: ECE983_Proj1.pde
// Course: ECE893 - Architectural Robotics
// Team members: Henrique Houayek, Paul Yanik
//
// Description:
// This design activates a model flower to open (bloom)
// and close based on interactions with a child operator.
// As the child completes a 3-step puzzle, the flower
// opens in stages until it has fully "bloomed." As
// pieces are removed from the flower closes in stages;
// reversing the flower's progress back to a closed
// configuration.
// -------------------------------------------------------
#include
ServoTimer1 servo1;

// -------------------------------------------------------
// Variable Declarations
// -------------------------------------------------------
int inPins[3]; // Array containing the input pin numbers.
int sun = 0; // Array positions for each pin number.
int rain = 1;
int soil = 2;

int count = 0; // Variable containing the number of inputs which are
// HIGH - indicating a placed puzzle piece.

int last_count = 0; // Variable containing the number of inputs which were
// HIGH on the last interation of the operation loop.

int val = 0; // Variable containing the value of each input (HIGH or LOW)
// as each input is read.

int servoPin = 10; // Output pin number for servo motor 1.

int angle = 50; // The angular change in position for the servo motor
// as each puzzle piece is placed.

// -------------------------------------------------------
// IO Pin Setup
// -------------------------------------------------------
void setup()
{
servo1.attach(10);

// Assign pin numbers
inPins[sun] = 14;
inPins[rain] = 15;
inPins[soil] = 16;

// Set up pins as input or output
for (int j=0; j<=2; j++) {
pinMode(inPins[j], INPUT);
}

// Open a serial link for onscreen variable monitoring.
Serial.begin(9600);
}

// -------------------------------------------------------
// Loop for Runtime Operation
// -------------------------------------------------------
void loop()
{
// Read all inputs and count how many are HIGH
count = 0;
for (int q=0; q<=2; q++) {
val = digitalRead(inPins[q]);
if (val == HIGH) {
count += 1;
}
}
// Display the number of HIGH inputs on the screen
Serial.println(count);

// Set the servo angle based on the number of placed
// puzzle pieces as determined by HIGH inputs

if (last_count < count) // Indicates that new pieces have been placed.
{
// Open the flower to a total angle equal to 'angle' degrees
// for every placed puzzle piece.
for (int r=(last_count*angle); r<=(count*angle); r++)
{
servo1.write(r);
delay(40);
}
} else
{
if (last_count > count) // Indicates that pieces have been removed.
{
// Close the flower to a total angle equal to 'angle' degrees
// for every placed puzzle piece.
for (int r=(last_count*angle); r>=(count*angle); r--)
{
servo1.write(r);
delay(40);
}
}
}

// Store the number of HIGH inputs for comparison in the next
// loop iteration.
last_count = count;

}

Video

robot published!

2009-02-05T16:59:00.005-05:00

hey guys - i was showing my friends the interactive toilet in studio, and I thought I would submit it to engadget to see if they would possibly post it. I just checked the site and its on the main page! check it out

click here

I neglected to tell you guys that when i sent it in i sent in the abstract of the basic idea and that it was completed in 2 weeks and under 20 bucks...they neglected to put that in the article :)

Interactive Harmonics Display Prototype

2009-02-05T12:44:00.020-05:00

Overview of Project

This prototype illustrates the relationship between materials' natural frequencies and harmonics. The device is conceived of as occupying one space within a children's activity center/museum and is intended for children of 8-12 years.

As a child enters the space, a motion sensor turns on t he color wheel, attracting the child's
attention. As the child approaches, a proximity sensor sets the vibratory plate to harmonic frequency and a pattern forms on the plate. The harmonics are adjusted by the child moving to different sides of the box and by moving closer or farther away to control the fidelity. The harmonic patterns are captured and projected onto the room's walls. In addition, the color of the light emanating from above changes with the frequency – higher frequencies equating with shorter wavelength colors. This design teaches about the interrelationship between form,
material, sound, light and harmonics.

