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computer programs BS2 GP2D12, 532 533 BS2 ISD2532, 563 565 BS2 LCD, 242, 244 BS2 Line Follow, 604, 611 BS2 Object Detection, 528 529 BS2 Object Ranging, 529 530 BS2 Polariod 6500, 619 621 BS2 Port IO, 245 250 BS2 PWM, 363 BS2 Teaching Pendant, 259 263 Button Demonstrations, 240 241 Calibrate, 403 404 Cylon Eye, 238 239 Debouncer, 506 Hello World, 235 LED Flash Demonstrations, 238 239 for sensing a collision, 558 Sony Remote Control Receiver Operation Methods, 266 268 storage data to register, 170 conductive foam, 508 511 from CMOS packaging, 508 for near-object detection, 544 545 resistance, 509 response curve, 510 for touch sensors, 508 511 transducer for, setting, 509 connectors, 88 89 construction and design. See also fasteners; finish, paint; materials, sourcing; materials, structural; plastic platforms; wooden platforms. body, 12 15 differentially driven robot, 17 18, 312 313, 454 455 electronics and mechanical items, salvageable: CD players, 35; computer devices, 36; fax machines, 35; floppy disks, 35; hard disks, 35; mechanical toys, 36; mice, 36; printers, 36; VCRs, 35 from Erector set, 132 134 (See also Erector set.) fasteners, 31 34 mobile vs. stationary robots, 10 11 platforms: from hacked toys, 140 147 from Robotix kit, 134 135 (See also Robotix) current, 48 50, 57, 285 286, 290, 329 330, 348 Cyborg, 10 data transmission, 622 DC motor control automatic control via relays, 348 350 bipolar transistor control, 351 355, 357, 359 direction, controlling, 350 double-pole, double-throw (DPDT) switch, 348 350 methods, ranking, 359 MOSFET transistors, 359 motor bridge control, 357 358 power MOSFET control, 355 357 relay motor control, 359 relays: activating, 349; single-pole, 348 349
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DC motors, 345 373. See also motors. brushes, 346 commutator, 346 concept, 345 347 continuous, 359, 479; speed of, 330 current draw when stalled, 348 direction, reversing, 347 348 disadvantages, 375 efficiency, 348 fundamentals, 345 347 Minibot, 106 open feedback system, 393 open-loop continuous, 345 overdriving, 348 permanent magnet, 345 ratings, 347 348 rotational speed, effect on torque, 348 vs. servo motor, 393, 395, 401, 409 stator, 345 vs. stepper motors, 375, 379 380 suitability for robotics, 347 testing, for directionality, 326 transistors for, 58 60 underdriving, 348 windings, 346 DC motor speed control, 359 367 continuous DC motors, 359 with potentiometer, 360 with pulse width modulation (PWM), 360 367 deadband, 405 debouncer, 198 199, 504 506 DEBUG, 246, 248 250, 260 262, 270, 529 530, 558, 564 565 DEBUGIN, 246 degrees of freedom, 404, 466, 471, 496 design, 664 666. See also construction and design. differentially driven, 17, 18, 312 313, 454 455 diffraction gratings, from CD players, 35 digital multimeter (DMM), 50, 70 72 AC, measuring, 71 72 analog vs. digital, 71 DC, measuring, 71 72 ratings, maximum, 72 volt-ohm meter, 329, 389 zero adjust, 72 digital sensors, 192, 198 201 buffered input, 198 199 CMOS-to-TTL translation, 200 LED high/low voltage input and indicator, 198 opto-isolators, 199 200 switch debouncer, 198 199 TTL-to-CMOS translation, 200 zener diode shunt, 201 digital-to-analog conversion, 207 diodes, 56 57. See also LEDs. PN junction, 69 properties, 56 semiconductor, as a, 56 and static electricity, 69 zener, 56, 201, 292 293, 299 300 Disabled American Veterans, 35 disk drives, for parts, 35
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distance, measuring, 367 373 calculating, 367 368 comparators, 367 370 counters, 367 direction, via quadrature encoding, 371 373 flip flop circuit, 372 phototransistor, infrared sensitive, 367, 371 372; stray light, effects on, 371 quadrature encoding, 371 373 shaft encoder, 367 373; in PC mice, 370 DO/LOOP, 227, 239, 246, 270, 363 364, 404, 530 for line following, 606 607, 611 612, 621 for sensing a collision, 558 for sound output control, 563 565 Doppler effect, 616 617 double-pole, double-throw (DPDT) switch, 109, 120, 132, 348 350 DO WHILE/LOOP, 229, 246 250, 260 262, 266 267, 364, 404, 564 565 drill, 124 drill press, 124 dropout voltage, 295 dual in-line packages (DIP), 61 Ebay, for robot parts, 45 EEPROM, 158, 260 electromagnetic mechanisms Fischertechnik kits, 136 electronics, for robots. See also capacitors; diodes; ground, earth; inputs and outputs (I/O); integrated circuits (ICs); object detection; resistors; sensors; sound input; symbols, electrical; transistors; vision, robot; wire gauge. background required, 5 components, 47 62 construction techniques, 79 92 design principles, 91 92 feedback and control systems, 22 inputs and outputs (I/O), 164 168 input sensors, 20 21 output, types, 21 static electricity, protecting from, 69 70 electronic theory, 47 51, 384 ampere (A), 48 Coulomb (C), 48 current (i), 48 50 Ohm s law, 48, 50, 52; triangle, 50 parallel, wiring resistors in, 49, 51 resistance (R), 48 51; combining, 48 49, 51 series, wiring resistors in, 51 voltage (V), 47 48, 50 51 electrostatic discharge (ESD), 69 70. See also static electricity; work space. protection kits, 70 eMbedded Visual Tools, for PDAs, 159 emotions, 668 END statement, 230 energy watch robot, 191 192
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