Table of contents
About the author (11)
About the substantive revision (13)
Thanks (15)
Introduction (17)
- Who is this book for? (17)
- Prerequisites (17)
- Won't LEGO MINDSTORMS be better for you? (19)
- Aren't there better BEAM robots for you? (19)
- There's no diagram of a remote-controlled killer robot here (19)
- Part Proposals (19)
- Safety rules (20)
- Metric system preference (20)
- Updates and news (20)
Chapter 1 Building a modular robot (21)
- Module building (21)
- Build a roundabout or not? (22)
- Organisation of chapters (22)
- Getting to know the machining (23)
- Your workshop equipment (23)
- Miniature milling machine (24)
- We connect everything together (27)
- Grouping of mechanical parts (27)
- Grouping of separate electronic modules (28)
- Assembly and testing of the robot (28)
- Use of parts and techniques in other works (28)
Chapter 2: Comparison of two types of self-manufactured engine couplings and common errors (31)
- Comparison of two fastener construction technologies (32)
- Telescopic connectors overview (32)
- Comparison of telescopic connectors with bar connectors (33)
- Expected effects of drilling holes in a fastener and frequent errors and their consequences (33)
- Combining the fixing screw hole with the motor shaft hole (34)
- Alignment of angles and centres of holes (35)
- Ready to make a bar connector? (38)
Chapter 3: Creation of the holder and drilling holes in bars for fasteners (39)
- Tool and part assembly (39)
- Preparation of bar pieces for connectors (40)
- Motor shaft and axle measurement (40)
- Bar selection for fastener (40)
- Cutting rods to length (42)
- Alignment of connector ends (43)
- We put away the trimmed rods (45)
- Design of the connector handle (45)
- Cutting out the switch handle block (46)
- Drilling the hole for the retaining screw (47)
- Threading the hole for the retaining screw (48)
- Drilling a hole for the connector rod in the holder (49)
- Use of the handle (54)
- Enlarging tight holes (54)
- Addition of a retaining screw to the fastener holder (54)
- Change the position of the switch handle (55)
- Drilling into the coupling for the motor shaft and LEGO axis (55)
- Replace bits, not rods (57)
- Finishing work - flattening ends (58)
- Checking the progress of the connector (58)
Chapter 4: Finishing the motor connector from the bar (59)
- Mounting the fastener fixing screw (59)
- Determining the position of the fastener fixing screw (59)
- Drilling in the fastener hole for the fixing screw (60)
- Threading the hole for the fastener fixing screw (61)
- Locking screw selection (62)
- Adding the LEGO axis (63)
- Conclusion (65)
Chapter 5 Engine installation inside the wheel (67)
- Attention! Danger! Bent rollers on the horizon (68)
- Correct drive with support (68)
- Hub Fitting (69)
- Adjustment of the outer diameter of the motor shaft to the inner diameter of the LEGO wheel (69)
- We start with the connector rod (71)
- Making internal and external hub adapter drives (72)
- Preparation of LEGO hubs (82)
- Fitting and bonding of parts (85)
- Conclusion (87)
Chapter 6 Standards used in electronics and preparation for experiments (89)
- Reading diagrams (89)
- Cable connection (90)
- Part selection (90)
- Identification of components (92)
- Defining the power supply (96)
- Use of contact plate (97)
- Contact plate selection (98)
- Contact plate configuration (98)
- Oscillograms (102)
- Use of modern electronics (103)
- Overcoming the experience curve barrier (103)
- Avoiding outdated technologies (103)
- Use of components for surface mounting (103)
- Summary (106)
Chapter 7: Construction of power supply with linear voltage regulator (107)
- Voltage regulators (107)
- Power supplies with linear voltage stabilizer (108)
- Voltage Stabilizer 7805 (108)
- Improving the power supply by lowering the minimum required unstable voltage (113)
- Other important features of linear voltage stabilisers (122)
- Market developments limit the choice of 5 V linear voltage stabilisers (126)
- Course for optimisation (126)
Chapter 8: Improving the robot power supply (129)
- Use of buffer input and output capacitors (130)
- Extension of battery life using buffer capacitors (131)
- Delayed shutdown due to buffer capacitors (131)
- Using the DPDT switch to shorten the cut-off time (132)
- Selection of buffer capacitors (133)
- Increasing the safety margin for tantalum capacitors (134)
- Capacitor witchcraft (134)
- Use of blocking capacitors (135)
- Shortening the long path to the power source (136)
- Interference isolation at each source (137)
- Selection of locking/decoupling capacitors (137)
- Protection against damage caused by short circuits and surges (137)
- Decision whether overcurrent protection is required (137)
- Fuse protection with fuse (138)
- Protection with automatic fuse (138)
- Protection of robots against short-circuits and overloads with semiconductors, self-resetting polymer fuses (139)
