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HitecRobonova-I
1. MR-C3024 Controller Board
The Robonova-I MR-C3024 controller board was developed by Korean company MiniRobot. It may be that they wrote the RoboBasic software aswell. There's evidence of two different versions of MR-C3024 shipped with RN1.
1.1 Controller - PC communications
Hitec haven't yet formally pulished the MR-C3024 to PC protocol. There are ongoing attempts by the Robonova community at analyzing the protocol.
(Bullit 5-Jun-2006): It appears that the robobasic interface operates at 9600 and 115k baud. 9600 for basic control functions and reading servo positions. 115k for programming. It appears that allc ommands are packetized (framed STX, ETX) every packet is acknowledged from the MR-C3024.
USB->serial convertors: if you see errors during communications, it can be a problem with the USB->serial convertor that you are using. see this thread.
1.2 Reprogramming the MR-C3024
The MR-C3024 has quite an illusive boot loader and so far we have not been able to figure out how to reprogram the flash memory (firmware update). The only results so far were acheived by soldering a new Atmega128 to the board.
28-Nov-2006! Bootloader sequence finally cracked!!
1.3 RoboBasic Quirks
Understanding the MR-C3024 architecture can help create better RoboBasic code. The RoboBasic is compiled into pseudocode that is coppied to the EEPROM and read one instruction at a time. Avarage execution time of a line in RoboBasic is about 1-2ms.
2. HSR8498HB Servos
2.1 Position Feedback
HSR8498HB Servos are capable of sending current Pot's position to the controller. This is achieved by sending the servo a short pulse and waiting for it to reply with a pulse whose length tells the current position.
(i-Bot 29-Jun-2006): I have only tried it on a Parallax SX28 processor under SX/B using pulseout and pulsein instructions, and it works fine. The servos look like about 30K ohms to ground, so you need to be a check if your pullups are small enough to meet the processor VinHigh. The Atmega specifies 20 to 50K for the pullup, so in theory, the required 3V high will not be acheived at a 5V processor supply. But it seems to work OK.
3. Add-ons
3.1 Carry Case
To prevent your RN1 from being damaged during travel, a professional container is essential. Try one of the following suppliers:
4. Mods
4.1 Running the MR-C3024 at 3.3V instead of 5V
4.2 Grippers
bauermech has designed an amazing set of grippers for RN1 that extend its functionality in many ways. The grippers give the robot an extra 2 DOF. When the they are not open, they resemble in shape the original hands of the RN1 which means they do not impair standard movements and any pre-grippers motions will still work. They allow the robot to swing from a rope and pick up stuff.
They can be purchased directly from the bauermech.
4.3 Making custom parts
Making your own custom brackets may be the only way to acheive your creative aspirations. In order to do this you will need to learn about CAD drawing, CNC cutting, aluminum grades and anodizing. Other techniques involve vacuum forming or carbon-fiber layering.
5. Lithium Polymer Battery
There are many advantages in changing the Nickel Metal battery of the RN1 with a Lithium Polymer. These batteries are not plug-n-play and can easily explode or catch fire. Please read up plenty before playing around with them.
5.1 Voltage Regulator
Zembot: The Novak 5460 6v regulator sells for 20 bucks (retail) . The output is rated for 6v@3 amp with 8.4v input. Not sure if it’d be enough to run chainsaws or saw blades, but it’s been working great in my RN-1 with two gyros. Everything runs as cool as a cucumber. One definite plus is the decrease in weight from LiPos vrs. the stock NiMH pack. More nimble for the chop-socky moves. Fortunately I have a later model RN where the head will flash on low voltage. I set it to flash at 5.8 volts.
5.2 Low Voltage Cutoff
Once a LiPo battery is in use, it must not reach below a certain voltage because it can become damaged. Further attempts to charge the damaged battery may result in explosion and fire.
5.3 Battery Charger
5.4 Mounting Batteries on robot's Feet
One way of mounting the Li-Poly batteries onto the robot is to place them into specially designed shoes.
6. Virtual Robonova-I
6.1 3D Models
The 3D model of RN1 is useful to create animated scenes using 3D-modeling software, it can help in designing new structural add-ons and it can be used to simulate the robot.
