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Remotely Controlling Your Robot
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The other advantage of PCM radios is that they grant you the ability to customize the control interface Because the signals are being digitized and encoded, it is easy for the internal computer to perform custom mixing and scaling operations on the data before transmitting it Known as computer radios, these units have a liquid crystal display (LCD) screen and a miniature keypad that can be used to write custom programs for the controller interface Typical settings include custom gain, and center and end points on individual controls, as well as custom mixing of two channels to generate left and right motor drive signals from a single joystick for driving skid-steer robots When choosing a radio system, you may want to consider more than just the robot you are currently using While the rest of a robot may be scrapped, recycled, or even completely destroyed in combat, your R/C system can be reused on robot after robot If you intend to participate in robotic combat competition year after year, it makes sense to spend a little more on your R/C system at the start, rather than buying a low-end radio and then having to pay more on a better radio down the road If you buy a PCM radio with at least seven channels, you will probably never have to buy another radio for as long as you are competing Most veteran combat robot builders will recommend that if you use a traditional R/C system, you should use a PCM radio with your robot It will save you a lot of headaches when testing and competing with your robot, since you will know that erratic motion is not due to radio interference Tables 8-1 and 8-2 contain short lists of the available R/C systems The column under Band, MHz lists the frequency bands these systems can use If two different
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Manufacturer Futaba
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Channels 3 3 2 3 2 3
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Band, MHz 27 and 75 27 and 75 27 and 75 27 and 75 27 and 75 27 and 75
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PCM Available No Yes No No No No
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TABLE
Pistol-Grip Style Radio Control Systems I
Build Your Own Combat Robot
Manufacturer Futaba
Model 4VF 6VH 6XAS 6XAPS 8UAPS 9ZAS
Channels 4 6 6 6 8 9 4 6 6 3 4 6 7
Band, MHz 72 and 75 72 50 and 72 72 50 and 72 50 and 72 72 72 and 75 72 27 and 75 72 72 72
PCM Available No No No Yes Yes Yes No No Yes No No No Yes
Airtronics
VG400 VG600 RD6000
Hitec
Ranger 3 Laser 4 Laser 6 Eclipse 7
TABLE
Stick-Style Radio Control Systems I
frequencies are listed, a system can be obtained to operate under either frequency, not both frequencies The Channels column shows the number of servo channels the R/C system can control at once, and the PCM Available column lists whether the system uses PCM error-correction controls
adio Interference and Reliable Control
Model aircraft radios are designed to control airplanes at ranges over thousands of feet; yet in the arena, robots less than 50 feet away from their controllers can go wildly out of control or fail to move at all The difference between the two environments is in the ambient radio interference and the antenna placement Installing a radio that was designed to be run inside a balsa wood or plastic airplane with only small servos and a single glow-plug engine, and making it run inside a metal-cased combat robot with large noisy electric or gasoline motors, is more difficult than you might think The first challenge to overcome is radio interference, most of which will come from inside the robot itself As a brush-type DC motor turns, the sliding contact of the brushes over the commutator segments is constantly making and breaking circuits and reversing the flow of current in the motor s armature winding segments This constant arcing creates high-frequency electrical noise whenever the motor is
8:
Remotely Controlling Your Robot
running This noise can be picked up by the radio system and can jam or interfere with the normal control signal If your robot s weapons unexpectedly actuate by themselves when you drive it, or if your robot twitches back and forth by itself when you trigger the weapon, you may be experiencing radio interference from your motors that is altering your radio control To combat this interference, start by neutralizing it at the source You cannot do anything about the arcing at the terminals, but you can divert most of the noise before it leaves the motor Small ceramic capacitors can be attached to filter the noise from the brushes (see Figure 8-5) Capacitors have a low impedance to high frequencies and can short-circuit the noise before it even leaves a motor s case You should use non-polarized ceramic capacitors in the range of 01 to 1 F, with a voltage rating of at least twice your motor s running voltage If possible, use three capacitors one from each brush terminal to the motor case, and one across each of the two motor terminals The capacitors should be connected as close to the actual brushes as possible, ideally inside the motor case itself, and they should be mounted carefully and secure to avoid the chance of shorting out the motor if one comes loose What noise that does manage to escape from the motor will radiate from the motor power wires like a broadcast signal from an antenna You can minimize this by twisting the motor wires together (leave the insulation on the wires); the noise emitted by the motor leads will be significantly reduced Placing these twisted wires within a braided shield grounded to the robot s structure also helps You can also reduce the transference of noise from the power system to the radio by placing your receiver as far as possible from the motors and their wires Placing the receiver in a shielded metal container will also help reduce the noise interference
n o t e Do not run the lines from your radio receiver to the servos and speed controllers near or parallel to the motor power lines, if you can help it As current goes through a wire, a circular magnetic field is generated If a wire is running parallel to this wire, and it is inside the magnetic field, the field can induce a current flow in the adjacent wire The physics behind this is why motors and transformers work in the first place Twisting the servo leads and power leads also helps minimize their tendency to pick up electrical noise from the motor system
FIGURE 8-5
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