27313

Web Site: www.parallax.com Forums: forums.parallax.com Sales: sales@parallax.com Technical: support@parallax.com Office: (916) 624-8333 Fax: (916) 624-8003 Sales: (888) 512-1024 Tech Support: (888) 997-8267 Penguin Robot Kit (Red #27313) (Blue #27314) (Clear #27315) (Black #27316) The Penguin Robot is a precision-machined 4” tall biped. The Penguin walks forward with a tilt-stride action and turns by sweeping both feet on the ground in opposite directions. Individual movement segments are linked together for this robot to walk. This basic biped design functions best in the Penguin’s small scale. The Penguin mechanics have a close-tolerance fit and are designed to provide precise electronic control. The Penguin’s microcontroller is an embedded BASIC Stamp2px24 module, the fastest and most powerful BASIC Stamp microcontroller model in the Parallax lineup. The Penguin requires three hours to assemble, after which it is a PBASIC programming challenge to exploit all of the robot’s capabilities. Note: This document is for Penguin Robots Rev A or Rev B. If your robot has a "REV B" label near the 7-segment display on the PCB, please look out for assembly instruction differences specific to Rev B. (Note that Penguin Robots Rev A are not labeled.) Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 1 of 23 Table of Contents 1.0 Introduction................................................................................................................................. 2 1.1. Audience ............................................................................................................................................................2 1.2. Features .............................................................................................................................................................2 1.3. System and Software Requirements:................................................................................................................3 1.4. Bill of Materials ...................................................................................................................................................3 1.5. Body Kit Mechanical Drawings ..........................................................................................................................4 2.0 Assembly..................................................................................................................................... 5 2.1. Tools Required...................................................................................................................................................5 2.2. Assembly Instructions ........................................................................................................................................5 2.3. Mechanical Troubleshooting Guide.................................................................................................................17 3.0 Programming the Penguin ...................................................................................................... 18 3.1. Programming Concept.....................................................................................................................................18 3.2. Servo Calibration..............................................................................................................................................18 3.3. Penguin’s BASIC Stamp 2px24 Pinout ...........................................................................................................18 3.4. Example Programs ..........................................................................................................................................19 3.5. Optional Compass Calibration.........................................................................................................................19 3.6. Other Helpful Documentation ..........................................................................................................................19 3.7. Test Code Listings ...........................................................................................................................................20 4.0 Electronics ................................................................................................................................ 