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though, and you should never point the transmitter s antenna directly at your robot The antenna on your robot and your hand-held transmitter should always point straight up for optimum signal transmission and receiving
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t i p You should develop a habit of holding the transmitter vertically in tests and trial runs so the strain of a hot battle won t have you accidentally pointing the transmitter at your machine or, worse yet, shorting out the antenna on the metal rail or supports of the arena
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Antenna Placement
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You may have seen some combat robots zipping about the floor in competition with what appears to be an antenna protruding out the top It probably was an antenna perhaps with a little flag attached so the operator can see the orientation of his machine for control purposes This certainly is the ideal placement electrically, but it s a pretty bad thing when a flailing robot severs the antenna with a weapon Sometimes you cannot find an adequate vertical location for the antenna, especially in a small, flat machine, so you are forced to place the antenna in a horizontal position Fret not, though, because most model airplanes also have to place the antenna in this orientation If this is the case with your machine, you should mount a nonconductive (nonmetal) strip of material on the robot s shell, under which you can place the antenna Do not attempt to cut the antenna wire a bit (or add more wire) to make it fit in an area or try to improve the signal; the wire is cut at the factory to accommodate the appropriate frequency A rookie bot builder might simply pile the antenna wire loose inside the robot, or cut it short and tape part of it to the outside of the robot s shell While the radio reception will be far from ideal, at a typical combat range of less than 50 feet you might get away with it A better setup, though, is to have a flag or post extending out the top of the robot, and run the antenna up it to get it away from the main body of the robot and get better exposure to the radio signals Even this is not an ideal antenna setup, but it will work for most bots The ideal antenna setup for a combat robot is to use a base-loaded antenna Base-loaded antennas get away with having a short length of actual antenna by embedding a tuned resonance circuit in the base of the antenna module Base-loaded antennas have to be purchased for a specific frequency band, but they save a lot of room over standard antennas: a base-loaded, 72- or 75-MHz band antenna can be as short as 65 inches In some cases, the base-loaded antenna can be mounted inside the robot s body next to the radio, although this is not recommended As mentioned, the antenna should be mounted vertically on the top of the robot The base of the antenna should be at least 1 inch away from any metal parts on the robot s frame, and the wire from the antenna to the radio should be as short as possible and not run near any motor power lines WS Deans sells a base-loaded antenna that is popular with veteran robot builders and can be obtained at most hobby stores
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nnovation First Isaac Robot Controller and Other Radio Modems
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The IFI Robotics Isaac R/C system was originally developed for the FIRST (For Inspiration and Recognition of Science and Technology) robotics competition FIRST robots are designed to participate in a competition requiring rather complex mechanisms with jointed arms, telescoping grabbers, and complex omni-directional movement, which makes their control needs a lot more involved than that of a typical combat robot The FIRST system is built around a 900-MHz, bi-directional radio modem, which transmits high-rate serial data between the control gear and the robot The transmitter gear is a modular design that is capable of using standard PC-compatible game-type peripherals such as joysticks, steering wheels, foot pedals, or custom user-built control gears The receiver contains a user-programmable radio, which can control complex functions on the robot in response to commands from the transmitter Digital and analog inputs to the receiver board can be used as feedback to the control system, or they can gather telemetry data to send back to the transmitter for driver displays or recording on a laptop computer The IFI Robotics system uses the 900-MHz band to transmit its control signals The data packets traveling between the transmitter and receiver are coded with a team number to ensure that one IFI Robotics radio set does not interfere with another IFI Robotics radio set, which is a tremendous advantage over hobby R/C gear that has no way of distinguishing between one radio and another on the same frequency The coded team number is custom settable by the users and the event s organizers The bi-directional data transmission also gives the operator a clear indication of radio signal integrity, diagnostic lights on the operator interface tell the operator the status of the receiver, and a button on the transmitter control board can be used to reset forcibly the receiver s user-programmed computer system IFI Robotics sells two types of robot controllers the Isaac16 and the Isaac32 that are similar except the Isaac32 has twice the number of output channels and onboard sensor inputs, and the radio modem is a separate item and not built into the system as is the Isaac16 Table 8-3 shows a list of the number of inputs and outputs in the two robot controllers
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Feature Digital sensor inputs Analog sensor inputs (0 5 volt, 8-bit A/D) PWM outputs Solid-state relay outputs
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TABLE 8-3
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