7. Wireless
7.1 Multiplex Bluetooth module for RN1
Designed especially for RN1, this module provides easy BlueTooth interfacing.
7.2 Sparkfun BlueSmirf BlueTooth
(Author: dshinsel 29-May-2006)
- You do NOT need a MAX232. The out puts of the controller are 5v, and the BlueSmirf is also TTL (5v).
- Make sure you power the BlueSmirf off of 5v, not the Servo power. The pins at the top of the controller (including the ETX, EAX and all the A/D pins) have 5v.
- Connect as follows:
' Bluetooth (BlueSmirf) Setup:
' BS_TX <--> ETX
' BS_RX <--> ERX
- If you get the a "Smirf Extended" version (with RTS/CTS control), short the RTS/CTS together. I just put a jumper between the pins.
- Bluetooth can be weird on some computers. My laptop reports COM18 Input Port, and COM19 Output Port. The IN/OUT threw me at first. It really means who established the communication, the PC or remote module. In the case of BlueSmirf, it seems to always use the IN Port. If you only get one COM port, don't worry about it.
- Here's some code I wrote to test this out. Use Hyperterm to test. I set everything at 9600 baud for testing.
This part should look familiar:
DIM TxOut AS BYTE ' RS-232 output on ETX
DIM RxIn AS BYTE 'RS-232 input on ERX
MAIN:
'GOSUB robot_voltage
'GOSUB robot_tilt
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Add this:
' Bluetooth I/O with PC
TxOut = "T"
ETX 9600, TxOut
TxOut = "e"
ETX 9600, TxOut
TxOut = "s"
ETX 9600, TxOut
TxOut = "t"
ETX 9600, TxOut
TxOut = " "
ETX 9600, TxOut
FOR RxCount = 0 TO 4
TxOut = 48 + RxCount 'ASCII 0=48, A=65, a=97
ETX 9600, TxOut
NEXT
TxOut = "["
ETX 9600, TxOut
FOR RxCount = 0 TO 15
ERX 9600, RxIn, NoRetry
ETX 9600, RxIn
NoRetry:
NEXT
TxOut = "]"
ETX 9600, TxOut
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7.3 Sena BlueTooth Promi-ESD01
(Author: rusandroid 25-Sep-2006)
Successfully for remote serial communications.
7.4 RC Control
(Author: mochung 4-Apr-2006, Ray 26-Sep-2006)
Setting up a RC control with Robonova rather than or in addition to PC linkup or IR control.
7.5 Pocket PC / Windows CE remote control
(Author: Pev 2-Aug-2006) PC 2003 bluetooth controller for the RN-1. Although basic the controller mimics all the functions of the IR remote.
8. Sensors
8.1 Hitec MaxSonar EZ1
Hitec provides a sonar sensor complete with a chest replacement into which the sensor is embedded. Detect objects 0-in. to 254-in. (6.45-meters) and runs at 42khz (may be heard by some animals)
8.2 Devantech SRF04/5/8/10 Sonar
Ever since Deventech lauched its popular SRF4 ultrasonic range finder, roboteers didn't have to hack Polaroid cameras any more.
Successful connection of SRF4 to a RN1 was done by connecting it to port 5 and invoking RoboBasic's function SONAR(5). Results vary..
Also SRF10 was connected successfully to RN1 through the I2C port.
8.3 GWS PG-03 Gyro
(Author: Pev 1-May-2006)
Setup: 1 gyro controlling both leg groups. The gyro is set up on gyro port 1 which is AD ports 0 and 4. The setup code is as follows:
GYROSET G6A,0,1,1,0,0,0
GYROSET G6D,0,1,1,0,0,0
GYRODIR G6A,0,1,1,0,0,0
GYRODIR G6D,0,1,1,0,0,0
GYROSENSE G6A,0,200,200,00,0,0
GYROSENSE G6D,0,200,200,00,0,0
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The GYROSET command tells the system what group is being controlled and the 1's in the comma separated string say which servos to effect by which gyro. As I only have 1 gyro on port 1 the value is always 1 to turn the gyro on for a given servo. So you can see from my setup I am controlling the upper ankle and knee servos for both the A group and D group (the two legs)
The gyro direction sets which way a servo will move in reaction to the gyro sensing movement.