- Prevention of damage caused by overvoltage in the stabilized circuit (142)
- Zener diode (142)
- Using the Zener diode to short circuit the power supply in the event of an overvoltage (143)
- Choosing the right breakthrough voltage (145)
- Purchase of Zenera diode (145)
- We provide a reliable power source (145)
Chapter 9 Engine control (147)
- Why do we need an engine controller? (147)
- Supplying motors with higher voltage than logic systems can supply (148)
- Providing more power than logic can provide (148)
- Logical errors caused by motor-generated interference (148)
- Motor power supply from non-stabilised versus stabilised circuit (149)
- Four engine modes (149)
- Clockwise rotation (150)
- Counterclockwise rotation (151)
- Free speed (slow loss of speed) (151)
- Braking (Rapid deceleration) (151)
- Simple control with one transistor (152)
- Motor controller circuit with one NPN bipolar transistor (153)
- Motor controller circuit design with one NPN bipolar transistor (156)
- Motor controller circuit with one PNP bipolar transistor (157)
- Motor controller circuit design with one PNP bipolar transistor (158)
- Combining NPN and PNP controller (159)
- Motor controller circuit design with NPN and PNP circuit connection (159)
- Short circuit avoidance (160)
- Classic bipolar H-bridge (161)
- Clockwise rotation using bridge H (162)
- Counterclockwise rotation using bridge H (162)
- Release of movement using the H bridge electronic brake (162)
- High voltage braking (164)
- H-bridge free rotation (165)
- Other combinations in bridge H (165)
- Construction of the classic bipolar H-bridge (166)
- High voltage side control (167)
- Avoiding level conversions by sacrificing stabilization of logic power supply (167)
- Interface cancellation by supplying the H-bridge with stabilised voltage (168)
- Interface to PNP using NPN (168)
- Use of the integrated interface (171)
- Engine control (173)
Chapter 10 Engine control - second round (175)
- Motor control via MOSFET transistors (175)
- Motor controller circuit with one MOSFET power transistor with channel n (176)
- Default voltage supply using a resistor (178)
- Complementing the motor controller circuit with one MOSFET power transistor with channel n with a lowering resistor (182)
- Motor controller circuit design with one MOSFET power transistor with n-channel and lowering resistor (183)
- Motor controller circuit with one MOSFET power transistor with channel p (184)
- Motor controller circuit design with one MOSFET power transistor with channel p (184)
- H-bridge with MOSFET power transistors (185)
- Selection of MOSFET power transistors (191)
- Motor control using integrated circuits (195)
- Dreams of Ideas (195)
- Use of the 4427 family as a standalone motor controller (196)
- Use of the classic bipolar H-bridge in an integrated circuit (199)
- MC33887 - Advanced H-bridge motor controller MOSFET (201)
- Evaluation of motor controllers (207)
- Evaluation of current capacity of motor controllers (208)
- Performance evaluation of motor controllers (210)
- Summary (212)
Chapter 11: Creation of a modulated infrared interference, opponent and wall detector (213)
- Modulated infrared wave detection with a popular module or other reason to take over a pilot (214)
- Panasonic PNA4602M (214)
- Connect Panasonic PNA4602M (215)
- Testing the Panasonic PNA4602M (215)
- Expansion of the detection circuit by LED indicator (217)
- Adding 74AC14 inverter system to the LED control (218)
- Overview of the indicator circuit (218)
- We're finishing the reflected wave detection system (221)
- Overview of the full diagram of the reflective detector (221)
- Construction of the contact plate reflector (222)
- Activation (228)
Chapter 12: Tuning of the Reflection Detector (229)
- Tuning to 38 kHz (229)
- Half range selection between start and end of response to a reflected wave (230)
- Using a multimeter with frequency measurement mode (233)
- Use of an oscilloscope (233)
- Reasons for using an inverter with Schmitt inputs (234)
- Diagnosing problems in tactical circuits (234)
- Limitations of the reflection detector (236)
- No outdoor or bright light operation (236)
- Undetectability of certain types of objects (237)
- Unable to detect distant or very close objects (237)
- No distance measurement possible (240)
- You're ready to build a robot (240)
Chapter 13 Robot Rondo (241)
- Robot Rondo (242)
- A glance at the Rondo robot from the sides (242)
- Roundabout from above and below (243)
- Rondo robot electronic circuits (243)
- Making Rondo Robot Housing (248)
- Problems with the availability of gear motors (248)
- Desired features of the robot (250)
- Robot body design (250)
- Construction of the central platform for the Rondo robot (255)
- Rondo robot engine mechanism (256)
- LEGO gear selection (259)
- Achieving physical limitations of the LEGO moving parts (262)
