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LEGO, 131, 135, 410, 413, 469 behavior-based programming, 135, 666 669 disadvantages, 135 Mindstorms, 135; competitions, 694 Spytech, 135 Technic line, 135, 555 legs, 17 18, 312 313 light, detecting, 21, 152, 193, 579 597. See also vision, robot. circuit diagram, 152 line-following competition, 694 Linux, 160, 164, 220 locomotion, 17 19, 305 322. See also locomotion, advanced; motor drives; speed; steering. design considerations, 311 312 differential drive, 312 legs, 17 18, 312 313 with radio-controlled servos, 312 round vs. square robots, 321 322 with tracks, 18 19, 311 312 with wheels, 17, 311 312, 410 locomotion, advanced, 453 463 with pivoting wheel, 455 457 with steering wheel systems: dual motors, 455 with tracks, 453 455 logic probes, 73 74 Radio Shack, 74 specifications, 74 Macintosh, 220 Mars Rover, 11 Massachusetts Institute of Technology, 666, 670 materials, sourcing garage sales, 35 surplus stores, 44, 328, 389 thrift stores, 35 materials, structural, 13 15, 25 37. See also metal platforms; metals, for structure; plastic platforms; plastics; wood; wooden platforms. cardboard, 26 comparison chart, 26 foamboard, 15, 26 particle board, 26 mathematical expressions, 178 maze-following competition, 692 Meccano, 132 133 mechanical theory and design Fischertechnik kits, 135 136 mechanics, background in, 6 memory effect, 282, 289 mending plates, 30 metal alloy, shape-memory. See shapememory metal alloy (SMA). metal platforms, 123 130 battery holder, 128 for Buggybot, 125 130 frame, 126 127 motors and mounts, 126 support caster, 127 wheels, attaching, 126 wiring diagram, 129 working with metal, 124 125 (See also metalworking.) metals, for structure, 14, 26, 29, 435 436
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metalworking, 124 125 finishing, 125 manipulating, 124 125, 127 marking, 124 saws, 124 tools for, 124 125 Metropolis, 13 Microchip MPC2150, for PDAs, 159 160 microcontrollers, 5, 154 159, 206. See also BASIC Stamp 2 (BS2). advantages, 155 Atmel AVR, 157 benefit, key, 156 boatloader equipped, 156 computer languages for, 156 cost, 155, 158 debugging features, 158 159 EEPROM, 158 Flash, 158 Freescale 68HC11, 157 Hitachi H8, 157 Intel 8018x, 156 157 Intel 8051, features, 156 157 manufacturer and developer preferences, 156 manufacturers, 156 158 memory areas, 158 Microchip, 156 PIC, 156 processors used with, 156 program instruction and data retrieval, 158 programming, third-party tools for, 158 PROM, 158 vs. single-board computers, 160 Von Newmann vs. Harvard architecture, 158 Microsoft, 159 160, 164 Milton-Bradley, 133 Mims, Forrest M. III, 203 Mindstorm, 135, 694 Minibot, 105 109, 131 from hacked toys, 131 with whiskers for object detection, 543 miter box, 124 Molon, 389 momentary on switch, 239 240, 502 MOSFET, 58, 60, 69, 355 357, 359, 382 383 motion detectors, 534 537 motor control, 348 359 motor drives, 313 317 camber placement, 313 314 casters, 315 317 centerline mount, 313 314 differentially driven, 313 front-drive mounting, 313 315 steering circle, 313 314 weight, 313 wheel placement, 313 314 Motorola MC68HC11, deadband in servo motors, 405 motors, 325 342. See also DC motors; servo motors; stepper motors. AC induction, 328 AC vs. DC, 325 brushless DC, 328 commutator brushes, 326 continuous, 326 327 control (See motor control.)
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motors (Cont.): current draw, 329 330; Ohm s law, 330; relationship to load, 329 DC (See DC motors.) dual-gear, 139 with gear reduction, 335 337 hacked parts from: CD players, 35; computers, 35 36, 328; fans, 328; faxes, 35; kitchen mixers, 328; surplus stores, 328; toys, mechanical, 36; VCRs, 35, 328 for Minibot, 108 mounting, 339 341; R/C servo, 341 operating voltage, 328 329 radio-controlled, 327 reversible, 325 Sel-Syn, 328 shaft, 341 342 specifications, 118, 328 332 speed, 330 331 stall current, 329 stepping, 326 327, 331 from surplus stores, 44 switched reluctance, 328 synchro, 328 synchronous, 328 torque, 331 332 unidirectional, 325 for wooden platform, 118 movement algorithms, 655 657 MOVITS kits, and hacked toys, 139 MS-DOS, 164 multiple robot interaction, 669 670 multitasking, 677 multitester. See digital multimeter (DMM) National Instruments LabView, 188 navigation, 599 628 beacons, 621 622, 624 compass bearing, 614 615 data transmission, 622 Doppler effect, 616 617 flowchart, 600 global positioning system (GPS), 626 gyroscopes, 626 627 inertial, 626 627 landmarks, identifying, 621 625 map matching, 627 628 odometry, 612 614 Polaroid, for ultrasonic ranging, 617 621 radar, 616 radio frequency identification, 622 623 speed of sound, 617 618 wall following, 600, 607 612 near-object detection, 520 521 distance measurement sensors, 520 limitations, 520 521 proximity sensors, 520, 523 530 near-object detection, compliant collision, 548 555 fiber optics: cutting, 551; fiber types, 550 551; theory and background, 549 550 whiskers, laser fiber, 548 555 near-object detection, contact, 541 548 bumper switches, 541, 545 548 pressure pad, conductive foam, 544 545 whisker, 542 544
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Decoding ANSI/AIM Code 128 In Visual Basic .NET
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