Finally the GYROSENSE command sets the amount of movement per servo. Any value from 0 to 255 can be used - mine are set to 200. Again this relates to the servo in the group.
(Author: H3dude 22-June-2006)
I compiled all the info and blogged it on my site, with photos and video here
8.4 Futaba G190 Micro Piezo Gyro
(Author: H3dude 4-May-2006)
works or not?
Various tests showed that Vers. 2.5 and earlier of the RN-1 Firmware are not working with the G190.
Nice Gyro, but no use with RN-1.
8.5 SparkFun - Triple Axis Accelerometer
(Author: subpilot 6-Mar-2006)
I just got my accelerometer board working. Now my RoboNova knows when he has taken a fall and gets back up on his own. I used the Sparkfun Triple Axis Accelerometer.
robot_tilt:
A = AD(6)
IF A < &h40 THEN GOTO tilt_back
IF A > &ha0 THEN GOTO tilt_front
RETURN
tilt_back:
A = AD(6)
'IF A < 30 THEN GOTO forward_standup
IF A < &h40 THEN GOTO backward_standup
RETURN
tilt_front:
A = AD(6)
'IF A > 200 THEN GOTO backward_standup
IF A > &ha0 THEN GOTO forward_standup
RETURN
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I'm running it from A2D chans 5 & 6 (just using 2 axis so far).
This accelerometer board runs on 3.3V and is NOT 5V tolerent. You must convert the 3024 over to run on 3.3V or provide an external 3.3V source for this board.
I just uncommented the robot_tilt line in the main loop and modded the subroutine like below. I'm just checking the one axis to see if he is laying on his back or his belly. Very preliminary.
8.6 POB-Eye Camera Module
POB-Eye is a combination of a camera, processor and graphics LCD display. It attaches to RN1 and gives it object recognition ability.
8.7 Other camera modules
Other camera modules for the RN1 have been proposed on the forum.
9. Building
9.1 Documentation
9.2 Builders logs
9.3 Errors In the Manual
(Author: Gil 1-Jun-2006)
- pages 28-29 - the paper manual included in the box shows servo 2 and servo 4 and then servo 11 and 12 but one of these pictures is flipped causing the illusion that servo 4 goes to servo 11 and servo 2 to 12. False. Correct assembly is 4->12 and 2->11
- page 34 (top of page) - the manual states that one bracket type HR1B-002 must be used for each shoulder. False
As can be seen in the photo (and by number of parts remaining) brackets type HR1B-001 must be used
- page 37 - the manual says to "secure the HR1B-007 bracket to the body using ten PH/T 2.6x4mm bolts". False.
To attach the bracket you must PH/M 2.6x4mm
- pages 32,34,36 - the photos on these pages (starting with 32) show that the wires for servos 6,12,4,22 should come out throught the bottom. DO NOT DO THIS! Instead they must exit the frame as shown on page 33 (through the hole in the back) and on page 41 (from behind the controller board). Make certain of this before tightening the screws on the torso (guess how I found this one out.. )
NOTE:All your wire placements must match those on page 41 otherwise stop assembly and retrace your steps
- page 42 - the manual shows the layout of an early version of the MR 3024 controller. The newer version v2.5 2511 (Dec 2006) has made a change to the servo ports Group B(S12-S17) and Group A(S18-S23). Refer to the latest PDF verison of he manual from Hitec for correct port assignments (http://www.hitecrobotics.com/info/downloads.htm). Symptoms of this change are an unusual initial stance after first build and controls in 'Set Zero Point' unresponsive or controlling the wrong servo. All of these symptoms relate to the right hand side of Robonova as these are the ports that have changed. The overall change has reversed all of the servo ports in Group A (18to23 in book becomes 23to18 in PDF) and Group B (12to17 in book becomes 17to12 in PDF).
10. Contributed Scripts
11. Other Robonova Sites
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