23 4.1. CR123 Batteries...............................................................................................................................................23 4.2. Schematic.........................................................................................................................................................23 1.0 INTRODUCTION 1.1. AUDIENCE The Penguin isn’t a beginner’s robot. The Penguin is a small desktop robot, not intended for long-distance adventuring. The Penguin’s electronics are fully assembled and wired to an assortment of I/O devices. Additionally, it has a fairly complex programming process which is more difficult to understand than a two-wheeled robot. For example, Penguin’s walking steps must be linked and the compass sensor must be calibrated. For these reasons we recommend this robot for the hobby robotics enthusiast or collector who has an extended interest in PBASIC programming. 1.2. FEATURES y y y y y y y y y y y y y BS2px24 module chipset CNC-machined 6061 aluminum parts available in four color schemes (2) micro servos Hitachi HM55B Digital Compass sensor Blue seven-segment LED for feedback (2) photoresistors (2) infrared emitters and one detector Piezospeaker in body, underneath battery pack 3-position power switch located adjacent to battery pack FTDI 232RL mini USB programming port (2) CR123 batteries for 6V power supply Orange power indicator LED (2) expansion I/O ports, with Vss and Vdd header for Ping))) distance sensor or RF modules Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 2 of 23 1.3. SYSTEM AND SOFTWARE REQUIREMENTS: y PC running Windows XP/Vista, with an available USB port y BASIC Stamp Editor Software v 2.3 or higher - download from www.parallax.com/downloads. y USB VCP Drivers - these can be installed automatically via the BASIC Stamp Editor v2.3 installer, or you may download the latest version separately from link on www.parallax.com home page. y Penguin Test and Sample Programs - test programs are included in this document; all programs listed may be downloaded as .bpx files from Penguin product page at www.parallax.com. 1.4. BILL OF MATERIALS Part # Description Quantity Penguin Body Kit 720-27313 Red Anodized Penguin 720-27314 Blue Anodized Penguin 720-27315 Clear Anodized Penguin 720-27316 Black Anodized Penguin Each of the above includes: -Body panels -Leg pairs attached to ankle -Feet -4-40 5/8” long standoffs, with machined flat space Penguin Hardware Package 720-00013 Stride linkage 720-00015 2-56 threaded rod 2.5" long 710-00013 4-40 1/8" long, 0.149" diameter stainless steel shoulder screw 710-00010 4-40 1/8" long, 1/8" diameter stainless steel shoulder screw 710-00011 4-40 1/4" button socket cap stainless steel screw 710-00012 2-56 1/4" button socket cap stainless steel screw 710-00014 2-56 1/4" flathead stainless steel screws 725-00016 2-56 ball links for 2-56 threaded rod 725-00062 1/16" hex key 725-00063 0.05" hex key 725-00064 5/64" hex key 725-00067 1.5 mm hex key 725-00018 1/16" ball links for 2-56 threaded rod Electronics 555-27313 Penguin BS2px printed circuit board Each of the above includes: -BS2px24 circuit board -Flat white ribbon cable to connect the boards -Power pack board Miscellaneous 700-00064 Parallax dual-head screwdriver 752-00003 CR123 Batteries 805-00010 USB A to Mini B programming cable 900-00014 Grand Wing Naro standard servo 700-00063 Drill bit, #55 1 1 1 1 2 2 2 4 1 2 4 4 12 2 4 2 1 1 1 1 2 1 1 1 1 1 2 1 2 1 Missing parts? Your Penguin experience should be nothing short of complete success and satisfaction. If you encounter a missing part contact us immediately and we’ll put it in the mail for you. The best way to do this is by e-mail to sales@parallax.com, or you can call us at (888) 512-1024. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 3 of 23 1.5. BODY KIT MECHANICAL DRAWINGS Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 4 of 23 2.0 ASSEMBLY 2.1. TOOLS REQUIRED The Penguin kit includes a portion of the tools required to build the robot (the hex keys, drill bit, and screwdriver). You will need to provide these additional tools to finish assembly, which are not included in the kit: y y y y y Small pliers Ruler or calipers Handheld drill, small drill press, or a vise Small adjustable crescent wrench (or 3/16” socket) Safety glasses Safety first! Taking basic safety precautions is absolutely necessary when building a Penguin. The assembly process includes several steps where you will be exposed to danger. You will be using a sharp drill bit to enlarge a tiny hole, and tiny pieces may fly. You will be pressing ball joints together, where a small slip can puncture your skin. These dangers are minimized by wearing safety glasses and using the right tools for the job. 2.2. ASSEMBLY INSTRUCTIONS Step 1: Attach standoffs to servos Connect (4) of the 4-40 1/4" button socket cap stainless steel screws to the middle of the 5/8” 4-40 standoffs. The standoffs have a machined flat space in the middle against which the servo tab will be seated when the screw is tightened. Press the standoffs against the servo body when tightening the screws. This will ensure proper spacing when the servos are mounted in the Penguin body panels. