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Course number: IM-UH 2117
Credit Hours: 4
Prerequisites: None
Session: Fall 2024
Course website: https://github.com/michaelshiloh/PerformingRobots
Instructor: Michael Shiloh [email protected]
Office hours: Schedule an appointment here
Meeting times:
- 2:10-3:25 Tuesday
- 2:10-4:50 Thursday
Class location: C3-029 (IM Lab)
This is subject to change
This document: Lecture Notes
Download and install Arduino from here
- What are robots?
- What is performance?
Introduction
-
Watch some videos
-
What is this class about?
-
Who are we?
-
Who are you?
- Have you used Arduino before?
- What experience do you have with construction?
- What experience do you have with hand and power tools?
Homework
- Github
- Discord
- Very quick review of Arduino
- Very quick review of switch on solderless breadboard
- L298 Motor Driver with external battery and large motor
- Use built-in pullup resistor for switch. This means switch pulls
HIGH.
To control a large motor, we need an intermediate device called a motor driver. Our particular motor driver is based on the L298. To find out how we use it, we simply Google "L298 Arduino". Here is the first thing that showed up for me. The point here is that many of the components we use are quite generic and there is a lot of information on using components with Arduino, but we can not follow the instructions blindly. We do need to understand how it works.
Sample code, assuming you used these pins:
void setup() {
// Pins 2 and 3 are connected to In1 and In2 respectively
// of the L298 motor driver
pinMode(2, OUTPUT);
pinMode(3, OUTPUT);
}
void loop() {
// make the motor turn in one direction
digitalWrite(2, LOW);
digitalWrite(3, HIGH);
delay(5000); // let it turn for 5 seconds
// now reverse direction
digitalWrite(2, HIGH);
digitalWrite(3, LOW);
delay(5000);
}
- Shields
- Soldering
- Ready made shields
- Music Maker Shield
- Prototyping shields
- No solderless breadboard!
- What can go wrong?
- Custom shields
- Servo shield
- Other PCBs
- Wires to boards
- What can go wrong?
- Music Maker Shield pins
- What can go wrong?
- NeoPixel Pins
- What can go wrong?
- Fixing problems
- Music Maker Shield
- NeoPixels
- Homework
- Performance
- Results of vote!
- Presentation schedule!
- Robot Base!
- Which play are we doing?
- Homework for next week:
- Choose a partner and a character that you and your partner would like to work on
- Collaborate with entire class (use Discord or create any group you wish) to create outline of play collaboratively
- Motors
- Arduino
- L298 Motor Driver
- External battery
How does it drive?
- Wheels
- Tires
- Hubs
- Steering
How do we build it?
- Wooden base
- Where should the wheels go?
- How does it keep from tipping over?
Construction techniques
- Motor mounting brackets
- Screws vs. Nuts and Bolts
- Working with wood
- Wire management
- Holding down the circuits (Arduino, L298)
- Holding down the battery
- Announcements
- Presentations
- Design workshop
- Student-lead workshops
- certificate
- IM Program Gathering
- Thursday right after class
Stefania gave a wonderful presentation on Designing Robots
- Build robots!
Parts needed
- Wooden base (about 55cm x 65 cm)
- Motors (2x)
- Hub (2x)
- Motor bracket (2x)
- M4x8 bolts to attach motors to motor brackets (8x)
- M4x10 bolts to attach hub to shaft (4x)
- Acrylic wheels (2x)
- Rubber tires (2x)
- Casters (2x)
In addition, you will need to extend the wires on the motors, and drill a hole in the wooden base for the wires to come through
- How to do research
- Presentations
- Why the delay?
- What I want
- Presentation by Grace Adeneye, Research Librarian for the Arts. Grace has an educational background in English literature and Museum and Gallery Practice. Grace also serves the first year student community, and is a published author.
- What is the significance of this work? What have others said or written about this project?
- Does the use of robots make the project better? Does it affect us differently? How or how not?
- Why are we so fascinated by robots? How does this fascination affect this project? (this relates to the question above)
- What does the project, and the fact of using robots, say about the Human Condition?
- Finish robot bases
I am sick and won't be coming to campus. Please continue with your presentations. I want everyone to write down at least one question that comes out of each presentation today. Write the question in your journal with today's date.
- Presentations: Luke and Vahagn
- Presentations: Aaron and Mbebo
- Hobby RC and Motor Controller Shield
- Solder pins according to board video
movie
- Skip the receiver for now
- Connect the L298 Breakout Board to the Hobby RC and Motor Controller shield following the table below:
| L298 Pin | Arduino Pin | Wire Color |
|---|---|---|
| EN1 | 9 | Yellow |
| IN1 | 8 | Blue |
| IN2 | 7 | Blue |
| IN3 | 10 | Green |
| IN4 | 12 | Green |
| EN2 | 11 | White |
| GND | GND | Black |
Videos:
- Soldering header socket to L298 Breakout Board
- Soldering wires between L298 Breakout Board and Hobby RC and Motor Controller Shield, part 1 and part 2
- Presentations: Aaron and Hind A
- IM workshop
- Homework: 1) who, why, and how about the murder and 2) finish the robot base
- Next steps: Design your robot!
The first workshop in the IM lab Workshop Series is this Thursday!
