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Robotics with the Board of Education Shield for Arduino

Curriculum

  • 9 Sections
  • 148 Lessons
  • Lifetime
Expand all sectionsCollapse all sections
  • About This Tutorial
    3
    • 2.0
      About the BOE Shield-Bot
    • 2.1
      Audience and Support
    • 2.2
      Author & Contributors
  • Chapter 1. Your Shield-Bot's Brain
    25
    • 3.1
      Chapter 1. Your Shield-Bot’s Brain
    • 3.2
      Hardware and Software Options
    • 3.3
      Shield-Bot Chassis Parts
    • 3.4
      Shield-Bot Hardware
    • 3.5
      Shield-Bot Electronics Parts
    • 3.6
      Activity 1: Download and Install the Software
    • 3.7
      Activity 2: Write a Simple “Hello!” Sketch
    • 3.8
      Codebender Hello Sketch
    • 3.9
      How the Hello Sketch Code Works
    • 3.10
      Modify the Sketch to Repeat
    • 3.11
      Hello Messages on New Lines
    • 3.12
      Open the Arduino Reference
    • 3.13
      Activity 3: Store and Retrieve Values
    • 3.14
      Global vs.Local Variables
    • 3.15
      Activity 4: Solve Math Problems
    • 3.16
      Try Floating Point Math
    • 3.17
      Activity 5: Make Decisions
    • 3.18
      More Decisions with if… else if
    • 3.19
      Activity 6: Count and Control Repetitions
    • 3.20
      How the for Loop Works
    • 3.21
      Adjust Initialization, Condition, and Increment
    • 3.22
      Activity 7: Constants and Comments
    • 3.23
      Chapter 1 Summary
    • 3.24
      Chapter 1 Challenges
    • 3.25
      Chapter 1 Solutions
  • Chapter 2. Shield, Lights, Servo Motors
    23
    • 4.0
      Chapter 2. Shield, Lights, Servo Motors
    • 4.1
      Activity 1: Board of Education Shield Setup
    • 4.2
      Activity 2: Build and Test LED Indicator Lights
    • 4.3
      Introducing the Resistor
    • 4.4
      Introducing the LED
    • 4.5
      Introducing the Prototyping Area
    • 4.6
      LED Test Circuit
    • 4.7
      How a Sketch Makes the LED Turn On and Off
    • 4.8
      Introducing the Timing Diagram
    • 4.9
      Activity 3: LED Servo Signal Monitors
    • 4.10
      How to Use the Arduino Servo Library
    • 4.11
      Activity 4: Connect Servo Motors and Batteries
    • 4.12
      Connect the Servos to the BOE Shield
    • 4.13
      Connect the Battery Pack to the BOE Shield
    • 4.14
      5-cell Pack Setup
    • 4.15
      4-cell Pack + Boe-Boost Setup
    • 4.16
      Activity 5: Centering the Servos
    • 4.17
      Activity 6: Testing the Servos
    • 4.18
      Controlling Servo Speed and Direction
    • 4.19
      How To Control Servo Run Time
    • 4.20
      Chapter 2 Summary
    • 4.21
      Chapter 2 Challenges
    • 4.22
      Chapter 2 Solutions
  • Chapter 3. Assemble and Test your BOE Shield-Bot
    22
    • 5.0
      Chapter 3. Assemble and Test your BOE Shield-Bot
    • 5.1
      Activity 1: Assembling the BOE-Shield-Bot
    • 5.2
      Mount the Topside Hardware
    • 5.3
      Remove the Servo Horns
    • 5.4
      Mount the Servos on the Chassis
    • 5.5
      Mount the Battery Pack
    • 5.6
      Mount the Wheels
    • 5.7
      Attach the BOE Shield to the Chassis
    • 5.8
      Activity 2: Re-test the Servos
    • 5.9
      Testing the Left and Right Wheels
    • 5.10
      Servo Troubleshooting
    • 5.11
      Activity 3: Start-Reset Indicator
    • 5.12
      Build the Piezospeaker Circuit
    • 5.13
      Programming the Start-Reset Indicator
    • 5.14
      Example Sketch: StartResetIndicator
    • 5.15
      Activity 4: Test Speed Control
    • 5.16
      Example Sketch: Test Servo Speed
    • 5.17
      How TestServoSpeed Works
    • 5.18
      Optional: Record Your Own Transfer Curve Data
    • 5.19
      Chapter 3 Summary
    • 5.20
      Chapter 3 Challenges
    • 5.21
      Chapter 3 Solutions
  • Chapter 4. BOE Shield-Bot Navigation
    19
    • 6.0
      Chapter 4. BOE Shield-Bot Navigation
    • 6.1
      Activity 1: Basic BOE Shield-Bot Maneuvers
    • 6.2
      How ForwardThreeSeconds Works
    • 6.3
      Moving Backward, Rotating, and Pivoting
    • 6.4
      Activity 2: Tuning the Basic Maneuvers
    • 6.5
      Tuning the Turns
    • 6.6
      Activity 3: Calculating Distances
    • 6.7
      Activity 4: Ramping Maneuvers
    • 6.8
      Activity 5: Simplify Navigation with Functions
    • 6.9
      Function Call with Parameters
    • 6.10
      Put Maneuvers Into Functions
    • 6.11
      Activity 6: Custom Maneuver Function
    • 6.12
      Activity 7: Maneuver Sequences with Arrays
    • 6.13
      Using Array Elements
    • 6.14
      Navigation with Arrays
    • 6.15
      Character Arrays and switch-case
    • 6.16
      Chapter 4 Summary
    • 6.17
      Chapter 4 Challenges
    • 6.18
      Chapter 4 Solutions
  • Chapter 5. Tactile Navigation with Whiskers
    13
    • 7.0
      Chapter 5. Tactile Navigation with Whiskers
    • 7.1
      Activity 1: Build and Test the Whiskers
    • 7.2
      How Whisker Switches Work
    • 7.3
      Testing the Whiskers
    • 7.4
      How DisplayWhiskerStates Works
    • 7.5
      Activity 2: Field-Test the Whiskers
    • 7.6
      Activity 3: Navigation with Whiskers
    • 7.7
      How RoamingWithWhiskers Works
    • 7.8
      Activity 4: Artificial Intelligence for Escaping Corners
    • 7.9
      How Escaping Corners Works
    • 7.10
      Chapter 5 Summary
    • 7.11
      Chapter 5 Challenges
    • 7.12
      Chapter 5 Solutions
  • Chapter 6. Light-Sensitive Navigation with Phototransistors
    18
    • 8.0
      Chapter 6. Light-Sensitive Navigation with Phototransistors
    • 8.1
      Introducing the Phototransistor
    • 8.2
      Activity 1: Simple Light to Voltage Sensor
    • 8.3
      Example Sketch: PhototransistorVoltage
    • 8.4
      Halt Under the Bright Light
    • 8.5
      How the Phototransistor Circuit Works
    • 8.6
      Ohm’s Law
    • 8.7
      Activity 2: Measure Light Levels Over a Larger Range
    • 8.8
      Building the Photosensitive Eyes
    • 8.9
      Test the Phototransistor Circuit
    • 8.10
      rcTime and Voltage Decay
    • 8.11
      Activity 3: Light Measurements for Roaming
    • 8.12
      Light Measurement Graphic Display
    • 8.13
      Activity 4: Test a Light-Roaming Routine
    • 8.14
      Activity 5: Shield-Bot Navigating by Light
    • 8.15
      Chapter 6 Summary
    • 8.16
      Chapter 6 Challenges
    • 8.17
      Chapter 6 Solutions
  • Chapter 7. Navigating with Infrared Headlights
    14
    • 9.0
      Chapter 7. Navigating with Infrared Headlights
    • 9.1
      Infrared Light Signals
    • 9.2
      Activity 1: Build and Test the Object Detectors
    • 9.3
      Object Detection Test Code
    • 9.4
      Activity 2: Field Testing
    • 9.5
      Sniffing for IR Interference
    • 9.6
      Activty 3: Detection Range Adjustments
    • 9.7
      Activity 4: Object Detection and Avoidance
    • 9.8
      Activity 5: High-performance IR Navigation
    • 9.9
      Activity 6: Drop-off Detector
    • 9.10
      Example Sketch: AvoidTableEdge
    • 9.11
      Chapter 7 Summary
    • 9.12
      Chapter 7 Challenges
    • 9.13
      Chapter 7 Solutions
  • Chapter 8. Robot Control with Distance Detection
    11
    • 10.0
      Chapter 8. Robot Control with Distance Detection
    • 10.1
      Activity 1: Testing the Frequency Sweep
    • 10.2
      Displaying Both Distances
    • 10.3
      Activity 2: BOE Shield-Bot Shadow Vehicle
    • 10.4
      A Look Inside Proportional Control
    • 10.5
      Example Sketch: FollowingShieldBot
    • 10.6
      Follow the Leader
    • 10.7
      Activity 3: What’s Next?
    • 10.8
      Chapter 8 Summary
    • 10.9
      Chapter 8 Challenges
    • 10.10
      Chapter 8 Solutions