A further development of this idea is to produce frequency harmonics in the form of melody
tunes (in response to stimulus from the passive IR sensors) which can further stimulate the curiosity of the child.

-------------------------------------------------------------------------------------------------
-------------------------------------------------------------------------------------------------

Images & Video

-------------------------------------------------------------------------------------------------
-------------------------------------------------------------------------------------------------
Hardware
1 servomotor
Passive infrared sensor
3 infrared sensors
Speaker(with amplifier) and independent power source
2 LED’s
2 Arduino Boards

----------------------------------------------------------------------------------------------------------------------------------------
----------------------------------------------------------------------------------------------------------------------------------------
Code for the passive IR sensor and speaker
int calibrationTime = 30;
long unsigned int lowIn;
long unsigned int pause = 5000;
boolean lockLow = true;
boolean takeLowTime;
int pirPin = 3;
int speakerPin = 9;
int length = 15; // the number of notes
char notes[] = "ccggaagffeeddc ";
int beats[] = { 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 4 };
int tempo = 300;
void playTone(int tone, int duration) {
for (long i = 0; i < duration * 1000L; i += tone * 2) {
digitalWrite(speakerPin, HIGH);
delayMicroseconds(tone);
digitalWrite(speakerPin, LOW);
delayMicroseconds(tone);
}
}
void playNote(char note, int duration) {
char names[] = { 'c', 'd', 'e', 'f', 'g', 'a', 'b', 'C' };
int tones[] = { 1915, 1700, 1519, 1432, 1275, 1136, 1014, 956 };
for (int i = 0; i < 8; i++) {
if (names[i] == note)
playTone(tones[i], duration);
}
}
}
void setup(){
Serial.begin(9600);
pinMode(pirPin, INPUT);
pinMode(speakerPin, OUTPUT);
digitalWrite(pirPin, LOW);
Serial.print("calibrating sensor ");
for(int i = 0; i < calibrationTime; i++){
Serial.print(".");
delay(1000);
}
Serial.println(" done");
Serial.println("SENSOR ACTIVE");
delay(50);
}
void loop(){
if(digitalRead(pirPin) == HIGH){
digitalWrite(speakerPin, HIGH);
for (int i = 0; i < length; i++) {
if (notes[i] == ' ') {
delay(beats[i] * tempo); // rest
} else {
playNote(notes[i], beats[i] * tempo);
}
delay(tempo / 2);
}
if(lockLow){
lockLow = false;
Serial.println("---");
Serial.print("motion detected at ");
Serial.print(millis()/1000);
Serial.println(" sec");
delay(50);
}
takeLowTime = true;
}
if(digitalRead(pirPin) == LOW){
digitalWrite(speakerPin, LOW);
if(takeLowTime){
lowIn = millis();
takeLowTime = false;
}
if(!lockLow && millis() - lowIn > pause){
lockLow = true;
Serial.print("motion ended at "); //output
Serial.print((millis() - pause)/1000);
Serial.println(" sec")
delay(50);
}
}
}

----------------------------------------------------------------------------------------------------------------------------------------
----------------------------------------------------------------------------------------------------------------------------------------
Code for the servo and IR sensor
int calibrationTime = 30;
long unsigned int lowIn;
long unsigned int pause = 5000;
boolean lockLow = true;
boolean takeLowTime;
int pirPin = 3;
int servoPin = 9;
void setup(){
Serial.begin(9600);
pinMode(pirPin, INPUT);
pinMode(servoPin, OUTPUT);
digitalWrite(pirPin, LOW);
Serial.print("calibrating sensor ");
for(int i = 0; i < calibrationTime; i++){
Serial.print(".");
delay(1000);
}
Serial.println(" done");
Serial.println("SENSOR ACTIVE");
delay(50);
}