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 5 of 23 Step 2: Center the servos using the BASIC Stamp Editor This step centers the servos, so that further mechanical tuning will be minimized once the Penguin is assembled. It also ensures that you won’t need to take the Penguin apart once you start programming it. The servos need to be centered with a 1.5 ms pulse, following the directions below: a. Connect the Penguin boards together using the flat ribbon cable, as pictured. For boards with a "REV B" label near the 7-segment display, the blue-tipped side of the cable faces toward the Parallax logo. Otherwise, the blue-tipped side of the cable faces away from the Parallax logo. b. Insert two (2) CR123 batteries into the power pack. A line drawing on the inside of the battery holder shows how the batteries are oriented. (Orientation may differ from picture shown.) c. Plug two servos into the bottom of the power pack, being careful to orient them correctly. From the perspective of this photo, the servo’s white leads are on the bottom, or the right side of each servo connector as viewed behind the Penguin. d. Download and install the BASIC Stamp Editor and FTDI USB VCP drivers software if you have not done so already. e. Plug the mini USB cable into the power pack. f. Plug the other end of the USB cable into your PC. g. Turn on power to the board (slide the switch toward the ribbon cable). h. Open the BASIC Stamp Windows Editor and run the Penguin-CenterServos.bpx program. i. The servos are now centered. Disconnect the servos first, and then remove the batteries and USB cable from the power pack board. ' ' ' ' Parallax Penguin Robot Penguin-CenterServos.bpx {$STAMP BS2px} {$PBASIC 2.5} Center StrideServo TiltServo CON PIN PIN 1875 6 7 DO PULSOUT StrideServo, Center PULSOUT TiltServo, Center PAUSE 15 LOOP Copyright © Parallax Inc. ' Centered servo pulse ' Center stride servo (J1) ' Center tilt servo (J2) Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 6 of 23 Step 3: Assemble the Penguin body Install the servos into the Penguin body using (8) 4-40 1/4" long button socket cap stainless steel screws and the 1/16” hex key. The picture shows how the servo splines are oriented: the stride (bottom) servo spline is near the rear of the Penguin; the tilt (top) servo spline is near the top of the Penguin. Tighten the screws. Step 4: Install stride linkage on the stride servo Locate the small black plastic stride linkage with two ball-shaped ends. (This part has changed: the style shown on the left is included in your kit. The previous style is shown in all the photographs.) The stride linkage has a recess in the reverse shape of the servo spline. Press it onto the servo so that it is as close to cross-wise to the Penguin body as possible; it may not be perfectly perpendicular because the spline is toothed. For fine-tuning, this can be corrected with calibration-in-software using sample code available for free download from the Penguin product page. Secure the stride linkage to the spline with the servo screw. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 7 of 23 Step 5: Attach legs and ankles to body The Penguin’s legs and ankles come pre-assembled since they required a specialized tool to properly insert small dowel pins through the round ankle. Each Penguin has a pair of left and right legs. Also notice that there’s a round machined recess with a diameter slightly larger than the shoulder screw head on each pair of legs. The recess faces out towards the shoulder screw, and the shortest part of the ankle faces forward. Shoulder screws have a 1/8” diameter smooth stainless steel surface upon which the legs will rock back and forth. To install the leg assemblies on the Penguin, use the (4) 4-40 1/8" long shoulder screws and the 5/64” hex key. The ball-shaped ends of the stride linkage fit within the matching oval cutout in the rear legs. The legs should move freely when assembled, and you will hear the stride servo’s gears moving at the same time. If it takes force to move the legs you have one of two problems: either the metal parts have bound, or the screws are too tight into the body panels. Tighten everything enough to remove “slop” but not so tight that parts are unable to move freely. