BasicX 24

6/3/2015
BasicX24
DC Motor Controllers
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Up to 2x150A. Advanced features USB, Serial, Analog or RC Interface
Thissitewaslastupdated:
January082005
ImodifiedmyRobosapienwiththeBasicX24
MicrocontrollerandandRambboardfrom
Robodysseythatsupportscarryingthechip,and
abletoprogramviadb9cabletoaPC.
CurrentaddonisaSharpSensor,attachedtohis
faceforavoidingwalls,futureplansinclude
Photocell,andalsoMotorControllerforincrease
inlegwalkingandalsoarmsupport,(notchip
related,springeenhancement)
WowWee2006Robot
Lineisout..CLICK
HEREtocheckoutmy
pageaboutit,whichwill
constantlybeupdatedto
showusersthenew
pictures,orvideosthat
mightcomeout!!!Wow
Weehastheirown
SoftwareNOW!!
YaY!!!!
SchematicOverview:basicallythethickblackwireinsideRShas7wiresor
so,youneedtoCUT/STRIP/SOLDERtheBlackandWhiteWireasitlooks
ontheDiagram
ClickHeretowatch
MarkTilden,V2,
Roboraptoronthe
GadgetShow10mb
4:42Min
Notes:ThisshowstheRobosapieniR(infrared)tappedintousingtheRAMBboardandtheBasicX
24Microcontroller,thechipisontheRambboard,lookaboveforpicturesoftheactualhardware.
Thisiswhatyouget
whenyouget2RSv2s
withfreshbatteries,
Robopet,Roboraptor,
and3V1sallinthe
sameroom,fightingover
whattowatchonthe
TV!!!
AfewnotestomeantionforadvancedusersthisRAMBboardhascutoutsomeofthePins
BX24usesforotherthings,andwerenotadded,sonoonescrewsitup,IwillpostaPIN#
diagramsostuffwillbealoteasier,lookforthatinthecommingdayorJune1314
<==
Besidethisisadiagramofwherethe
DIODEandtheRESISTORgo.inthe
originalHackAToythesecomponents
werenotadded,butasmeantionedin
ThandleysBX24ExperiencesHeusedthis
tonotfrytheICControllers,ifyoudont
haveit,morethenlikelyyourRScan
handleit,asotherRShaveusedthismod
w/outitforhoursuponhoursandno
effecthashappened,butjustasa
precautionIwouldmakesureyouhave
http://www.evosapien.com/robosapienhack/knitsu/html/basicx24.html
EvoSapien
NocturnalRobosapienSite
RoBBoTT'sNeonModssite
Sprocket2Cog's
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that....clicktheImagetoseeadetailed
artitcle+abiggerpicturetowirethat
together
RoboRaptorsite
IlearntthisfromreadingdocumentsonBX24RSrelatedMateiraloffhissite,whichisinmylinksifyou
wanttocheckitout,healsohasalotofotherBX24RSmodshehasdone.butIampastinghis
documentsbelowsincetheyareallfinelytuned:)youcouldsay
AwordofCaution...DONOTtrytodrive5VTTLlevelsfromtheBX24'sOutputstotheControllerBoard's
InputsoryouwillDamagetheControllerIC!ThefollowingschematicisasimpleSCHOTTKYDiodeClamp
whichwill'Clamp'theBX24'sOutputtowithin0.3VofVCC(3.3V):
YoucanusemostanySCHOTTKYDiode(DONOTuseaSiliconDiode!).I'drecommendthe1N5817,
1N5818,or1N5819sincetheyareeasytofind.Thefollowingdescribeshowtoinstallit.Refertothediagrams
below:Lookingatthebackofthecontrollerboardwiththelongestsideontop,notethe10pinconnectorthat
connectstoRoboSapien'sHead.ThethirdpinfromtheleftistheIRinputandthereisablankpadjusttothe
lowerleftofthepinlabeled"IR"or"IROUT".Connectthediode'sAnodetoeitherthepinorthepad.
Now,lookingattheupperleft4pinconnector,whileit'snotlabeled,thethirdpinfromtheleftisVCC.Onmy
boardtheleftpinislabeled"M4+",thenextis"M4",thethirdisnotlabeledandthefourthislabeled"P1.6".
Slidesomeheatshrinkorothertubingoverthediodeandconnectit'sCathodetothispin.
Nextadda2.2KresistorfromtheBX24'sOutputtotheIRinputwherethediode'sAnodeisconnected.You
canuseanywattageresistorlikea1/8Wor1/4WorevenanSMDpackage.