void loop(){

if(digitalRead(pirPin) == HIGH){
digitalWrite(servoPin, HIGH);
int temp;
for (temp = 0; temp <= 100; temp++)
{
digitalWrite(servoPin,HIGH);
delayMicroseconds(1500); // 1.5ms
digitalWrite(servoPin,LOW);
delay(20); // 20 ms
}
for (temp = 0; temp <= 30; temp++)
{
digitalWrite(servoPin,HIGH);
delayMicroseconds(1600); // 1.6ms
digitalWrite(servoPin,LOW);
delay(20); // 20ms
}
for (temp = 0; temp <= 31; temp++)
{
digitalWrite(servoPin,HIGH);
delayMicroseconds(1400); // 1.4ms
digitalWrite(servoPin,LOW);
delay(20); // 20ms
}
if(lockLow){
lockLow = false;
Serial.println("---");
Serial.print("motion detected at ");
Serial.print(millis()/1000);
Serial.println(" sec");
delay(50);
}
takeLowTime = true;
}

if(digitalRead(pirPin) == LOW){
digitalWrite(servoPin, LOW);
if(takeLowTime){
lowIn = millis();
takeLowTime = false;
}
if(!lockLow && millis() - lowIn > pause){
lockLow = true;
Serial.print("motion ended at "); //output
Serial.print((millis() - pause)/1000);
Serial.println(" sec");
delay(50)
}
}
}

Interactive Toilet (ITOI) by Tarek & Ivan

2009-02-04T18:09:00.010-05:00

Hi guys,

Here is all the information about our project. If you need any more information or diagram just let me know.

First, the video:

Abstract:

According to Erica Goode in The New York Times in January 12, 1999 parents face a big struggle when they try to help their kids to learn how to use the toilet and control their bladder. Thus, parents need a new inexpensive technique able to help them to overcome this dilemma. Finding a new tool to facilitate this issue becomes urgent. The ITOI (Interactive TOIlet), is a new device that has the basic interactive components to help kids learning and feeling happy when using the toilet. ITOI is a reduced version of the toilet lid that can detect the presence of a kid sitting on it, reacting to his actions. The interaction is composed of four stages: (1) LEDs that show the status of the ITOI; (2) Action sensors that detect any deposit from the kid; (3) Musical response as a reaction to the success after using the ITOI; and (4) the hand-shaking and paper-dispensing arms as the final stage of success. That’s simply the ITOI2009, a reinvention of the traditional toilet!

ITOI Scenario: Miranda and her 2 year-old daughter Linda

Linda sits down on the ITOI.
The red LED goes on, and then the ITOI is waiting.
When Linda uses the ITOI and she deposits something in the toilet, the yellow LED goes on to give Miranda an indication that her daughter is using the toilet now.
Then the music starts "If you are happy and you know it clap your hands….."
The Hand-Shaking Arm rotates to shake Linda’s hand.
Then the Paper-Dispensing Arm appears providing Linda with a piece of paper.
Both the HSA and PDA will return back to their original positions.
Finally the green LED goes on indicating Miranda that Linda has finished.

If Linda is just sitting down and she doesn't deposit anything then the red LED will remain on (telling Miranda that her daughter hasn’t used the toilet yet)!

Now Miranda is feeling better about her daughter, who likes the ITOI and is starting to use the toilet by herself!

What are the 'ITOI' Hardware components?

1- Kid Toilet Lid

2- Presence sensor: a distance measuring sensor unit from Sharp (Part no. GP2Y0D810Z0F).

3- “Action” sensors: in order to be able to detect the passing of objects through the lid, several pairs of Infrared Emitting Diodes and Photo-sensors.

4- Action signals: This arrangement of color LEDs acts as a traffic light, indicating the status of the ITOI.

5- The Hand-Shaking Arm (HSA): the arm that controls the HSA is attached to a servomotor that changes its position depending on the actions of the kid.

6- Paper-Dispensing Arm (PDA): this device is controlled in a similar way to the HSA.

7- Control Box: This box will contain the control box (Arduino+Motor Shield) and all the additional electronics required to make the rest of the components work. Furthermore, a music box and the built-in speakers are placed in this Control Box.