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 8 of 23 Step 6: Mount Penguin feet to the ankles The Penguin kit has (4) 4-40 1/4" long, 0.149" diameter stainless shoulder screws which are used to attach the feet to the ankles. The head of these screws provides a bearing surface for the ankle so it may rotate freely within the foot when Penguin leans from side to side. Each foot has an additional 2-56 threaded hole where the Penguin’s ball joints mount for the threaded rod which connects to the tilt servo (the ski poles). These threaded holes denote the front of the foot. Carefully drop the ankles into the foot. This is a close-tolerance fit; the ankle will only fit into the foot if it is inserted squarely. Next, use the 1.5 mm hex key to tighten the 4-40 long 0.149” diameter stainless steel shoulder screws into the ankle. The Penguin will now stand up without assistance. Four (4) 4-40 ¼” long 0.149” diameter stainless shoulder screws hold the ankle to the feet. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 9 of 23 Step 7: Screw 2-56 ball links into feet The Penguin kit contains two different sizes of ball links. The 2-56 threaded ball links are used in this step (the 1/16” ball links are used in a subsequent step). Open the package and thread the 2-56 ball link post into the front of each foot. You can tighten them using a 3/16” socket or small wrench. Be careful not to scratch the feet as you tighten the ball links. The threaded portion of the ball link will not screw all the way into the foot because it has a small non-threaded portion between the threads and the hex-shaped post. Don’t force it beyond the point at which the ball link is easily screwed into the foot. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 10 of 23 Step 8: Attach plastic ball sockets to 2-56 threaded rod Now you’re ready to thread the four (4) plastic ball sockets onto each end of the 2-56 threaded rod. Twist both ends on evenly until the rod length is about 3.4” long. If this is too difficult to do with your hands, consider carefully holding the threaded rod with pliers. Use a small rag to prevent it from being scratched. Step 9: Drill a 1/16” hole in the servo horn Each servo package includes an assortment of servo horns. We’ll use the widest servo horn in this step. If you make a mistake it’s okay because there’s a second one in the other servo package. Put on your safety goggles. Place the #55 drill bit in your handheld drill, drill press, or vise. Very carefully enlarge the two outermost holes on the servo horn. If you are using a drill, run it very slowly to prevent it from feeding into the hole too quickly. If you run it too fast the drill will plunge into the plastic and you’ll crack the servo horn. Take your time and use a low drill speed. If you have secured the drill bit in a vise, gently twist the servo horn onto the bit to enlarge the hole. Do not press down, and be careful not to injure your hands. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 11 of 23 Step 10: Connect the 1/16” ball links to the servo horn Install the two 1/16” ball links on the servo horn. Tighten carefully but don’t deform the plastic. Step 11: Attach the servo horn to the tilt servo Press the assembled servo horn onto the tilt servo, positioning it cross-wise to the Penguin body. Do not over-tighten the screw; you may need to take off the horn and re-center the servo if it gets moved during the next step. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 12 of 23 Step 12: Connect the tilt servo horn and feet with the threaded rods Now you’re ready to snap the two threaded rods onto the front of the Penguin. The ball joints can be snapped onto the feet by hand. Attaching them to the servo horn ball joints is a bit more difficult. For this you can use a small pair of pliers. Place one jaw of the pliers behind the ball link’s post, and the other on the outside of the plastic ball socket. Future adjustments can be made quite easily by disconnecting the ball link socket from the feet only. To disconnect them, use a small screwdriver as a lever against the foot. Cover the foot with a cloth to prevent scratching. Bad Penguin Posture? You may have rotated the tilt servo off-center while attaching the linkages. If the servos are centered, the Penguin will have its feet close together and will be standing straight up, and the tilt servo horn will be horizontal. If the tilt servo is not horizontal, remove the screw and very gently pull the horn off of the spline. Re-run Penguin-CenterServos.bpx, which should bring the feet together. Replace the horn on the spline, and replace the screw. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 13 of 23 Step 13: Attach BASIC Stamp 2px24 board to the Penguin body The Penguin’s top board contains the BASIC Stamp 2px24 circuitry. It is mounted on the top of the Penguin using (2) 2-56 1/4" button socket cap stainless steel screws and the 0.050” hex key. You’ll need to fold the tilt servo’s wire over to tighten the board against the top of the Penguin. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 14 of 23 Step 14: Attach Power Pack board to the Penguin body The Penguin’s power pack board is installed using (4) 2-56 ¼” long flathead screws and the 0.050” hex key. When you mount this board be sure that the servo wires are not preventing it from properly seating into position. Plug the servos back in. Connect the stride servo to J1 and the tilt servo to J2; make sure the white leads are on the right, as shown in the photo. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 15 of 23 Step 15: Install batteries and tidy servo wires Install (2) CR123 batteries into the Penguin’s power pack. The batteries will be oriented in the same direction; refer to the pictorial molded into the bottom of the battery holder’s plastic surface. Coil up the servo wires behind the robot. It’s also possible to hide them in the Penguin’s body, but that requires substantial attention to detail considering the lack of free space. Step 16: Penguin is finished Congratulations. Your Penguin is complete and ready for programming! Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 16 of 23 2.3. MECHANICAL TROUBLESHOOTING GUIDE The Penguin is made from CNC-machined aluminum, molded plastic, screw-machine shoulder bolts, and a variety of electronic components from different factories. There’s always the possibility that something will go wrong and parts will bind or move with limited freedom – it’s nearly impossible to test every single sub-assembly. For example, tolerances on the shoulder screws and plastic sockets can vary from batch to batch or a shoulder screw bolt could have a slightly larger diameter shaft. It is imperative that your Penguin operate smoothly and without friction to be an effective walker. Contact us if you have any problems. Below are examples of common Penguin assembly difficulties and solutions to them. Problem Explanation Ball link sockets are tight or binding. The ball link sockets are molded parts and they may vary in tolerance, though we’ve chosen a supplier that offers a consistent product. The socket and ball should move freely without any friction when assembled. If you need to loosen up tight-fitting ball links: Legs move too much from left to right. Ankles are too tight within the feet. Legs are too tight against the body. Picture (a) Use an X-Acto knife to remove any plastic burrs inside the plastic socket. (b) Add a drop of oil into the socket. (c) Reassemble the ball links and check for friction. Pressing the left and right legs together should create no more than 1/8” to ¼” of movement (or “slop” as it is called by a machinist). If a particular leg seems to have too much side-toside play, you can fix this by tightening the shoulder screw down another ¼ turn. If the problem persists, you can gently chamfer the threaded body panel with a drill to sink the shoulder screw further into the body. Be careful if you choose this option because you can remove too much metal and the leg will tighten against the body! The ankles are the 1¼” long by ¼” diameter round standoffs with two channels machined between. The legs are pinned in these channels. If the round ankle binds inside the foot, slightly shorten the ankle by rubbing the end of it on a piece of sandpaper. Insert the leg assembly back into the foot and check the fit. The correct adjustment for the legs depends on the shoulder screws being tightened gently. If the leg is binding against the body, back off the shoulder screws so it can move. Use a dab of Loc-Tite on the threads of the shoulder screw so it stays screwed into position in the body panel. Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 17 of 23 3.0 PROGRAMMING THE PENGUIN 3.1. PROGRAMMING CONCEPT Programming the Penguin to walk is a matter of shifting its center of gravity from side to side with the tilt servo, coordinated with moving the legs forward and backward with the stride servo. The BS2px24’s high speed and expanded memory and RAM are useful for storing motion sequences and for performing the computations needed in sensor-based autonomous navigation. Close the Debug Terminal before downloading a new program, disconnecting the USB cable, or switching off the power to your tethered Penguin! If you fail to close the Debug Terminal before any of these actions, the port may hang up and the BASIC Stamp Editor may freeze when you next try to program your Penguin. If this happens, close the Editor with the Task Manager. Be sure to download the latest version of the BASIC Stamp Editor from www.parallax.com. 3.2. SERVO CALIBRATION The Penguins servos must be calibrated before the Penguin can walk. This is a crucial step and the Penguin will not walk without it. 1) 2) 3) 4) 5) 6) 7) 8) Run Penguin-ServoCalibration.bpx. Click in the white Transmit area at the top of the Debug Terminal. Press Enter to enable the servos. Press + and − to adjust the tilt servo until the Penguin can stand level. Press the space bar to switch to the stride servo. Press + and − to adjust the stride servo until the Penguin’s feet are in line with each other. Press S to save the new settings. Listen for the long beep to ensure that the settings were saved. Tip: Pressing 1 through 5 changes the coarseness of the adjustments 3.3. PENGUIN’S BASIC STAMP 2PX24 PINOUT I/O Pin Description Direction P0 Photoresistor – right Output P1 Photoresistor – left Output P2 Infrared emitter – right Output P3 Infrared emitter – left Output P4 Infrared receiver Input P5 Front I/O expansion port Input/Output P6 Servo stride Output P7 Servo tilt Output P8 7-segment LED clock Output P9 7-segment LED data Output P10 7-segment LED latch Output P11 Rear I/O expansion port Input/Output P12 Speaker Output P13 Hitachi HM55B Compass – CLK (clock) Output P14 Hitachi HM55B Compass – CS (chip select) Output P15 Hitachi HM55B Compass – DIN/DOUT (data in/out) Input/Output Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 18 of 23 3.4. EXAMPLE PROGRAMS Download the following test programs from the Penguin product page at www.parallax.com and test that each Penguin subsystem is working properly. Complete code listings are also included in this document. y y y y y y Penguin-CenterServos.bpx, page 6 Penguin-SpeakerTest.bpx, page 20 Penguin-IRTest.bpx, page 21 Penguin-7SegmentLEDTest-v1.3.bpx, page 21 Penguin-PhotoresistorTest.bpx, page 20 Penguin-CompassTest.bpx, page 22 Once you are familiar with the I/O capabilities of the Penguin, the following programs can be used to demonstrate all of the Penguin’s abilities. Download from the Penguin product page at www.parallax.com. y Penguin-AutonomousNavigation.bpx y Penguin-MigrateNorth.bpx 3.5. OPTIONAL COMPASS CALIBRATION To improve the accuracy of the compass, the calibration routines for the Hitachi HM55B Compass Module have been ported to the Penguin. With the calibrated compass routines added to the Penguin's control code, extra RAM and code space is required. Separate versions of the following programs have been created to allow for either more available resources or a more accurate compass. Original Code Code Incorporating a Calibrated Compass Penguin-CompassTest.bpx Penguin-CalibratedCompassTest.bpx Penguin-AutonomousNavigation.bpx Penguin-AutonomousNavigation-CalibratedCompass.bpx Penguin-MigrateNorth.bpx Penguin-MigrateNorth-CalibratedCompass.bpx Before the calibrated compass routines can be used, Penguin-CompassCalibration.bpx must be run to record the compass calibration data. For more information about compass calibration, please read the product documentation and the associated code available from the #29123 product page at www.parallax.com. 3.6. OTHER HELPFUL DOCUMENTATION The following materials are helpful documents for programming the Penguin; each can be downloaded from its associated product page: y BASIC Stamp PBASIC Syntax Guide (on-line version of help file installed with the BASIC Stamp y y y y y Windows Editor) HM55B Compass Documentation (#29123) HM55B Graphical Viewer for the HM55B (#29123) Smart Sensors and Applications (a Stamps in Class Text) (#28029) IR Remote for the Boe-Bot Text (a Stamps in Class Text) (#70016) Ping))) Ultrasonic Sensor Documentation (#28014) Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 19 of 23 3.7. TEST CODE LISTINGS ' Parallax Penguin Robot ' Penguin-SpeakerTest.bpx ' {$STAMP BS2px} ' {$PBASIC 2.5} Speaker PIN 12 i Freq VAR VAR Byte Word 'Inverse of 12th root of 2 multiplied by 65536 'Used to divide by one semitone in a 12 note octave Scale CON 61858 Freq = 659 FOR i = 1 TO 12 FREQOUT Speaker, 600, Freq Freq = Freq ** Scale NEXT ' ' ' ' Frequency of an E5 12 semitones = 1 octave Play the frequency lower frequency by 1 octave ' Parallax Penguin Robot ' Penguin-PhotoresistorTest.bpx ' {$STAMP BS2px} ' {$PBASIC 2.5} RLDRPin LLDRPin PIN PIN 0 1 LeftLDR RightLDR VAR VAR Word Word DEBUG CLS DEBUG "Photoresistor sensor status:", CR, "Left:", CRSRXY, 15, 1,"Right:" DO GOSUB DEBUG DEBUG PAUSE LOOP READLDR CRSRXY, 6, 1, DEC LeftLDR, " " CRSRXY, 22, 1, DEC RightLDR, " " 150 ReadLDR: RCTIME LLDRPin, 1, LeftLDR HIGH RLDRPin ' Prepare debug screen ' Update debug screen with ' status of photoresistors ' Read R/C time for each ' photoresitor then recharge ' their capacitors RCTIME RLDRPin, 1, RightLDR HIGH LLDRPin RETURN Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 20 of 23 ' Parallax Penguin Robot ' Penguin-IRTest.bpx ' {$STAMP BS2px} ' {$PBASIC 2.5} REmitter LEmitter IrInput LeftIr RightIr CON CON VAR VAR VAR 2 3 IN4 Bit Bit DEBUG CLS DEBUG "Infrared sensor status:", CR, "Left:", CRSRXY, 15, 1,"Right:" DO GOSUB ReadIr DEBUG CRSRXY, 6, 1, DEC LeftIr