ASURO ROBOT PDF

Here you can find the detailed ARX ASURO Documentation and Datasheets of the parts used on ARX ASURO. You will need the Acrobat Reader to view these. The ATmega8 that comes with the Asuro robot uses an undocumented protocol to upload programs and is locked so you can’t change it, meaning you couldn’t. Learn more about Asuro Robot. We enable science by offering product choice, services, process excellence and our people make it happen.

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Introduction The Asuro robot is a small in C programmable robot. The robot comes as a kit and has the following features: A comprehensive manual is supplied to assemble the Asuro robot.

AREXX ENGINEERING

But take a look at “My modifications to roobot Asuro robot” before assembling the Asuro robot. Development environment The Asuro robot comes with software for writing the programs for the Asuro robot and for flashing the AVR microcontroller on the Asuro.

Robbot software is a little bit old For myself I installed a development environment on a Linux system.

I use Genie for robog the programs. These are being compiled with the gcc compiler that is supplemented with avr-gcc. For the flashing I use the Windows version of the flash program via Wine. This because the supplied Linux version is no longer usable on a asuo Linux system due to its age. Click here for a manual to install a development environment for the Asuro robot on a Linux system.

My modifications to the Asuro robot 1 After assembling the Asuro robot I have tested the sensors. I wrote a small program that continues sends the data from the odometer sensors and the line follow sensor via the infrared transceiver to the PC. The gear with the odometer reflection sticker has a lot of play about 3 mm.

Gear on minimum distance 0 mm: Motor left, white surface: I moved the four axles of the Asuro robot 3 mm to the outside to make space for a locking system on the axles that have the gear with the odometer reflection sticker. On the axles with the wheels I installed small spacers to correctly align the gear and wheel. The locking system is made from a screw terminal.

The result of this modification is a stable measurement from the odometer sensors that are comparable with the measurements with 0 mm distance. My modifications to the Asuro robot 2 Line follow sensor: The surrounding light has influence on the line follow censor. The line follow sensor is a light source that shines its light downwards and two light dependent sensors that receive the reflected light from the surface. I did two measurements, one normal and one when the Asuro robot was covered with two hands.

Sensor left, white surface: But I also want to recognise a crossroad. The crossroads have a grey colour. I want to link a certain grey to an absolute value of the light dependent sensors. I built a small shroud around the line follow sensor. De distance between the shroud and the surface is minimal about 0,5 mm and that’s why the surrounding light has no more influence.

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My first program for the Asuro robot This is a video of my first program for the Asuro robot. The program uses the line follow sensor to stay on the black line. My modifications to the Asuro robot 3 After experimenting with the Asuro robot for a while there fobot a problem. Strange things happened during the execution of a program, and also the program stopped for an unexplained reason.

I wrote a program that controls the motors and LEDs with the switches. I started testing the Asuro robot and the problem happened when the left motor was turning, aauro not always.

After I had removed the motor from the circuit board the problem was gone. My conclusion is that the metal cover of the motor caused a short-circuit on the circuit board. I placed a piece of isolation tape on the circuit board and the problem is solved. An extra advantage is that the isolation tape is much less slippery and the motor stays on its place much better. I also applied this to the right motor. I also made a cover for the odometry sensors. When there is strong sun-light the odometry sensors are nor working correctly.

This effects the Asuro robot when driving in a straight line or turning. The cover is made of cardboard. My modifications to the Asuro robot 4 Not every Asuro robot is exactly the same.

This has an effect on the measuring values of the sensors. There are possibilities in the software asuro. I made the following corrections. I asuri a graph of these values and this helps to determine the best switch values. My values are I wrote a small program that makes the Asuro robot drive forwards for mm. In reality this was not mm. A small correction in the function Go solved this problem: Turn After that I wrote a small program that turns the Asuro robot degrees. A small correction in the function Turn now takes care of a correct turn: PollSwitch I also wrote asuuro small program that sends the value of the switches on the Asuro robot to the PC.

I have changed the standard value of 61 to LineData After that I wrote a small program that sends the value of the line follow sensor on the Asuro robot to the PC. Robor small correction in the function LineData has solved this problem: The program uses the line following sensor to stay on the black line and switches to detect a collision.

My modifications to the Asuro robot 5 If you write a program for the Asuro robot you make use of the Asuro library, in my case I use the Asuro library v2. This library has functions for reading the odometer and line following sensors, you can make turns or ride for a certain distance and much more. I discovered that the reading of the odometer sensors was disrupted by other functions. If you are getting information from other sensors, the reading of the odometer sensor is halted.

This means that the aeuro system is not very reliable when following a line. I decided to make a personal Asuro library based on the Asuro library v2. The major differences are: Odometer sensors and line following sensors are now read continuously and the values of the sensors are continuously available as global variables. The odometer counters are also continuously updated and are also available as global variables. Every 1 ms one of the asjro sensors is read, so after every 4 ms all the sensor values are refreshed.

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The motors are now controlled by only variable per motor. A dedicated interrupt routine for detection of the switches and improved routines for turning and driving with the odometer sensors. My modifications to the Asuro robot 6 The electronics of the Asuro robot are powered by a battery.

You can use four normal or four axuro batteries. The problem is that the battery voltage is not always the same, new or fully charged batteries have a higher voltage than batteries that have been used for a while. The odometer sensors are less reliable when the voltage is low. If you use asyro line following sensor to detect colours they also are less reliable if the voltage is not stable. And the driving speed is also dependent of the battery voltage.

A solution is to use a voltage regulator. But a standard linear asurro regulator uses about 2 Volts to do its job. This means you need more batteries to compensate for the extra 2 Volts, and the efficiency of these voltage regulators is not great.

A better solution is to use a switching voltage regulator. But there is a small problem, when the input voltage is between 2.

The solution is to make a robpt circuit that enables the switching voltage regulator only if the input voltage is higher than 4. With this system the voltage for the Asuro electronics is now always 5. The extra switch is necessary because the switching voltage regulator is always working, and will drain the battery. My rechargeable AAA batteries have a capacity of mAh.

I wanted a little bit more than that and decided to upgrade the battery system. Then I took a small connector 3 pins from an old PC and connected that to the original battery pack.

Asuro Robot

The connector on the Asuro robot has an extra pin that prevents that the connector from the battery-pack is connected in the wrong way. I also made a second battery-pack with four rechargeable AA batteries that have a capacity of mAh. In the future I will make another battery-pack with capacity of mAh. The advantage is that I now can use one battery-pack on the Asuro robot and charge the other battery-pack.

And swapping the battery-packs is very easy. The Asuro Robot and a maze This time the Asuro robot drives through a maze. The Asuro robot learns the maze and can drive the shortest route. If there is an obstacle, the Asuro robot drives an alternative route.