All these elements are controlled by an Arduino board and a C++ code written for this purpose (described below).

Code:

//////////////////////////////////////////////////////////////////////////

// //

// ITOI: The Interactive TOIlet for kids //

// //

// Tarek Mokhtar and Ivan Siles //

// //

// Project #1 - Architectural Robotics (Arch879/ECE893) //

// //

// Spring 2009 //

// Clemson University, Clemson, SC //

// //

//////////////////////////////////////////////////////////////////////////

// Declare all the IN/OUT pin variables

int Action1 = 2; // Action sensors (Digital Inputs 2-4)

int Action2 = 3;

int Action3 = 4;

int Presence = 6; // Presence sensor (Digital Input 6)

int Music = 7; // Music box (Digital Output 7)

int Red = 11; // Red LEDs (Digital Output 11)

int Yellow = 12; // Yellow LEDs (Digital Output 12)

int Green = 13; // Green LEDs (Digital Output 13)

int Paper = 9; // Paper-Dispensing Arm Servo

int Shake = 10; // Hand-Shaking Arm Servo

// Declare own variables

int Pres = 0;

int Action = 0;

int presence = 0;

int A1 = 0;

int A2 = 0;

int A3 = 0;

int Time_Paper = 0;

int Time_Shake = 0;

//**********************************************************************//

// //

// VOID SETUP: Configure board pins //

// //

//**********************************************************************//

void setup() {

pinMode(Presence,INPUT); // Presence Sensor: INPUT

pinMode(Action1,INPUT); // Action sensors: INPUT

pinMode(Action2,INPUT);

pinMode(Action3,INPUT);

pinMode(Music,OUTPUT); // Music box: OUTPUT

pinMode(Red,OUTPUT); // Action Signals (LEDs): OUTPUT

pinMode(Yellow,OUTPUT);

pinMode(Green,OUTPUT);

pinMode(Paper,OUTPUT); // Servomotors (Motor Shield)

pinMode(Shake,OUTPUT);

} // Close void setup

//**********************************************************************//

// //

// VOID LOOP: Main program //

// //

//**********************************************************************//

void loop() {

digitalWrite(Red,LOW); // Make sure all LEDs are OFF

digitalWrite(Yellow,LOW);

digitalWrite(Green,LOW);

while (presence == 0) { // If no kid, keep updating sensor

Pres = digitalRead(Presence); // Read from presence sensor

if (Pres==LOW){

presence=1;

}

else {

presence=0;

}

} // Close while

digitalWrite(Red,HIGH); // If kid detected, Red light ON

while (Action == 0) { // If no action from kid, update sensors

A1 = digitalRead(Action1);

A2 = digitalRead(Action2);

A3 = digitalRead(Action3);

if (A1==HIGH || A2==HIGH || A3==HIGH) {

Action = 1; // If action detected

} // Close if

else {

Action = 0;

} // Close else

} // Close while

digitalWrite(Red,LOW); // Red light OFF

digitalWrite(Yellow,HIGH); // Yellow light ON

digitalWrite(Music,LOW);

delay(100);

digitalWrite(Music,HIGH); // Music ON

delay(100);

digitalWrite(Music,LOW); // Only pulse is required

// Activate Hand-Shaking Arm (HSA)

for (Time_Shake = 0; Time_Shake <= 15; Time_Shake++) { // 90 degrees approx.

digitalWrite(Shake,HIGH);

delayMicroseconds(1400); // 1.4ms CLOCKWISE

digitalWrite(Shake,LOW);

delay(20); // 20ms

}

delay(12000); // Wait 12 seconds (song)

// Activate Paper-Dispensing Arm (PDA)

for (Time_Paper = 0; Time_Paper <= 17; Time_Paper++) { // 90 degrees approx.

