1.1
1.2
1.3
1.4
1.5
1.6
TableofContentsIntroduction
IntroductiontopcDuinoRobotassembly
IntroductiontoASUVIPLE
RemotecontrolRobotsbyASUVIPLE
RemotecontrolRobotbyAndroidAPP
Download
1
Introduction
pcDuinoRobotisaprogrammableRobotwhichsupportsASUVIPLEgraphicalprogramming.WeuseASUVIPLEtooltoprogram.Thendrivetherobotforward,backwardorturnitaroundbyremotelycontrollingviaWi-Fi.AnditisalsoeasytoremotelyaccesssystemviaWi-Fihotspot,VNCorsshtool.pcDuinoRobotispoweredbypcDuino3BandrunsUbuntu12.04OS.Therearetwoultrasonicsensorsontherobotwhichareusedtogetrelativedistancefromitselftotheobstacles.Thuswecanusedifferentalgorithmtocontroltherobot,andletitfindoutwayofamaze.
Introduction
2
Hardwarespecifications
pcDuino3BAllwinnerA20Dual-coreARMCortexA71GBRAM8GSDflashOnboardWiFimoduleArduino-comptiableslot
PowershieldfordrivingpcDuino3BandservomotorUltrasonicsensorHC-RS04x2Highqualitycontinuousrotationservomotor(5VDC)x27.4V18650lithiumbattery8.4VbatterychargerAluminiumrobotplatform
Introduction
3
Softwarespecifications
OSonRobotUbuntu12.04
ProgrammingtoolASUVIPLEprogramsupportingWin7orlater
Features
RobotsupportingASUVIPLEgraphicalprogrammingWi-FicontrolMazealgorithmimplementation
Introduction
4
IntroductiontopcDuinoRobotassembly
1.Chassisassembly
SecurethetwoservomotorstothechassiswithscrewsSecurethewheelstotheservomotorswithscrewsSecurethecastertothechassiswithscrews
Note:Thecasterandthetwowheelsshouldbeatthesameheight,andyouneedtoaddshimsifnecessary.
Usethefollowingpicturestocheckwhethertheinstallationiscorrect.
IntroductiontopcDuinoRobotassembly
5
2.Palletassembly
UsethreecopperstudstoattachthepcDuino3BtothepalletTheUltrasonicSensorhasbeeninstalledonthebracket,soyoujustneedtosecurethetwoultrasonicbracketstothepalletStickthelabeltoafreepositionofthepallet
Note:Thetwoultrasonicsensorsshouldbeplacedatthefrontandrightrespectively.
Checkwhethertheinstallationiscorrectaccordingtothefollowingpictures.
IntroductiontopcDuinoRobotassembly
6
IntroductiontopcDuinoRobotassembly
7
3.CompleteRobotassembly
Usetwoscrewstosecurethechassisandthepallettogether.Notethatthecasterpointstothefront.Securethebatterytothecastersidewithacabletieasthefollowingpicture
Securethechargingportofthebatterytothepalletwithacabletieasthefollowingpicture
IntroductiontopcDuinoRobotassembly
8
4.Wiring
ConnectthePowerBaseShieldtothepcDuino3BConnecttheultrasonicsensortothePowerBaseShieldaccordingtothefollowingtables
UltrasonicFront PowerBaseShield
VCC VCC
Trig D13
Echo D3
GND GND
UltrasonicRight PowerBaseShield
VCC VCC
Trig D12
Echo D2
GND GND
ConnecttheservomotorstothePowerBaseShieldaccordingtothefollowingtables
IntroductiontopcDuinoRobotassembly
9
ServoLeft PowerBaseShield
Black GND
Red Servo5V
White D11
ServoRight PowerBaseShield
Black GND
Red Servo5V
White D10
ConnectthebatterypoweroutputtothePowerBaseShieldpowerinput
Usethefollowingpicturestocheckyourwiring.
IntroductiontopcDuinoRobotassembly
10
Whenthewiringiscomplete,launchthepcDuinoRobot,waitfortheindicatorlightoftheWi-Fimodulelightingup.AfterawhiletheRobotwillautomaticallycreateaWi-FiHotspotnamedpcDuino-xxxx.
Ifyouwanttowatchtheassemblyvideo,clickPcDuinoRobotassemblyvideotutorial.
IntroductiontopcDuinoRobotassembly
11
IntroductiontoASUVIPLEASUVIPLEisaVisualIoT/RoboticsProgrammingLanguageEnvironment,whichisusingthesamecalculationmodelasMicrosoftVPL.TheprogramisrunningonaWindowscomputer,adesktop,alaptop,oratablet.Thecomputersendscommandtocontroltherobotactuatorsandreceivesthesensorydataandmotorfeedbackfromtherobot.ThedatabetweenthecomputerandtherobotisencodedinaJSONobjectwhichisinplaintextformat.ItsupportsWi-Fi,BluetoothandUSBconnectionsbetweenthemaincomputerandtherobot.