- Making handles for Rondo motors (262)
- Summary of construction of the Rondo robot (272)
Chapter 14 Rondo test drive (273)
- Preparation for test drive (273)
- Setting all adjustable elements to medium or safe positions (273)
- Testing the modules one by one (274)
- Measurement of resistance of a complete circuit (274)
- Placing the robot on the elevator (276)
- Checking battery voltage and polarity (276)
- Checking the current consumption during the circuit break (277)
- Robot preparation and correction of minor errors (278)
- Tuning the infrared beam detector (278)
- Two-colour LED switchover (278)
- Sensor testing (278)
- Connecting motors (279)
- Rondo performance evaluation (279)
- Problems encountered during the test drive (279)
- Testing all robot maneuvers (282)
- Challenges for the Rondo robot (283)
- I'm stuck. (285)
- A drunkard walk (285)
- Rondo Walk (286)
- Reduction of detection ambiguity (287)
Chapter 15. I wish I had a brain. (293)
- Sample microcontroller Atmel ATtiny84 (293)
- Comparison of microcontroller with logic (294)
- Choice of logic instead of microcontroller (294)
- Selection of microcontroller instead of logic (295)
- Microcontroller programming (296)
- Save programmes (296)
- Determination of programme size (296)
- Writing programmes (297)
- Operation without using .NET (297)
- Compilation and transmission of the program (298)
- Debugging the program (298)
- Overview of common microcontroller functions (302)
- Microcontroller housings (303)
- Microcontroller outputs (303)
- Microcontroller memory (309)
- Microcontroller manual size (311)
- Complexity of microcontroller instructions (311)
- Microcontroller speed (312)
- Special surveillance clocks (315)
- Supervision module for low voltage (315)
- Microcontroller selection (316)
- I miss... (316)
- Recommendation 8-bit microcontrollers Atmel AVR (317)
- Parallax Basic Stamp kit recommendation (317)
- Just ask (318)
- Expansion of the robot (318)
Chapter 16: Construction of the extension card for the Rondo robot (319)
- Transformation into a two-storey configuration (319)
- Connecting to DIP socket (321)
- Motherboard access problems (328)
- Covering of infrared beam detectors (330)
- Capturing signals - meet your new boss (331)
- Preservation of useful functions (331)
- Redirection of infrared detection signals (331)
- Detection and interruption of a stop state (332)
- Redirecting motors and bipolar components (332)
- Providing (almost) complete control (332)
- Extension of functions (333)
- Microcontroller output overview (333)
- Microcontroller power supply (333)
- Wall and obstacle detection (334)
- Control of motors and two-colour diodes (334)
- Two-colour LED control (334)
- Button status readout (335)
- Optional provisioning via DIP switches (337)
- Generating music (338)
- Other outputs available for extensions (339)
- Improving the robot (340)
Chapter 17 Add a floor sensor module (341)
- Brightness detection with photoresistor (341)
- Conversion of variable resistance to variable voltage using a voltage divider (342)
- The photoresistor response is non-linear (345)
- Determination of the scatter between photoresistors (347)
- Rate of increase and decrease in resistance (348)
- Re-use of balanced brightness reading circuit (348)
- Brightness detection with photodiode (348)
- Floor reflectance detection system (349)
- Construction of the floor reflectance detection system (350)
- Following the line (355)
- Autodetection of line brightness (355)
- Reading floor sensor value (356)
- Reversing the sensor value (356)
- Following the dark line (356)
- Dark line centering (357)
- Improving the line follower algorithm (357)
- Sumo Robot Competition (357)
- Adapting the Rondo robot to sumo competitions (358)
- Change of strategy using DIP switches (359)
- Growing opportunities (359)
Chapter 18. We cook robot stew (361)
- Generating music (361)
- Sound circuit (362)
- Sound circuit design (362)
- Sound power adjustment (362)
- Speaker control (363)
- Audio preview (364)
- Record playback (365)
- Music playback (365)
- Scaling up (367)
- Creating a dual platform (367)
- Improved robot movement (367)
- Ensuring the distance between platforms by means of self-made spacer sleeves (368)
- Wheel slots (369)
- Support for both axle ends (369)
- Installation of motors (370)
- Mounting using the bracket (370)
- Saving space by using a perpendicular gearbox (373)
- Small-diameter motor shaft adaptation and integrated handle according to LEGO standards (374)
- Sunshine exploration (378)
- Choice of wheels for smooth running (378)
- Obstacle detection (379)
- Momentary entry into robot boots (382)
- Adding a wireless video camera to the robot (383)
- Room exploration with wireless video (384)
- Looking at yourself in wireless video (384)
- Thank you (384)
An allowance. Internet Sources (385)
Scorch (387) |