digitalWrite(Paper,HIGH);

delayMicroseconds(1600); // 1.6ms COUNTER-CLOCKWISE

digitalWrite(Paper,LOW);

delay(20); // 20ms

}

delay(5000); // Wait 5 seconds

digitalWrite(Yellow,LOW); // Yellow light OFF

digitalWrite(Green,HIGH); // Red light ON

// Deactivate both arms

for (Time_Paper = 0; Time_Paper <= 7; Time_Paper++) {

digitalWrite(Paper,HIGH);

delayMicroseconds(1400); // 1.4ms CLOCKWISE

digitalWrite(Paper,LOW);

delay(20); // 20ms

}

for (Time_Shake = 0; Time_Shake <= 7; Time_Shake++) {

digitalWrite(Shake,HIGH);

delayMicroseconds(1600); // 1.6ms COUNTER-CLOCKWISE

digitalWrite(Shake,LOW);

delay(20); // 20ms

}

while (1) { // Infinite loop

} // Close while

} // Close void loop

Electric Diagrams:

1 - Action sensors:

R1-R3 100-Ohm resistors

D1-D3 IR LEDs

R4-R6 10-kOhm resistors

Q1-Q3 Photo transistors

2 - Action lights:

R7-R12 150-Ohm resistors

D4-D5 Red LEDs

D6-D7 Yellow LEDs

D8-D9 Green LEDs

3 - Music-activating circuit:

R13 10-kOhm resistor

Q4 2N2222 General Purpose Transistor

A-B Terminals to the music box

4 - Presence sensor:

R14 10-Ohm resistor

C1 22 nF electrolytic capacitor

Solution - Parallax motor control

2009-01-28T22:48:00.005-05:00

Below is a bit of code I found that solves my previous question about controlling the Parallax servo motors. From the Parallax website, I found that these motors require a pulse of 1.5 ms every 20 ms in order to stand still . Pulses shorter than this cause clockwise rotation. Pulses longer than this cause counter clockwise rotation.

With this code running, you can use a screwdriver to adjust the internal potentiometer to let the motor stand still. Change the "1500" delay to another number to observe the directional control.
If anyone knows how to accomplish this using the Arduino libraries I would appreciate knowing.

Paul.

int servoPin = 10;
void setup()
{
pinMode(servoPin,OUTPUT);
}
void loop()
{
digitalWrite(servoPin,HIGH);
delayMicroseconds(1500); // 1.5ms
digitalWrite(servoPin,LOW);
delayMicroseconds(18500); // 18.5ms
}

UPDATED BY IVAN:

Try this code.

int servoPin = 9;

void setup()

{

pinMode(servoPin,OUTPUT);

}

void loop()

{

int temp;

for (temp = 0; temp <= 100; temp++)

{

digitalWrite(servoPin,HIGH);

delayMicroseconds(1500); // 1.5ms

digitalWrite(servoPin,LOW);

delay(20); // 20 ms

}

for (temp = 0; temp <= 30; temp++)

{

digitalWrite(servoPin,HIGH);

delayMicroseconds(1600); // 1.6ms

digitalWrite(servoPin,LOW);

delay(20); // 20ms

}

//delay(100);

for (temp = 0; temp <= 31; temp++)

{

digitalWrite(servoPin,HIGH);

delayMicroseconds(1400); // 1.4ms

digitalWrite(servoPin,LOW);

delay(20); // 20ms

}

2009-01-28T22:18:00.002-05:00

Hi All,

Has anyone had success controlling the new Parallax servo motors?

Unlike examples we've seen in the lab, these rotate continuously
and do not appear to be controllable in the way suggested by code
examples on the Arduino sites or by Ivan's example.

Any tips would be appreciated.

Paul.

Component bags in the lab

2009-01-26T15:10:00.003-05:00

Hi all,

The bags for Henrique-Paul and Krishna-Joe are in the lab.

Dr. Green and Dr. Walker, I have also put there the tool box with the rest of the components and motors.

