Transcript
RO256PN1 RoboBalluCompass Sensor
Specifications
256PN1-DC1V1
Page 1 of 3
The RoboBallu Compass Sensor has been designed to be used with pre-programmed robots competing in the ‘RoboCup Junior’ * competitions. The sensor uses a digital electronic compass, which provides 8 directional outputs and a microprocessor to set and record the goal attack direction, providing 1 of 8 voltage levels on its output corresponding to the attack direction. Features of the RoboBallu Compass Sensor:
Settable goal attack direction, via an on board push button switch. 8 set output levels, relative to the attack direction. Standard 3 wire interface. Easily modified to work with 2 wire interfaces. Design to operate at 12VDC. Easily modified to accept a wider input voltage range 6 – 12 VDC Designed to interface directly to the A to D input of a microprocessor
Mechanical Specifications
4.
Using a digital multimeter, connect between the -ve (black wire)& output (white wire), with DC Volts range selected. Press the attack direction reset switch. The output voltage should now be equal to the sector # 7 voltage. Now rotate the sensor, the voltage should change as you rotate through each sector. See Table 1. for an indication of output voltage vs direction relative to the attack direction.
5.
The RoboBallu Compass Sensor should now be ready to use. #1
GOAL ATTACK DIRECTION
#4
#6
#5 Figure 1. Relative Sector Positions Relative Sector No.
Output Voltage
1 2 3 4 5 6 Attack Direction Sector 7 8
Goal Attack Direction 23.5
out -ve
43
#3
Sector # 7
Goal Attack Direction Reset Switch
+ve
#2
#8
3.88V 3.54V 2.92V 2.29V 1.85V 1.24V
0.76V 0.30V
Table 1. Output Voltage vs Relative Sector
2 Wire Interface to suit LEGO MINDSTORM etc.
Dimensions = mm ± 0.5mm Weight = 65g
Electronic Specifications
Input Voltage Input Current Output Voltage
: 12VDC : 10mA (max) : see Table 1.
Installation Instructions 1. The sensor board must be mounted in a horizontal plain 2. Mount the board away from metal parts, motors etc., as these may effect the compass readings. 3. Connect the sensor to a 12VDC power supply.
The RoboBallu Compass Sensor can be easily modified to operate as a 2 Wire Interface device, suitable for use with LEGO MINDSTORM and other 2 Wire devices, see page 2 for modification details.
9 Volt & 6 Volt Operation The RoboBallu Compass Sensor can be easily modified to operate from a 9VDC or a 6VDC source, page 3 for modification details. DESIGNED AND MANUFACTURED IN AUSTRALIA
“ RoboBall Compass Sensor” Design & Specifications Copyright © Wiltronics Research Pty Ltd 2002 RoboBall is a Trademark of Wiltronics Research Pty Ltd *ROBOCUP JUNIOR is a Registered name of the
ROBOCUP FEDERATION *LEGO & LEGO MINDSTORM are registered Trade Marks of the LEGO GROUP OF COMPANIES
______________________________________________________________________________________________________ WI L T RON I CS RESEA RCH PT Y L T D PO Box 4043, Alfredton 3350, AUSTRALIA Ph. +61 3 5334 2513 Fax +61 3 5334 1845 http:/ www.wiltronics.com.au
RO256PN1 RoboBalluCompass Sensor
Specifications
256PN1-DC1V1
2 Wire Interface Modification The RoboBallu Compass Sensor can be very easily modified to change it from a standard 3 wire interface to a 2 wire interface suitable for use with LEGO MINDSTORM and other 2 wire interfaced products.
A standard small signal diode(1N4148) needs to be added to the circuit board(PCB) and 2 solder pads on the top of the PCB need to be shorted together with solder, to convert the sensor to a 2 wire sensor. There is a set of holes and pads already on the PCB that the diode can be fitted to, these are located adjacent to the reset switch. Diodes are polarised and must be inserted the correct way around. The solder pads that need to be bridged (shorted) together are square and located on the top of the PCB close to the electronic compass.
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Setup Instructions for 2 wire interface 1. Connect the sensor to your I/O (Input/Output) port, typically “SOCKET 1” on your controller. 2. Turn your controller “ON”. 3. Press “VIEW” button on your controller until indicating arrow points at “SOCKET 1” 4. Now point the sensor in the goal attack direction and press the reset switch. The display should read approximately 70% 5. Now rotate the compass sensor 90 clockwise, the display should read approximately 10% 6. The Advanced RoboBallu Sensor should now be ready to use. See Table 2 for an indication of Output Percentage vs Relative Sector No.