1.InstallASUVIPLEtool
WeneedaWindowsPCwithawirelessnetworkcard,becausewewantPCandpcDuinoRobottocommunicateviaWi-Fi.ThesystemversionrequiresWin7orlater.
ClickhereanddownloadASUVIPLEtool,UnzipandrunVIPLE.exe.
ASUVIPLEprogrammingLanguageisissimilartoMicrosoftVPL.Asshowninthepicture,theleftsidebarprovidesaseriesofgraphicalprogrammingcomponents:
BasicActivitiescanbeusedforconstructingprograms,includingData,Variables,
IntroductiontoASUVIPLE
12
If/Else,While,Join,andsoon.Servicesprovidesasetofmodulesusedtoconnecttogenericrobots,sensors,andmotorservices.
2.QuickstarttoaccessASUVIPLE
HelloWorldinASUVIPLE
OpentheASUVIPLECreateanewproject.PressCtrl+NorgotothetoolbarandclickFile-->NewDragtheDatamodulefromtheBasicActivitiesontheleftEnter"Helloworld!"intotheDatamoduleDragthePrintLinemodulefromtheServicesontheleftConnectthesetwomodulesRunit.ClicktheRunbuttoninthetoolbarorpressF5
InputandOutputinASUVIPLE
CreateanewprojectDragtheCalculatemodulefromtheBasicActivitiesDragtheSimpleDialogmodulefromtheServicesConnectandconfigurethosemodulesaccordingtothefollowingfigurePressF5torunit
IntroductiontoASUVIPLE
13
ASimpleCounterinASUVIPLE
ConnectandconfigurethemodulesaccordingtothefollowingfigurePressF5toruntheprogram
FormoreASUVIPLEprogramminginformation,pleaserefertoVIPLEProgrammingGuide.
IntroductiontoASUVIPLE
14
RemotecontrolRobotsbyASUVIPLE
1.configurationofpcDuinoRobot
ThesystemwillautomaticallycreateaWi-FiHotspotwhenwelaunchthepcDuinoRobots.Andthebasicinformationisasfollows:
Wi-FiHotspot:pcDuino-xxxxPassword:12345678IPaddress:10.0.0.1CorrespondingVIPLEserviceportnumber:8124
Next,wewillexplainhowVIPLEconnectstopcDuinoRobot.
LaunchthepcDuinoRobot,waitfortheindicatorlightoftheWi-FimodulelightingupUseyourPCtoconnectthisWi-FiHotspot
OpenthenetworkconnectionandsearchfortheWi-FiHotspotstartedwith"pcDuino-"ChooseitandentertheWi-Fipassword,waitfortheconnectiontosucceed
CheckandconfigureRobotmodule.
Configurethebasiccommunicationinformation.
RemotecontrolRobotsbyASUVIPLE
15
Configuretheservos.Thetwoservosarenumberedas0and1respectively.Therangeofspeedisbetween-1.0to1.0.
CheckandconfigureRobotDistanceSensorModuleConfiguretheultrasonicsensor
Thetwoultrasonictransducersarenumberedas0and1respectively
Pleaserefertogithubtogetspecifictestprograms.
2.TestofpcDuinorobot
RemotecontrolRobotsbyASUVIPLE
16
Testofservos
OpentheASUVIPLEOpentheservo-control.xmlprojectMakesureyourPChasalreadyconnectedtotheWi-FicreatedbyRobotClicktheRunbuttoninthetoolbar,andpressthearrowkeystocontrol
TheVIPLEcodeisasfollows:
TestofUltrasonicsensor
Runultrasonic.xmlObservethedatadisplayedinthewindowObservethechangesofdistancebymanuallyaddingobstacles
TheVIPLEcodeisasfollows:
RemotecontrolRobotsbyASUVIPLE
17
ImplementingMazeNavigationAlgorithms
Runmaze-resolve.xmlObservethepcDuinoRobot'smovinginamaze,andmodifythecorrespondingparameters
Note:Thisprojectusestheright-wall-followingalgorithm.
TheVIPLEcodeisasfollows:
RemotecontrolRobotsbyASUVIPLE
18
RemotecontrolRobotsbyASUVIPLE
19
RemotecontrolRobotbyAndroidAPPWehavespecificallydevelopedasimpleAPPtotestthebasicfunctionsoftheRobot.
DownloadandinstallAppLaunchtheRobot.AfterawhiletheRobotwillautomaticallycreateaWi-FiHotspotnamedpcDuino-xxxx.UseyourmobilephonetoconnectthisWi-FiHotspot
ReadtheultrasonicsensordataandcontrolthemovingoftheRobotviatheAPP
RemotecontrolRobotbyAndroidAPP
20
RemotecontrolRobotbyAndroidAPP
21
Download1. ASUVIPLEtool
2. VIPLEreferenceprograms
3. VIPLEprogrammingguidebook
Download
22