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To simplify the design and construction of Turtletron, the main controller board and remote control that were built for the crocodile robot in the last chapter will be used The circuits are identical, except that the software of the PIC 16F84 will be changed This robot will also include an ultrasonic range finder for room mapping and obstacle avoidance, along with a linear shaft encoder to keep track of distance The main controller schematic is shown in Figure 712 If you did not build the crocodile robot, or would like to build a separate circuit board for Turtletron, follow the instructions in 6 The parts needed to complete the electronics are listed in Table 72
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Schematic of Turtletrons main controller board
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TABLE 72
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List of Parts Needed for Turtletron s Electronics
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Semiconductors U1 U2 1 1 78L05 5V regulator PIC 16F84 flash microcontroller mounted in socket L298 dual full-bridge driver Lynx RXM-433-LC-S RF receiver module Red light-emitting diode Diodes 1N4001 Green light-emitting diode 2N3904 NPN transistor
U3 RX1 D1 D2 D9 D10 Q1 Resistors R1, R2 R3 R4
1 1 1 8 1 1
2 1 1
470 10 K 47 K
1/4-watt resistor 1/4-watt resistor 1/4-watt resistor
(continued on next page)
7 / Turtletron: Build Your Own Robotic Turtle
Part Capacitors C1 C2, C3 C4, C5
Quantity
Description
TABLE 72
List of Parts Needed for Turtletron s Electronics (continued)
1 2 2
01 f 22 pf 01 f
Miscellaneous JP1 JP4 4 2-post male header connector 25-mm spacing 4-post male header connector 25-mm spacing 4-post female header connector 25-mm spacing 4-MHz crystal Jumper wire Standard piezoelectric element 18-pin IC socket soldered to PC board U2 6-3/4 inch whip antenna Battery connector
JP5 Motors
JP6 RF module 1
Y1 W1-W4 Piezo buzzer IC socket
1 4 1 1
Whip antenna 1 9-volt battery strap 4 AA-battery holder Printed circuit board 2
4 AA-battery holder with 6-volt output
See details in 6
Mount the main board on four 1/2-inch threaded standoffs Turn the robot over so that it is right side up, with the wheels facing downward Place the main controller circuit board at the center of the robot base, mark the positions of the standoffs, and then drill
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the holes with a 5/32-inch bit Mount the circuit board to the robot base using machine screws that match the threaded standoffs
Ultrasonic Range Finding
An ultrasonic range finder will be added to Turtletron so that the robot will be able to avoid obstacles while roaming in autonomous mode or to inhibit movement when under remote control The robot will be able to determine the distance to an object from itself, and then make decisions based on that information The robot will also have the ability to create a rudimentary map of the surrounding area before movement through the environment begins Devantech SRF04 ultrasonic range finder A low-cost solution is the Devantech SRF04 ultrasonic range finder, pictured in Figure 713 This device offers precise ranging information from 3 cm to 3 m, is easy to interface, and its minimal power requirements make it an ideal ranger for mobile robotics applications It is available from Acroname Robotics Inc, and can be purchased from their Web site at wwwacronamecom
FIGURE 713
Devantech SRF04 ultrasonic range finder
7 / Turtletron: Build Your Own Robotic Turtle
The SRF04 range finder is a small printed circuit board (PCB) that measures 1-3/4 3/4-inches, with two ultrasonic transducers mounted on the front The ranger requires a 5V power supply capable of handling roughly 50 mA of continuous output One transducer is used to send an ultrasonic signal, and the other transducer receives the signal reflection from nearby objects The SRF04 will output a 100-microsecond to 18-millisecond detection pulse that is proportional to range when a reflected signal is detected Table 73 is a list of the parts that will be needed to add the sonar ranger The SRF04 range finder specifications are listed in Table 74
Part SRF04 ultrasonic ranger module Quantity 1 Description Sonar distance measuring device 25-mm spacing 8-1/2 inches 25-mm spacing 2-inches 4-inches TABLE 73
Parts Required for the Addition of the SRF04 Ultrasonic Range Finder
5-post male header connector 4-strand ribbon cable 2-connector female header 1/16-inch thick aluminum Hot glue Specification Voltage Current Frequency Value
1 1 2 1
Hot glue and gun
TABLE 74 5v 30 mA Typical 50 mA 40 kHz
Table of Specifications for the SRF04
Maximum range 3 meters Minimum range Sensitivity Input trigger Echo pulse Size 3 centimeters Can detect a 3-cm diameter broom handle at 2 meters 10 S minimum TTL level pulse Positive TTL level signal, width proportional to range 1-3/4 3/4-inches 287
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