STINGRAY – WiFi ROBOTDesigner / builder : Alan Stewart

IntroductionExperiences

• Over 25 years of experince at University of Ottawa • 15 years with University of Ottawa Haz- Mat Team• 10 years with Clarence-Rockland Fire Dept.

09:33 AM 2

New Stingray WiFi Robot

• Differential steering using two servo motors, Futaba FP-S148• Powered by 2 NiCad 1700 mA/h batteries and AC adaptor controlled. Dual in lab

battery chargers.• New photo reflector circuit, using Hamamastu photo reflector P5587 with wheel

incremental encoders (64 increments for 360 degrees therefore 5.6 degrees per increments

• Parallax Ping ultrasonic sonar on rotating motor• DIY Sandbox Hydrogen Wi-Fi with built in webserver• Serial 16x2 LCD display• Arduino Mega 2560 microcontroller• Wireless Network connection SSID : Robolab

09:33 AM3

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Inside wheel incremental encoder

NEWArduino Mega 2560Microcontroller ATmega2560Operating Voltage 5VInput Voltage (recommended) 7-12VInput Voltage (limits) 6-20V

Digital I/O Pins 54 (of which 14 provide PWM output)

Analog Input Pins 16DC Current per I/O Pin 40 mADC Current for 3.3V Pin 50 mA

Flash Memory 256 KB of which 8 KB used by bootloader

SRAM 8 KBEEPROM 4 KBClock Speed 16 MHz

09:33 AM 7

Parallax PING Ultrasonic Sensor

• Features:• Provides precise, non-contact distance measurements within a 2 cm to 3 m range• Simple start pulse in (40khz)/echo return variable-width ouput• Burst indicator LED shows measurement in progress• 20 mA power consumption• Narrow acceptance angle• 3-pin header makes it easy to connect using a servo extension cable, no soldering required

• http://www.parallax.com/StoreSearchResults/tabid/768/txtSearch/ping/List/0/SortField/4/ProductID/92/Default.aspx]\

09:33 AM 8

Serial LCD 16X2 Display• Features:• Embedded PIC 16F88 utilizes onboard UART for greater communication

accuracy• Adjustable baud rates of 2400, 4800, 9600 (default), 14400, 19200 and 38400• Operational Backspace

• Greater processing speed at 10MHz• Incoming buffer stores up to 80 characters• Backlight transistor can handle up to 1A• Pulse width modulation of backlight allows direct control of backlight brightness

and current consumption• All surface mount design allows a backpack that is half the size of the original• Faster boot-up time• Boot-up display can be turned on/off via firmware• User definable splash screen

• http://www.robotshop.com/ca/productinfo.aspx?pc=RB-Spa-333&lang=en-US

09:33 AM 9

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8 Pixel Thermal Array Sensor

Voltage - 5v only required Current - 5mA Typ. excluding servo Temperature Range - 4°C - 100°C Accuracy (Full FOV) - +/-2°C +/-2% from 10°C to 100°C, Accuracy (Full FOV) - +/-3°C from 4°C to 10°CField of View - 41° x 6° (8 pixels of approx. 5° x 6°) Outputs - 1 ambient + 8 pixel temperatures Communication - I2C Interface Servo - Controls servo in 32 steps to 180° rotation Small Size - 31mm x 18mm

Detects a candle flame at a range 2 metres (6ft) and is unaffected by ambient light! Detect Human Body heat!Servo control for image construction!

Possible add on sensor

http://www.robotshop.com/devantech-8-pixel-thermal-array-sensor-1.html

Arduino WiFi Hydrogen fromDIY Sandbox

09:33 AM 11

Product Features:802.11b (11mbps) certified (throughput TBD)Existing Arduino Ethernet library compatibilityFlexible communication method with WiFi module between hardware UART and software UART3 pulse width modulated (PWM) LEDs for customizable notifications (can be disabled for low power)MicroSD card holder with selectable chip select (CS) pin

Wireless Features:Support for adhoc and infrastructure networksDHCPDNS lookupSupports up to 16 TCP or UDP connectionsWeb provisioning via either a webserver or WPSWEP 64/128, WPA/WPA2 personal securityFast passphrase key calculation (WPA/WPA2)Stores two connection profiles for easy reconnectionDynamic site scanning of nearby access points, including RSSI information (can be used for coarse grain triangulation)

http://diysandbox.com/our-products/arduino-shields/hydrogen

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Stingray Robot Arduino pinout

09:33 AM 13

Servo Motors Arduino

PWM 7 center servo motorPWM 4 right servo motorPWM 2 left servo motor

Sensor and displayArduino

Digital I/O 22 Sonar inputDigital I/O 26 Left encoder inputDigital I/O 28 Right encoder input

Wi-Fi Hydrogen boardArduino Wi-Fi COMMUNICATION 6 Tx2COMMUNICATION 5 Rx2PWM 10 sd card CSPWM 11 Sd card MOSIPWM 12 Sd card MISOPWM 13 Sd card CLKPWM 3 Led bluePWM 5 Led greenPWM 6 Led redRESET Reset

Servo Motors Arduino

PWM 7 center servo motorPWM 4 right servo motorPWM 2 left servo motor

Sensor and displayArduino

Digital I/O 22 Sonar inputDigital I/O 26 Left encoder inputDigital I/O 28 Right encoder inputSerial TX1 LCD display SDA 20 I2C data busSCL 21 I2C clock bus

Arduino Sketch IDE

• Arduino Sketch software download:

• http://arduino.cc/hu/Main/Software

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