ToisolatetheIRSensor,removethe3rdwirefromtheFemaleconnectorthatconnectstotheIRInputonthe
ControllerBoard.Inmycase,it'saWhitewire.ConnectthiswiretothepinyouareusingontheBX24.The
reasonforthisisthatpinisusedfortheInputCapture()procedure.
Inmyinterface,IusedMaleandFemale'breakaway'headersbasedon0.1"centersandribboncable.These
arerealcommonandeasytoobtain.Iuseda2pinMaleheaderconnectedtotheresistoraboveandGNDon
theControllerBoardheader.Next,IusedasinglewiresolderedtotheIRSensorwirewithHeatShrinktubing,
connectedtoasingleFemaleheader.Thatallowsmetoeitherconnectthetwofornormaloperationorisolate
themforconnectingtotheBX24.Thandley
BUILDINGAPROGRAMTOGOWITHROBOSAPIEN......IR
CODES/HEXCODESANDBINARYANDCODEFORBASICX
PROGRAMMING,HOWITACTUALLYWORKS...
Butwhynottakea'Chance'andgettoknowwhatBinaryreallyis,wellnotreally,butanunderstandingofit...
got01minute??)
ThisisalistofIRCommandsreferencedtotheRoboSapienmanual.Values
areinHexand(Decimal)format.Foracompletelistofstandardandsecret
commandsaswellasdetailedIRtiminginformation,checkthissite:
http://www.aibohack.com/robosap/ir_codes.htm
IhavemodifiedthislisttodisplaytheBinaryValueofeachcommandforpeoplewhouseRobodyssy,ormy
Program,aswellasgiveyouanunderstandingofwhatisactuallygoingon
RedCommands:
=============
(PageP.7)
81(129)RightArmUp10000001
84(132)RightArmDown10000100
85(133)RightArmIn10000101
82(130)RightArmOut10000010
83(131)TiltBodyRight10000011
89(137)LeftArmUp10001001
8C(140)LeftArmdown10001100
8D(141)LeftArmIn10001101
8A(138)LeftArmOut10001010
8B(139)TiltBodyLeft10001011
(PageP.8)
80(128)TurnRight10000000
88(136)TurnLeft10001000
86(134)WalkForward10000110
87(135)WalkBackward10000111
8E(142)Stop10001110
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92(146)RightSensorProgram10010010
94(148)SonicSensorProgram10010100
93(147)LeftSensorProgram10010011
90(144)MasterCommandProgram10010000
91(145)ProgramPlay10010001
GreenCommands:
===============
(PageP.9)
A1(161)RightHandThump10100001
A4(164)RightHandPickup10100100
A5(165)LeanBackward'10100101
A2(162)RightHandThrow10100010
A3(163)Sleep10100011
A9(169)LeftHandThump10100001
AC(172)LeftHandPickup10101100
AD(173)LeanForward10101101
AA(170)LeftHandThrow10101010
AB(171)Listen10101011
A0(160)RightTurnStep10100000
A8(168)LeftTurnStep10101000
A6(166)ForwardStep10100110
A7(167)BackwardStep10100111
AE(174)RESET10101110
B2(178)RightSensorProgramExecute10110010
B4(180)SonicSensorProgramExecute10110100
B3(179)LeftSensorProgramExecute10110011
B0(176)MasterCommandProgramExecute10110000
B1(177)WakeUp10110001
OrangeCommands:
================
(PageP.11)
C1(193)RightHandSweep11000001
C4(196)High511000100
C5(197)RightHandStrike111000101
C2(194)Burp11000010
C9(201)LeftHandSweep11001001
CC(204)TalkBack11001100
CD(205)LeftHandStrike111001101
CA(202)Whistle11001010
CB(203)LeftHandStrike211001011
(PageP.12)
C8(200)LeftHandStrike311001000
C6(198)Bulldozer11000110
C7(199)Opps!11000111
CE(206)Roar11001110
D2(210)Demo111010010
D4(212)Dance11010100
D3(211)Demo211010011
D0(208)AllDemo11010000
D1(209)PowerOff11010001
NOTES:
add$08togofromrightsidecommandstoleftsidecommands.
