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"Super" Boe-Bot Robot
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Click on Image for a close-up |
This Project was submitted to Parallax by Joe Fishback.
The "Super" Boe-Bot robot has many modes of operation and a variety of functions. It has been in development for two years, and it is an excellent tool for learning how to utilize many of the options a BASIC Stamp microcontroller offers. What started out as a plain Parallax Boe-Bot robot, has slowly changed overtime with additions that were made to the original design to increase versatility.
The following is a list of features for the "Super" Boe-Bot robot:
- Parallax Boe-Bot robot
- Two Parallax Board of Education programming boards – The one with a BS2sx Stamp and the second with a BS2 Stamp
- Parallax Audio Amplifier board
- Vacuum formed plastic Body
- Two low Bump Switches, mounted on front of the Robot Body
- Parallax “PING” Ultrasonic Sensor, mounted on the front of the Robot Body
- Wireless Color TV Camera and Transmitter with sound
- Parallax “Gripper” attachment mounted on the rear of the Robot
- Rubber band rifle fired by a servo
- Laser pointer for aiming the rifle
- Parallax “Line Following” sensors
- Radio control
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Click on Image for a close-up |
Why all the hardware? The robot has four modes of operation, which mode of operation the robot is in is determined by pulses sent to the Main BOE program from the RC receiver. In the first mode the robot is controlled by use of a Model Radio Control unit; the RC receiver sends pulses to the Main BOE. The program running on this board receives the pulses from two of channels on the receiver, the direction (front or reverse) and one for turning to left or right. The program takes the incoming pulses and determines the pulses to be sent to the two drive wheel servos, reversing one wheel in relation to the other, so the robot will go in the right direction. This allows a single joystick on the RC transmitter to be used. UP-DOWN is forward or reverse and LEFT-RIGHT is turning right or left. In the first mode the robot is controlled by the RC radio as to direction and speed. But while in this mode if an object is detected by either the Bump Switches or the “PING” sensor, control of the robot will be taken over by the program running on the Main Board of education. The program will take control of the Robot from the RC unit to avoid the object and then return control back to the RC unit. At the same time as the object is detected by the Main program and avoiding it, a signal will be send to the second BOE. The program running on the second Board of education will make “Sounds” while the Main program is avoiding objects. Also by keeping the control stick in FORWARD, the Robot will be basically in an Autonomous Mode, running around the room avoiding objects.
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Click on Image for a close-up |
The second mode allows complete control of the robot by radiocontrol without the sensors. This can be used for pushing objects with the robot.
The third mode allows the robot’s controls to be reversed when picking up a can with the Gripper mounted on the rear of the robot. This is to make it easier to drive the robot in reverse while viewing by TV the robot’s travels. This brings up the Gripper and TV camera mounting. The Gripper is the standard front mounted Parallax Gripper unit mounted on the rear of the robot. This was done by making a new bracket to mount the Gripper servo on the front of the robot’s frame. Two additional holes were added to the rear of the robot’s frame to mount the Gripper. The Gripper also as two vacuum formed plastic pads that grip under the indention on the bottom of the can. This allows the Gripper to pick up a full 16 oz. drink can.
The TV camera is mounted on a continuous rotating servo. The mount has adjustable rotation stops. This allowing for full 180 degree rotation of the camera ( front or rear) with one self centering joystick on the RC transmitter. Push the stick one direction to rotate clockwise and the other for counter clockwise. When the stick is released it will self center, stopping the rotation of the camera and maintain its position. The camera is mounted so when facing forward the camera is looking straight forward. Then the camera is facing to the rear it will be looking downward to view the Gripper. Also while the Gripper is open to pick up a can, a signal is sent to the second BOE program. This generates a “Back-up” beeping sound at the same time the robot is backing to pick up a can. The TV transmission is viewed by a small battery powered TV receiver.
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Click on Image for a close-up |
The fourth mode is a “Line Following” mode. The robot drives over a black line on the floor and switches to Line Following mode. The robot’s main program will take control from the RC unit and navigate along the line.
What if at last you have picked up your coke can, the robot is bringing it to you and someone tries to steal your coke? This is when where the rubber band rifle comes in to play. Flip a switch on the RC transmitter, a signal is sent to second BOE program that turns on the Laser pointer. Aim the rifle by viewing the TV, flip the switch a second time and a rubber band is fired. While firing, a signal is sent to the second BOE program, generating a “Rifle Shot” sound. The second BOE program also counts the number of rubber bands fired and turns the Laser off after three shots. This lets you know you are out of rubber bands.
All body parts, rifle, mounts, modifications and programs were custom designed by Joe Fishback in his shop. Although the robot is packed with features there are many more ideas for future developments.
Joe Fishback
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