Robot Console with Visual Basic

The VB code still in development.. The MSCOMM is all done but the problem here is how to send string into the XBee modules..

Upgrading from ZNet 2.5 to ZB

These instructions pertain to any part number beginning “XB24‐B…” or “XBP24‐B…”
To upgrade your XBee ZNet 2.5 module to ZB, please do the following:

1. Ensure you have the latest version of X‐CTU installed (www.digi.com/xctu).
2. Ensure you have the latest available versions of ZB firmware by doing the following:
a) Open X‐CTU software to the “Modem Configuration” tab.
b) Click “Download new versions…” button and select ‘Web.’
c) Click “Done” when the action is finished.
3. Open X‐CTU software to the “PC Settings” tab.
4. Select the appropriate COM port and port settings (9600, 8, None, 1 are default), and
choose Flow Control: Hardware.
5. If upgrading firmware on a module running API firmware, place a check in the “Enable
API” checkbox.
6. Go to the “Modem Configuration” tab and select either “XB24‐ZB” or “XBP24‐ZB” from
the “Modem:” pull‐down menu, depending on whether you have an XBee or XBee‐PRO
module, respectively.
7. Select the desired firmware type from the “Function Set” pull‐down menu (Coordinator
API or AT, Router API or AT, or End Device API or AT).
8. Select the desired firmware version from the “Version” pull‐down menu (the version at
the bottom of the list is the latest).
9. Place a check in the “Always update firmware” checkbox.
10. Click the “Write” button.

Currently my XBee version and firmware does not support node discovery function because the XBee provided by Cytron is all 802.15.4 OEM modules not ZB OEM modules.. If my XBee ICs can be upgraded, the XBee will functioning same as wireless WiFi card to detect the wireless node but in different IEE address protocol..It can detect up to 65,000 wireless nodes..

Editting Servo Motor Speed Control

Previously, the motor speed was 200 and changed to 255. The user can select the robot speed on the Visual Basic console.. In this case string "9" and "7" was reserved as a motor speed control.. Basically, when we increase the speed of motor of course it will required a lot of power.. So, it's recommended to use the "Normal Mode" if no speeding required..

Making poster

Poster specification

• Paper Size : A1
• Design must be in jpg format and saved in non-returnable CDROM (with name and Student ID no).
• Must be laminated

Contents of Poster :

1. Abstract (what and why?)

2. Advantages (benefits? novelty? marketability?)

3. Methods (how?)

4. Results (what happen?)

5. Analysis and Conclusion (so?)

6. References

Wireless Camera Concept

This video show the same concept that will be use for this robotic project unless its night vision mode..

IO ActiveX Control

IO ActiveX Control is a software that can send string to microcontroller..Just assign the Communication Port and after that the string can be send..Right now, my laptop does not detect the Com Port for the SKXBEE module..If I selected another Com Port, it still said that this Com Port is in used..

Hardware Completed 90%

This is the hardware produced after completing the UV, etching and soldering procedure.. Actually the first concept is I try to mount the LCD on the board,but it burned due to overheating.. After that,as a safety precaution I used the connector and LCD stand to avoid the LCD from being burn for second time.. The robot is a bit heavy but the servo motor still capable to carry the load.. I need to think the way to put the camera on the robot cause the position of camera will effect the stabilization of mobile base.. The hardware still need to be touch up and covering the robot with something is a good idea I think.. Right now, I need to focusing more on Visual Basic development..

PCB BOARD

ROBOT BASE

COMPLETE ROBOT VIEW

BIRD EYES VIEW

PCB - 3 Dimension Visual

The 3D dimension can be obtained by using Proteus software..Just run the "ARES" application and view the output, after that click on the 3D icon..

PCB Layout using Proteus

This circuit was design on Tuesday..The layout of the PCB designed using Proteus VSM software..The layout is on single layer only..This design contained 13 jumper wires..The board area is limited, so the design is compact..

Visual Basic 6.0 Controlled Robot

Right now, I'm start to learning how to use the VB software because I did not learn it before.. I'm planning to use VB as a Graphic User Interface (GUI) to control the robot..The hardest part is how to link the button into XCTU software..As i mentioned before, there are 4 button to control the direction of the motor which is forward, backward, right and left..I want to build a user interface as shown in the video below..

Coordinating the motor

The robot uses the concept of two separate moving wheels. The table below shows the combination of the wheels to move the robot in the desired direction.

Motor Control Program

void forward ()
{
motor_ra = 0;
motor_rb = 1;
motor_la = 0;
motor_lb = 1;
}

void backward ()
{
motor_ra = 1;
motor_rb = 0;
motor_la = 1;
motor_lb = 0;
}

void left()
{
motor_la = 1;
motor_lb = 0;
motor_ra = 0;
motor_rb = 1;
}
void right()
{
motor_la = 0;
motor_lb = 1;
motor_ra = 1;
motor_rb = 0;
}

void stop()
{
motor_la = 1;
motor_lb = 1;
motor_ra = 1;
motor_rb = 1;
}

Final Report Writing

The final report need to be submitted by week 14 and the draft must be submit on week 8..It is a continuation of report draft form previous semester. This semester, I need to complete the Chapter 3- Materials and method, Chapter 4- Results and discussion and Chapter 5-conclusion..The report is still in progress and the project must be done 100% before completing final report.

Problem with hardware

The servo motor did not functioning according to plan..After troubleshooting,the output voltage coming out from L 298N is only 2V at connector M1 and there is no voltage at M2..I expect the diodes or the motor driver is broken..The expected component must be change to check where is the problem come from..