- Identify components
- Block diagram
- Mechanical details
- Presentations: Linh and Luke
- Finishing the bases: Power
- Building the robot
- Coaxial connector for the 12V for the motor
- Coaxial connector for 9V for the Arduino
- Review your designs
- servo motors for arms, hair
- Presentations: Javeria, Ahsen
- State of your robot
- What will you complete for Thursday
- Calendar: oct 31, Nov 5, 12, 19, 26, Dec 3, 5
- Weekends
- Homework
- Presentations: Sara, Toomie
- nRF Servo Mega shield
- Socket for radio for controlling the robot base
- Building with cardboard
- Attaching things to a servo motor
nRF Servo Mega Shield video
steps
- Install the .1 uFD capacitor in position C1. This is the tiny brown disk that says "104" on it. This component is NOT polarized. Solder. Cut the excess leads right down to the solder. Discard the cut of portion so that it doesn't cause a short circuit
- Cut two pieces of header sockets each with 4 positions. They need to be held together so use a piece of header pins across them to hold them together. Solder one pin, and then reheat the pin while you straighten out the connector. Solder the rest of the pins.
- Prepare 6 sets of header pins, each with 3 positions. Insert into positions M1 - M6 and D20 (my mistake in labeling). Solder one pin, straighten, and then solder the rest of the pins. You may find it easier to do one header at a time instead of trying to do all 6 at once like I did.
- From the bag of feed-through headers, remove six 5 position headers and one 10 position header. Return the rest to the bag. Solder one pin, straighten, then solder the rest. It is very important to get these to line up properly so don't solder the rest of the pins until the header is straight.
- Install the feed through header that is two rows of 3 pins. Note that this goes in the opposite direction i.e. the pins face up and the socket faces down. Solder and straighten.
- Install the two 470 uFD electrolytic capacitors. Note that these components are polarized so you have to install them in the right direction. The grey stripe must go into the hole with the white semicircle. Cut the excess leads right down to the solder. Discard the cut of portion so that it doesn't cause a short circuit
- Install the screw terminal. Make sure that the openings face the edge of the board. Solder. These pins are quite thick and the hole is quite big, so keep feeding solder until the hole fills up.
- You are done! Yay! Take a picture for your journal.
- Add sockets for the RadioLink receiver (starts at minute 10 in this video)
- strength
- attaching motors
- attaching to motors
- Presentations: Ahsen, Avinash
- Check homework
- Controlling the robot base
- Understanding the giant servo
- Radio system
- put your name on all items received!!!!!!!!!!!!!!!!!!!!!!!!
- Pairing
- Follow the instructions in "How to bind receiver to transmitter" in the RC4GS manual
- Code
- Follow for example Linh Tran's code. Note the pin assignments in the tables below:
| L298 Pin | Arduino Pin | Wire Color |
|---|---|---|
| EN1 | 9 | Yellow |
| IN1 | 8 | Blue |
| IN2 | 7 | Blue |
| IN3 | 10 | Green |
| IN4 | 12 | Green |
| EN2 | 11 | White |
| GND | GND | Black |
| Receiver Channel | Arduino Pin |
|---|---|
| CH 1 | 6 |
| CH 2 | 5 |
| CH 3 | 4 |
| CH 4 | 3 |
| CH 5 | 2 |
- Adjusting min and max speed
Before doing anything else make sure the jumpers are configured correctly. Those are the set of yellow pins at the bottom of the picture, with the blue and red jumpers. The colors don't matter, but the positions must be exactly as shown below:
If you want to know what the different configurations are this is the best documentation I could find from the Amazon product pages:
After the jumpers are configured correctly you need to connect 12 V power to the servo motor using the green screw terminals in the upper left corner of the picture below. Make sure you get the polarity correct or you will damage the motor! Double check the wires before you turn on the power supply
Once you have done the above two steps you can connect the servo control cable (that's the black, red, and white cable that looks like the servo cables you are familiar with) to your Arduino.
Once attached you can control the giant servo motor as you would any servo motor in Arduino.
- Delay presentations to Thursday
- nRF radio system
- Add potentiometer
- Add LCD
- Play walk-through
- Robot status
- Presentations
- Avinash makeup
- Demo remote control of servo motor and/or NeoPixel
- Play walk-through
- Presentations: Javeria, Hind A
- Music Maker Shield
- For homework next week
- Robot status
- Fix problems
- Jumpers and cuts
- Code
- Adafruit Music Maker Shield
- How to request help
- Robot status
- Announcements
- Rehearse
- Post code on Github, or very short code snippets in Discord
properly formatted - Get rid of all unnecessary code
- Clearly indicate what works and what doesn't
- Instead of saying "it doesn't work" explain how it doesn't work
- Explain what you've tried. Show that you've thought about the problem
- Swapping parts is a good way to isolate hardware problems
What is left for each of you to do? Fill out my grading sheet.
When you are not working:
- Consolidate all your parts
- Put away tools
- Recycle
- Throw out trash
- Presentations: Rama, Vahagn
- Demonstrate homework
- Robot Status
- Plan for next week and this weekend
- Work time
-
Green needs a body
-
Detective control panel not working
-
Butler missing a line
-
Plum
- missing a line
- arms not working, arms not dressed
- needs all sound clips re-recorded for better sound quality
-
Get images for magazine, payroll, and any other images
-
Sound effects
- Everyone gasps
- Everyone screams
- Everyone "dramatic music"
-
Keep remotes on!
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Print script
-
Charging batteries
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Bring table and chair
-
Wadsworth servo pins
- Detective: Rama - no, Hind Y - yes
- Peacock: Pranav - yes, Ahsen - no
- Orchid: Aaron - ?, Mbebo - no
- Plum: Sara - 3:30, Toomie - yes
- Green: Avinash - 3:30 - Vahagn - yes
- Wadsworth: Linh - no, Luke -no
- Scarlet: Javeria - ?, Hind A - 3:30