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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

LED Test Circuit

LED Test Circuit Parts

(2) LEDs – Red
(2) Resistors,  220 Ω (red-red-brown)
(3) Jumper wires
 

Always disconnect power to your board before building or modifying circuits!  
1. Set the BOE Shield’s Power switch to 0.
2. Disconnect the programming cable and battery pack.

LED Test Circuits

The image below shows the indicator LED circuit schematic on the left, and a wiring diagram example of the circuit built on your BOE Shield’s prototyping area on the right.

  • Build the circuit shown below. If you are new to building circuits, try to follow the wiring diagram exactly.
  • Make sure your LED cathode leads are connected to GND.  Remember, the cathode leads are the shorter pins that are closer to the flat spot on the LED’s plastic case.  Each cathode lead should be plugged into the same 5-socket row as the wires that run to the GND sockets.
  • Make sure that each longer anode lead is connected to the same 5-socket row as a resistor lead.

The next picture will give you an idea of what is going on when you program the Arduino to control the LED circuit.  Imagine that you have a 5 volt (5 V) battery. The Board of Education Shield has a device called a voltage regulator that supplies 5 volts to the sockets labeled 5V.  When you connect the anode end of the LED circuit to 5 V, it’s like connecting it to the positive terminal of a 5 V battery.  When you connect the circuit to GND, it’s like connecting to the negative terminal of the 5 V battery.

On the left side of the picture, one LED lead is connectd to 5 V and the other to GND. So, 5 V of electrical pressure causes electrons to flow through the circuit (electric current), and that current causes the LED to emit light.  The circuit on the right side has both ends of the LED circuit connected to GND.  This makes the voltage the same (0 V) at both ends of the circuit.  No electrical pressure = no current = no light. 

You can connect the LED to a digital I/O pin and program the Arduino to alternate the pin’s output voltage between 5 V and GND.  This will turn the LED light on/off, and that’s what we’ll do next.

Volts is abbreviated V. 
When you apply voltage to a circuit, it’s like applying electrical pressure. By convention, 5 V means “5 V higher than ground.” Ground, often abbreviated GND, is considered 0 V. 

Ground is abbreviated GND.
The term ground originated with electrical systems where this connection is actually a metal rod that has been driven into the ground.  In portable electronic devices, ground is commonly used to refer to connections that go to the battery supply’s negative terminal.

Current refers to the rate at which electrons pass through a circuit. 
You will often see measurements of current expressed in amps, which is abbreviated A.  The currents you will use here are measured in thousandths of an amp, or milliamps.  For example, 10.3 mA passes through the circuit shown above.


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Introducing the Prototyping Area
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How a Sketch Makes the LED Turn On and Off
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