How the Phototransistor Circuit Works

A resistor “resists” the flow of current.  Voltage in a circuit with a resistor can be likened to water pressure.  For a given amount of electric current, more voltage (pressure) is lost across a larger resistor than a smaller resistor that has the same amount of current passing through it.  If you instead keep the resistance constant and vary the current, you can measure a larger voltage (pressure drop) across the same resistor with more current, or less voltage with less current.

The micro:bit module’s analog inputs are invisible to the phototransistor circuit.  So, a circuit plugged into the A/D2  socket on the cyber:bot board is monitored by the micro:bit, but the micro:bit has no affect on the circuit.

Take a look at the circuit below.  With 3.3 volts (3.3 V) at the top and GND (0 V) at the bottom of the circuit, 3.3 V of electrical pressure (voltage) makes the supply of electrons in the cyber:bot’s batteries want to flow through it.

The reason the voltage at A/D2 (VAD2)  changes with light is because the phototransistor lets more current pass when more light shines on it, or less current pass with less light.  That current, which is labeled I in this circuit, also has to pass through the resistor.  When more current passes through a resistor, the voltage across it will be higher.  When less current passes, the voltage will be lower. Since one end of the resistor is tied to GND = 0 V, the voltage at the VAD2 end goes up with more current and down with less current.

If you replace the 2 kΩ resistor with a 1 kΩ resistor, VAD2 will see smaller values for the same currents.  It will take twice as much current to get VAD2 to the same voltage level, which means the shadow will have to be twice as dark to reach the 0.1 V level, which is the default voltage in the script halt_under_shadow that makes the cyber:bot stop.

So, a smaller resistor in series with the phototransistor makes the circuit less sensitive to light.  If you instead replace the 2 kΩ resistor with a 10 kΩ resistor, VAD2 will be 5 times larger with the same current, and it’ll only take 1/5th the light to generate 1/5th the current to get VAD2 past the 0.1 V level.  So, a larger resistor makes the circuit more sensitive to light.

Connected in Series  — When two or more elements are connected end-to-end, they are connected in series.  The phototransistor and resistor in this circuit are connected in series.


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