Goal Attack Direction Reset Switch
Solder pads to be shorted Goal Attack Direction
1N4148 Diode to be fitted, Cathode (k) this side
We recommend that the diode be fitted as stand-up components. The cathode (k) is marked with a black ring. k
Relative Sector No.
Approximate % Reading on the Controller
1 2 3 4 5 6 Attack Direction Sector 7 8
10% 20% 30% 40% 50% 60%
Table 2. Output Percentage vs Relative Sector No. 10%
a
The diode should be soldered in to the circuit board with a fine tip soldering iron and resin cored solder. The white output wire can now be disregarded and treated as a no connection (n.c.). The output signal will now be superimposed onto the +ve and –ve input cables.
70% 80%
80%
20%
GOAL ATTACK DIRECTION
30%
70% 40%
60%
50% Fig 2. Relative Sector Positions with Output % “RoboBall Compass Sensor “ Design & Specifications Copyright © Wiltronics Research Pty Ltd 2002 RoboBall is a Trademark of Wiltronics Research Pty Ltd
*LEGO & LEGO MINDSTORM are registered Trade Marks of the LEGO GROUP OF COMPANIES *ROBOCUP JUNIOR is a Registered name of the ROBOCUP FEDERATION
MADE IN AUSTRALIA ______________________________________________________________________________________________________ WI L T RON I CS RESEA RCH PT Y L T D PO Box 4043, Alfredton 3350, AUSTRALIA Ph. +61 3 5334 2513 Fax +61 3 5334 1845 http:/ www.wiltronics.com.au
RO256PN1 RoboBalluCompass Sensor
Specifications
256PN1-DC1V1
Page 3 of 3
Modification for 6V & 9V Supply Operation
Figure 3. Relative Sector Positions
The RoboBallu Compass Sensor can be very easily modified to change it from a standard 12V supply to a 6V or 9V supply.
Relative Sector No.
1 2 3 4 5 6 Attack Direction Sector 7 8
A surface mount resistor needs to be added across 2 solder pads on the top of the PCB. The solder pads are square and located on the top edge of the PCB close to the electronic compass. A 33 ohm resistor is required for 6V operation or a 1K ohm resistor for 9V operation. Surface Mount Resistor to be soldered across these 2 pads
Output Voltage
3.88V 3.54V 2.92V 2.29V 1.85V 1.24V
0.76V 0.30V
Table 3. Output Voltage vs Relative Sector Goal Attack Direction Reset Switch
Installation Instructions 1. The sensor board must be mounted in a horizontal plain
Goal Attack Direction
2. Mount the board away from metal parts, motors etc., as these may effect the compass readings. 3. Connect the sensor to your 6VDC or 9VDC power supply. 4.
Electronic Compass
No other parts or changes are required and the Relative Sector Output Voltages remain the same as for the 12V supply operation, see table 3. Surface Mount Resistor to be soldered here
Using a digital multimeter, connect between the -ve (black wire)& output (white wire), with DC Volts range selected. Press the attack direction reset switch. The output voltage should now be equal to the sector # 7 voltage. Now rotate the sensor, the voltage should change as you rotate through each sector. See Table 3. for an indication of output voltage vs direction relative to the attack direction.
The RoboBallu Compass Sensor should now be ready to use.
#1 “RoboBall Compass Sensor “ Design & Specifications Copyright © Wiltronics Research Pty Ltd 2002 RoboBall is a Trademark of Wiltronics Research Pty Ltd
#2
#8 GOAL ATTACK DIRECTION
#3
Sector # 7 #4
#6
#5
*LEGO & LEGO MINDSTORM are registered Trade Marks of the LEGO GROUP OF COMPANIES *ROBOCUP JUNIOR is a Registered name of the ROBOCUP FEDERATION
DESIGNED AND MANUFACTURED IN AUSTRALIA
______________________________________________________________________________________________________ WI L T RON I CS RESEA RCH PT Y L T D PO Box 4043, Alfredton 3350, AUSTRALIA Ph. +61 3 5334 2513 Fax +61 3 5334 1845 http:/ www.wiltronics.com.au
