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HitecRobonova-IMR-C3024 Controller Board
Links: Controller - PC communicationsHitec 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. Links: Reprogramming the MR-C3024The MR-C3024 has quite an illusive boot loader but it has finally been cracked and people have reported successful reprogramming of the flash memory (firmware update). Previously, the only way to do that was to replace and solder a new Atmega128 to the board. 28-Nov-2006! Bootloader sequence finally cracked!! Links: Serial Cable Schematics DiagramIn case you have damaged or lost your serial cable, here is a diagram that will help you recreate the cable and test for faulty connections. See also this forum thread.
Adding a second I2C porti-Bot: I have uploaded the patched C3024 flash code, examples and some description of how to add and use a second I2C port on the C3024. The primary I2C port is used for the external EEPROM, so I coded another in assembler and added to the C3024 code. it is significantly faster ( 40 times) than bit banging from Robobasic. Links: RoboBasic QuirksUnderstanding 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. The latest version of RoboBasic can be found at robobasic.com Links: RoboBasic on VistaAs most other programs interfacing with the serial device, RoboBasic does not natively run on Vista. Thanks to Dimlow The following script (copy to a .BAT file) seems to solve the problem: regsvr32 /u c:\windows\system32\mscomm32.ocx regsvr32 /u c:\windows\system32\COMCT332.ocx regsvr32 /u c:\windows\system32\MSCOMCTL.ocx regsvr32 /u c:\windows\system32\MSCOMCTL.ocx regsvr32 c:\windows\system32\mscomm32.ocx regsvr32 c:\windows\system32\COMCT332.ocx regsvr32 c:\windows\system32\MSCOMCTL.ocx regsvr32 c:\windows\system32\MSCOMCTL.ocx regsvr32 /u c:\windows\system32\COMDLG32.ocx regsvr32 c:\windows\system32\COMDLG32.ocx roboBasic on Windows 7 - 64 bitSame problem as with Vista - Tried this with RoboBasic 2.72 downloadable from MiniROBOT corp website. Got a couple of errors but it worked. Windows 7 64bit regsvr32 /u c:\windows\SysWOW64\mscomm32.ocx regsvr32 /u c:\windows\SysWOW64\COMCT332.ocx regsvr32 /u c:\windows\SysWOW64\MSCOMCTL.ocx regsvr32 /u c:\windows\SysWOW64\MSCOMCTL.ocx regsvr32 c:\windows\SysWOW64\mscomm32.ocx regsvr32 c:\windows\SysWOW64\COMCT332.ocx regsvr32 c:\windows\SysWOW64\MSCOMCTL.ocx regsvr32 c:\windows\SysWOW64\MSCOMCTL.ocx regsvr32 /u c:\windows\SysWOW64\COMDLG32.ocx regsvr32 c:\windows\SysWOW64\COMDLG32.ocx Links: HSR8498HB ServosHMI Protocol & servo configurationThe servos provide a serial communication interface called HMI which allows to set the servo’s P.D. control parameters and read values from the servo such as the Potentiometer’s position. Much of the information was gleaned from experimental results in the forum but now Hitec has formally released information about HMI and also software for modifying parameters. Links 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. Alternatively the servos can be controlled through a serial protocol called HMI instead of the analog PWM. By using HMI it is possible to read also the Current (Amps) consumption. (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.
Links Add-onsCarry Case
Screw TightenersAfter heavy use some screws may naturally loosen up. Some users have come up with ways to help the RN1 stay in shape. hivemind: I found that a small drop of loctite on each screw will fix the problem entirely. Else you can get some lock washers, nuts and use loctite to ensure that you will have no problems Links ModsRunning the MR-C3024 at 3.3V instead of 5VGrippers
Links: Hip Rotation 18DOF hack
Voelker added hip rotation capabilities to his RN1 by adding two HSR5498SG between the hip brackets, drilling four holes and directly fixing the servos onto the bracket. The hack is appearently quite simple and gives the much desired extra 2DOF at the hips of the RN1. Links
\ Making custom partsMaking 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. Links: Making the Robonova Speak
Links:
Pluggable I2C memory personality Modules
Links Attaching a laser pointerElectromagnetic Gun w/ Laser
Links PS2 Wireless Game Controller
Links LCD Display
Links OLED Display
Links Lithium Polymer BatteryThere 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. Detailed intro technical information can be found here Voltage Regulator
Links: Battery ChargerMounting Batteries on robot's FeetOne way of mounting the Li-Poly batteries onto the robot is to place them into specially designed shoes. If you just need extra power for more sensors etc, you could try putting some smaller capacity Li-Poly cells in the heel or toe section. Links: Virtual Robonova-I3D Models
Links: RN1 Simulation
Links: Artificial IntelligenceWhile some users would like to remote control the RN1 interactively, others would like to see their robot behave autonomously. The RN1 can be programmed to react to the environment by reading sensor data and executing motion sequences accordingly. Some users would like to take it a step further and attempt to give the RN1 higher level of intelligence. Links: WirelessMultiplex Bluetooth module for RN1Designed especially for RN1, this module provides easy BlueTooth interfacing. Links: Maxtream Zigbee (XBee Radios)
Links Sparkfun BlueSmirf BlueTooth
(Author: dshinsel 29-May-2006)
This part should look familiar: Main 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 Add this: Bluetooth I/O with PC '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 Links: Sena BlueTooth Promi-ESD01PS1 gamepad bluetooth Sena ESD200 hack
Links: Wii Nunchuck Arduino Bluetooth hack
Links: 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. Links: 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. Links: SensorsHitec 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) Links: Devantech SRF04/5/8/10 Sonar
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. Links: Devantech CMPS03 Compass & SparkFun I2C HMC6352 compass
NovaOne: I am currently experimenting using a CMPS03 Devantech compass on my RN1. -mounted on the head away from the servo motors. Its quite large compared with the sparkfun HMC6352 but they both use I2C, so the code might be useful.. Links: 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: Setup code 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 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. Links: 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. Links: 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. 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. robot_tilt 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 Links: 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. Links: Other camera modulesOther camera modules for the RN1 have been proposed on the forum. Links: Force sensor
Links:
Pressure SensorsThe idea of foot sensors is to try to predict an unwanted fall and execute some preventive motion. NovaOne:After numerous efforts, I seem to be unable to create a repeatable/reliable force transducer based on QTC Film. Force sensing resistors (Interlink FSR402). Browsing around these are apparently quite popular, so i bought some... i’ve seen lots of references to bipeds with FSR’s, so i foolishly assumed they were suitable for accurate measurement of force and after playing with them this afternoon, mounting them so that i get repeatable readings, looks like its is going to be more complicated than just sticking them on the base of the feet.. Links: VRbot Voice Recognition
Common ProblemsDocumentationBuilders logsErrors In the Manual(Author: Gil 1-Jun-2006)
Links: Contributed Scripts
Other Robonova Sites
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