Lab01 Presentation

Robotics Lab 01 Intro Brought to you by your Spring 2019 Robotics Practicum Class: Rishabh Choudhary, Jacob Cook, Cameron Higgins, Laura Stegner, Nick Trevethan

Your Robot: Zumo 32U4 from Pololu

What can it do? -

Proximity Sensor Line Sensor Buttons Buzzer LEDs LCD Accelerometer/compass/gyro Encoders

How do I make it work? -

Runs on an 8-bit microcontroller (MCU) Programmed in C++ using Arduino IDE and Arduino support libraries Arduino requires two functions: -

setup() Runs one time when the Zumo turns on loop() Runs after setup is complete, Loops until board is turned off

But if it’s C, where did main() go? -

Behind the scenes, to ease the programming process for newcomers

What do I put in setup() and loop() ? -

setup() -

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Runs one time when the Zumo turns on

loop() -

Runs after setup is complete Loops until board is turned off

Where do I put my custom functions? -

Arduino vs typical C/C++ application - setup() and loop() called from main() - User functions can be placed ANYWHERE - Before setup - Between setup and loop - After loop

Great, I have code.. Now what? -

Connect your Arduino to your computer via USB cable that is provided with your robot The drivers should automatically install on your computer Go to (Tools->Port) and select the COM port the Zumo is connected to (This solves most issues with uploading)

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Compile your sketch using the compile button

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Upload your program to the board using the upload button

What else should I know before I start?

Reset: - Code runs from top On/Off: - On to power everything - Off+No USB: no power - Off+USB: power everything except motors

Okay, so what are we actually doing? -

Fight club!

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No, not really

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Well, no, not yet…

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But next time?

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Sure, sure...

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But wait, yes really?

Okay, so what are we actually doing? -

Getting started: -

Setup the Arduino IDE to program the Zumo 32U4 Build basic functions to demonstrate maneuverability Explore and implement sensor-actuator use and integration

How can I get started? -

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Download Arduino IDE Install Zumo 32U4 support - Library - Board See pre-lab for detailed installation instructions

What do I need to do? -

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Phase 1: Get to know the arduino environment and the Zumo robot - Test uploading code - Intro to hardware debugging - Run curated example code Phase 2: Become comfortable working with Arduino Classes and functions - Use provided code snippets to solve a given task - Build a function toolbox based on the code you create - Used in the next phase - Used in the next lab Phase 3: Use your tool box to complete 2 open-ended challenges - Implement a complete solution to a simple robotics problem - Use previously developed functions and debugging skills to solve

Robot Shuffleboard Demo

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Detect proximity of surface

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Conditionally move robot closer and closer to a surface

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Stop robot just before reaching the surface

Robot Orienteering Demo ● ● ●

Move robot forward Detect waypoints Change heading based on lab instructions 3

2 1

Start

PUT ORIENTEERING DEMO VIDEO HERE

What if something goes wrong? -

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Time to debug! Start by testing smaller chunks of code - This will ensure individual components are working Confirm that your hardware is functioning as you expect - Use Serial Plotter - Use Serial Monitor - Use Device Manager Be cautious about copy/paste code directly into Arduino IDE. It doesn’t understand things like opening vs closing parenthesis***

I can’t seem to upload code anymore.. -

Try these fixes: - Kill all Arduino tasks AND any Java tasks in the Task Manager - Restart Arduino IDE + Disconnect/reconnect Zumo bot - Open Device Manager in the Control Panel and “Scan for Hardware Changes”

How do I use the serial monitor/plotter? ●

Arduino uses the Serial class to talk to a PC ○ ○

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Opening the Serial Monitor ○ ○ ○

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Magnifying glass in the top right corner of the IDE Tools->Serial Monitor Ctrl+Shift+M

Opening the Serial Plotter ○ ○

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Text is read via the Serial Monitor Comma/Space separated variables are plotted via the Serial Plotter

Tools->Serial Plotter Ctrl+Shift+L

Resolving Issues ○ ○

Make sure the correct COM port is selected Can find your robot’s port under Windows Device Manager -> Ports COM&LPT