DEBUG CRSRXY, 22, 1, DEC RightIr PAUSE 150 LOOP ReadIr: FREQOUT LEmitter,1,6300 LeftIr = ~IrInput FREQOUT REmitter,1,6300 RightIr = ~IrInput RETURN ' Prepare debug screen ' Update debug screen with ' status of IR sensors ' Modulate emitters at 38KHz ' and check for reflections ' Parallax Penguin Robot ' Penguin-7SegmentLEDTest-v1.3.bpx ' {$STAMP BS2px} ' {$PBASIC 2.5} ' Rev A. boards use the OUTC port to control a 74LS47 BCD to 7-segment decoder LEDDisplay VAR OUTC ' The LED display mirrors OUTC ' Rev. B boards use a 74HC595 shift register to individually set and clear LEDs LED_CLK PIN 8 ' LED's shift register clock pin LED_DATA PIN 9 ' LED's shift register data pin LED_LATCH PIN 10 ' LED's shift register latch pin ShiftData Index VAR VAR DIRC = %1111 Byte Nib ' Set all used I/O pins as outputs DO FOR Index = 0 TO 9 ' Loop numbers 0-9 on the display ' For Rev. B PCBs, send data to the shift register READ Index, ShiftData SHIFTOUT LED_DATA, LED_CLK, LSBFIRST, [ShiftData] LED_LATCH = 0 ' Then create a falling edge LED_LATCH = 1 ' To latch the data to the LEDs ' For Rev. A PCBs, set the 74LS47 in parallel through OUTC LEDDisplay = Index PAUSE 750 ' Wait 3/4 of a second NEXT LOOP ' Font for the Rev. B display DATA $06, $CF, $A2, $C2, $4B, $52, $13 ,$CE, $02, $42 Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 21 of 23 ' Parallax Penguin Robot ' Penguin-CompassTest.bpx ' {$STAMP BS2px} ' {$PBASIC 2.5} Compass Clock Enable PIN PIN PIN 15 13 14 ' Transceives to/from Din/Dout ' Sends pulses to HM55B's Clock ' Controls HM55B's /Enable Reset Measure Report Ready NegMask CON CON CON CON CON %0000 %1000 %1100 %1100 %1111100000000000 ' ' ' ' ' Reset command for HM55B Start measurement command Get status/axis values command 11 -> Done, 00 -> no errors For 11-bit negative to 16-bits x y Heading status VAR VAR VAR VAR Word Word x x ' ' ' ' x-axis data y-axis data Store Heading measurement Status flags DEBUG CLS, "Heading:" DO GOSUB ReadCompass DEBUG CRSRXY, 9, 0, DEC Heading, "° PAUSE 150 LOOP " ReadCompass: ' Compass module subroutine HIGH Enable ' Send reset command to HM55B LOW Enable SHIFTOUT Compass, Clock, MSBFIRST, [Reset\4] HIGH Enable ' HM55B start measurement command LOW Enable SHIFTOUT Compass, Clock, MSBFIRST, [Measure\4] status = 0 ' Clear previous status flags DO ' Status flag checking loop HIGH Enable: LOW Enable ' Measurement status command SHIFTOUT Compass, Clock, MSBFIRST, [Report\4] SHIFTIN Compass, Clock, MSBPOST, [Status\4]' Get Status LOOP UNTIL status = Ready ' Exit loop when status is ready SHIFTIN Compass,Clock,MSBPOST,[x\11,y\11] ' Get x & y axis values HIGH Enable ' Disable module IF (y.BIT10 = 1) THEN y = y | NegMask IF (x.BIT10 = 1) THEN x = x | NegMask Heading = x ATN -y Heading = Heading */ 360 RETURN Copyright © Parallax Inc. ' Store 11-bits as signed word ' Repeat for other axis ' Convert x and y to brads ' Convert brads to degrees Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 22 of 23 4.0 ELECTRONICS 4.1. CR123 BATTERIES The Penguin uses CR123 batteries (sometimes also referred to as size “N”). Quality CR123 batteries provide up to one amp-hour of power. CR123 batteries are truly overpriced from readily available sources (drug stores, grocery stores). For example the Energizer and Duracell CR123s are priced around $12.00 per pair. Parallax has tested all major brands of CR123 batteries (summarized below) and we buy them in bulk. In our tests, we used a fixed current draw of 200 mA at 6V. We measured the time required for the battery voltage to drop below 2.75V. Surprisingly, the tests showed almost no correlation between cost and performance! The batteries we are selling (Rayovac and Panasonic) have approximately the same capacity as the more expensive ones and they’re sold by Parallax at less than half the price of retail outlets! Don’t be fooled into paying high prices for CR123 batteries. If you don’t buy your CR123 batteries from Parallax then check eBay for the same brand we are selling (usually Rayovac or Panasonic). Pay no more than $2-3 each. The Penguin’s current draw during full operation is around about 150 mA. With two Rayovac CR123 batteries it should run for at least six to eight hours. CR123 Manufacturer Discharge time Energizer 270 mins / 4.5 hours Rayovac 240 mins / 4.0 hours Duracell 225 mins / 3.8 hours Panasonic 210 mins / 3.5 hours Sanyo 150 mins / 2.5 hours Chinese-label 5 mins / 0.1 hours CR123 Battery Test with 200 mA Current Draw Conducted by Tigerbotics and Parallax June 2007 3 2.95 2.9 Voltage 2.85 Energizer Rayovac Duracell Panasonic Sanyo WWTach 2.8 2.75 2.7 2.65 2.6 2.55 2.5 0 1 2 3 4 5 6 Time (hours) 4.2. SCHEMATIC (Schematic PDF is appended, next page) Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 23 of 23