add$20tocommandbytesfortheGREENshift(ie.$Axand$Bxrange)
add$40tocommandbytesfortheORANGEshift(ie.$Cxand$Dxrange)
=============================
Example#1
SubRoar()'Roar'11001110(name,command,binary)
CE(206)Roar11001110(hex,decimal,Command,binary)
SubLHandSk1()'LeftHandStrike1'11001101(name,command,binary)
CD(205)LeftHandStrike111001101(hex,decimal,Command,binary)
=============================
Example#2
TutorialonBinary:thoughtitmightbegoodsurehelpedme)
Humanshavetenfingers,andsoit'snotsosurprisingthatmanyculturesthroughouthistoryhaveused
base10.Digitalcomputersusebase2orbinarynumberrepresentation,eachdigitofwhichisknownas
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BasicX24
abit(binarydigit).Here,eachbitisrepresentedasavoltagethatiseither"high"or"low,"thereby
representing"1"or"0",respectively.Torepresentsignedvalues,wetackonaspecialbitthesignbit
toexpressthesign.Thebinaryadditionandmultiplicationtablesare
0+0=0
1+1=10
0+1=1
1+0=1
0+0=0
0+1=0
1+1=1
1+0=0
(1)
Acarrymeansthatacomputationperformedatagivenpositionaffectsotherpositionsaswell.Here,
1+1=10isanexampleofacomputationthatinvolvesacarry.Notethatifcarriesareignored,
subtractionoftwosingledigitbinarynumbersyieldsthesamebitasaddition.Computersusehighand
lowvoltagevaluestoexpressabit,andanarrayofsuchvoltagesexpressnumbersakintopositional
notation.Logiccircuitsperformarithmeticoperations.
oksoweregoingtofindoutwhereeachbinarybitisplacedontheBX24basicXcoding....
AC(172)LeftHandPickup10101100(hex,decimal,Command,binary)
itisreallysimpletosortout1beinghighbit,and0beingthelowbit
thecodingissimpleontheBXasasimple1isrepresentbya"HighBit"name....
CallPulseout(Sapien,HighBit,1)'Thisequals1Binary
CallPulseout(Sapien,Clockbit,0)
The0isrepresentedby
CallPulseout(Sapien,LowBit,1)'ThisEquals0Binary
============================================
REFERTOTHISEXAMPLETOSEEHOWEACHBINARYBITISPLACED
SubLHandPick()'LeftHandPickUp'10101100wouldbedisplayedsomethinglikethisonthechip
CallPulseout(Sapien,startbit,0)'bittostartsendingcommands
CallPulseout(Sapien,HighBit,1)'7bit1
CallPulseout(Sapien,LowBit,1)'6bit0
=======================
DefinitionoftheseValues.....andhowtheyadduptoonefullcommand(walkforward)
Thiscodelistedbelowisinsertedatthebeginningofyourprojectsoeachbitofbinarycanbeproperly
convertedandusedtomoveyourRobosapienrobot.
PublicConstStartBitassingle=0.006664'Timeittakesforthestartbittostartacommand
PublicConstLowBitassingle=0.000833'Timeittakesforthelowbit=0
PublicConstHighBitassingle=0.003332'Timeittakesforthehighbit=1
PublicConstClockBitassingle=0.000833'Clockbittime'second#inthe1binarybitcode=0
youplaceastartbitatthebegginingofeachcommandyouaregoingtocreate..soyouwoulddothisby
CallPulseout(Sapien,startbit,0)'bittostartsendingcommands
nowwehavetocalltheHIGH/LOWandClockBitforeachbitofBinarywehavetodealwith.Wehave
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8peicesofBinary,whichmeansthatwewillbasicallyhave8questions,withana)anb)valuemaking
thefinalvalueforthatbitofBinary....
Thisisaveryeasythingtodo,aswecansortout1or0foreach8oftheBinaryvaluesbyseingifithas
aHighBitoraLowBitValueinit....
CallPulseout(Sapien,HighBit,1)=1binarybit
CallPulseout(Sapien,LowBit,1)=0binarybit
followedbythenextcommandwhichgivesa0binarybittotheClockBitValue...
Fullcodewouldlooklikethis
CallPulseout(Sapien,HighBit,1)'7bit
andoncecalculatedusingthislittlechartbeloworbinarytutorialabovewewillget1fullbinarybit
Valuetothe8BitValuethatisneededtodoacommandonRobosapien
0+0=0
0+1=1
1+0=1
0+0=0
0+1=0
1+1=1
1+0=0
sothatexampleabove:
WouldbeaBinaryvalueof1
***********TEST*****************
TESTYOURSKILLS
==========
(QUESTIONA)HOWMANY1AREINTHISBINARYDATA?
SubLHandSk1()'LeftHandStrike1
CallPulseout(Sapien,LowBit,1)'5bit
(QUESTIONB)whatistheBinaryvalueofthisCommand
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(QUESTION3)whatistheBINARYREADINGforthisValue?
[b]
**************ANSWERSATBOTTOMOFDOCUMENT*******************
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Up to 2x150A. Advanced features USB, Serial, Analog or RC Interface

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