Purchase of Components - PLEASE READ AND UPDATE ASAP

2009-01-21T17:00:00.007-05:00

Ok guys, here is the list of components I think we should buy.

I have granted everyone with Admin permissions so if you need something specific for your project just update the post adding whatever you need at the end. Also, feel free to add comments or suggestions about components you think we might need for future projects.

PLEASE, ADD ANYTHING YOU THINK YOU MIGHT NEED BY TONIGHT, TOMORROW I WILL GIVE THE INFORMATION TO HENRIQUE TO MAKE THE PURCHASE.

If you click on the name of each item it would take you to a website with more info.

Here it goes.

MOTORS (www.parallax.com):

- Continuous Rotation Servo (900-00008) - 8 x $11.69 = $93.52

- 12-Volt Unipolar Stepper Motor (27964) - 4 x $ 10.99 = $43.96

ELECTRONIC COMPONENTS (www.mouser.com):

- IR Distance Sensors (GP2Y0D810Z0F) - 8 x $2.60 = $20.80

- Red 5mm LEDs (WP7113ID) - 20 x $0.09 = $1.80

- Orange 5mm LEDs (WP7113ND) - 20 x $0.09 = $1.80

- Yellow 5mm LEDs (WP7113YD) - 20 x $0.09 = $1.80

- Green 5mm LEDs (WP7113GD) - 20 x $0.09 = $1.80

- Miniature Switches (B3F-1022) - 16 x $0.23 = $3.68

Here is the list from mouser. So far, $39.00 + shipping.

Mouser doesn't carry any cheap photoresistors so I found them in RadioShack. We will buy them in the physical store to save the shipping costs.

Here is some information. The pack of 5 costs $2.99. We could order 2 or 3 of them.

======================================================

NOW LET'S ADD THE SPECIFIC COMPONENTS FOR EACH PROJECT

======================================================

Apoorva & Adam (www.trossenrobotics.com):

- Force sensor - $8.75 + shipping

Tarek & Ivan (www.mouser.com):

- Infrared LEDs (QED123) - 6 x $0.27 = $1.62

- Infrared Receiver (QSD123) - 6 x $0.28 = $1.68

- Infrared Logic Detector (QSE157) - 6 x $0.67 = $4.02

Robots

2009-01-18T17:30:00.002-05:00

So, I am watching the Eagles-Cards football game (and am not happy that Arizona is winning), so I figured I'd post this link:

http://singularityhub.com/2009/01/12/a-review-of-the-best-robots-of-2008/

The link says it all. Enjoy...

Servo working with Arduino and Motor Shield

2009-01-15T13:58:00.012-05:00

I made the servo I took from the lab work with Arduino and the Motor Shield.

I am attaching a video of it working. The code I used is pretty simple, it just goes from 0 to 180 degrees and comes back.

The servo works right with either the USB or the power adapter with no extra power to the motor shield. I don't know what will happen when we put some load into it.

Also, I found out that when you attach the motor shield into the Arduino, all the input-output pins are in use, so I don't know how we're going to use both the input-ouptuts AND the motors. Anyone knows anything about this?

Here is the code I used:

#include <>

ServoTimer1 servo1;

int pos = 0; // variable to store the servo position

void setup()

{

servo1.attach(9); // attaches the servo on pin 9 to the servo object

}

void loop()

{

for(pos = 0;pos <> // goes from 0 degrees to 180 degrees

{ // in steps of 1 degree

servo1.write(pos); // tell servo to go to position in variable 'pos'

delay(15); // waits 15ms for the servo to reach the position

}

for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees

{

servo1.write(pos); // tell servo to go to position in variable 'pos'

delay(15); // waits 15ms for the servo to reach the position

}

You can find the library ServoTimer1.h here.

Extract the rar file and copy the whole ServoTimer1 folder into the Arduino directory \hardware\libraries

Update:

In the first line of the code "#include <>"

You have to type ServoTimer1.h between the <>.

This thing won't let me post it right because it assumes it's code for the blog.