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The PWM outputs are the same type of 1- to 2-millisecond signals that R/C servos and electronic speed controllers such as the Victor 883, Vantec, and traditional R/C car ESCs, understand With this system, you could control 16 different high-powered motors double the number of motors you could control with top-of-the-line traditional R/C systems Then you can add up to 16 additional relay controls for weapons, actuators, lights, or just about anything else you would like to control What makes this system different from traditional R/C systems is its ability to analyze digital and analog inputs In your robot, you could include tachometers on the motors to monitor actual rotational speed to implement closed-loop speed control You could add thermocouples or resistive temperature sensors to the motor housing to monitor the temperature of the motors and help prevent them from overheating In the robot controller is a Basic Stamp that can be programmed to read in the input values and send signals out to control the corresponding actions of the robot Not only can the robot perform some semiautonomous actions, but the robot controller can send back information to the main operator interface so that the operator can be notified what the robot is doing internally One set of data could be a self-diagnosis to monitor the health of the robot during a combat match, and you could even monitor the charge on the batteries in real time Table 8-4 shows a list of input and output features of the operator interface The operator interface for the Isaac system is different from traditional R/C transmitters With the traditional R/C transmitter, the radio frequency (RF) transmitter, joysticks, knobs, switches, and all the electronics are enclosed in one single hand-held package The Isaac operator interface consists of a general electronics module and a separate RF transmitter/receiver module All the joysticks, switches, knobs, and displays have to be added The drawback to this system is that the entire operator interface has to be built The advantage to this type of setup is that you could build an interface that has all the control features you want in the robot, and the features can be located where you want them So, for example, the same joystick used with computer games can be used, or a simple potentiometer joystick found in traditional R/C transmitters can be used The light emitting diode (LED) indicators
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Input/Output Device Joystick ports Digital inputs Analog Inputs (0 5 volt, 8-bit A/D) LED indicators, user defined LED output drivers
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Remotely Controlling Your Robot
are user programmable so that they can provide feedback from the robot The operator interface has a port called the dashboard port that can be connected to a PC so that the operator can get total feedback from the entire robot An interesting feature about this control system is that multiple operators can use the same controller to control the same robot For example, one operator could be using one joystick to drive the robot around the ring, a second operator could be using a switch panel to control weapons on the robot, and a third operator could be monitoring system readouts and controlling a third panel for defensive weapons Or the entire system could be set up so that one person drives the robot and sensors on the robot automatically control the weapons Figure 8-6 shows a block diagram of the Isaac operator interface and the robot controller showing component functionality As you can see, the IFI Robotics control systems are more powerful and flexible than the top-of-the-line PCM computer radios The added abilities make the Isaac systems more expensive than the PCM computer radios, and many single-robot competitors in the smaller weight classes will find the price prohibitive However, because the same Isaac system can be easily used on multiple robots, it s a good investment for a team with many entries The Isaac radio receiver is physically larger than a typical PCM receiver The smaller system the Issac16 will fit in most robots
FIGURE 8-6
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