Hello Robbo!

A .Net Micro Framework Tank Bot

This project aims to build an automated tank bot using the .Net Micro Framework.

Parts

Electronics

• FEZ Panda II Datasheet
• Motor Driver 1A Dual TB6612FNG (ROB-09457) Datasheet
• Triple Axis Accelerometer Breakout - ADXL345 (SEN-09836) Datasheet
• Ultrasonic Range Finder - MaxBotix LV-EZ0 (SEN-08502) Datasheet
• 4xAAA Battery Holder
• 1x9V Battery Holder

Moving Stuff

• Tamiya Plate Set 70157
• Tamiya Track and Wheel Set 70100
• Tamiya Dual Gearbox 70168
• Low Current Replacement Motors - Solarbotics RM3

Hooking Things Up

The Fritzing diagram is included in the Fritzing directory (both as a Fritzing file and PNG).

• 4xAAA -> Motor Driver
  • Red -> VM
  • Black -> GND
• 9V -> FEZ Panda
  • Red -> Vin
  • Black -> GND
• Accelerometer -> FEZ Panda
  • SCL -> D3 (SCL)
  • SDA -> D2 (SDA)
  • SDO -> GND
  • CS -> 3.3V
  • VCC -> 3.3V
  • GND -> GND
• Motor Driver -> FEZ Panda
  • PWMA -> D10 (PWM6)
  • AIN0 -> D9
  • AIN1 -> D8
  • STBY -> D7
  • PWMB -> D6 (PWM1)
  • BIN0 -> D5
  • BIN1 -> D4
  • VCC -> 5V
  • AOUT0/1 -> Left Motor
  • BOUT0/1 -> Right Motor
• Distance Sensor -> FEZ Panda
  • GND -> GND
  • +5 -> 5V
  • RX -> D11
  • AN -> A0

Finally - The Code!

Devices

• Motor Driver - represented by MotorDriver class which allows for moving forward and reverse along with turning left and right.
• Motor - represented by Motor class which uses PWM and digital ports to provide basic forward, reverse and stop methods.
• Ultrasonic Distance Sensor - represented by UltrasonicDistanceSensor class which uses analog input and control port to provide distances in cm.
• Accelerometer - represented by Accelerometer class which uses I2C to communicated with sensor and calculate gravitational force in 3 axes.
• Piezo - represented by Piezo class which uses PWM to play tones.
• Bumper - represented by Bumper class which uses interrupts to raise an event when the switch is pressed and circuit is closed.

Bots

This project has several bot implementations. These bots are either simple test bots to test certain components or autonomous bots.

• Test Bots
  • AccelerometerTestBot - Prints acceleration from accelerometer to debug output.
  • BumperTestBot - Listens for Bumped event and prints to the debug output.
  • MotorDriverTestBot - Outputs different speeds and signals to control the channels on the motor driver.
  • MotorTestBot - Drives the motors in forward and reverse patterns.
  • PiezoTestBot - Plays some cute tunes on a Piezo buzzer.
  • UltrasonicDistanceSensorTestBot - Prints distance from the ultrasonic range finder to debug output.
• Autonomous Bots
  • DiscoveryBot - Uses the motor driver and ultrasonic range finder to drive the tank bot around and try not hit things.
  • SafeDiscoveryBot - Uses the motor driver, ultrasonic range finder and accelerometer to drive the tank bot around and try not hit things, but get out of trouble when elevations change.
  • VacuumBot - Uses the motor driver and ultrasonic range finder to drive the tank bot around in circles without running into things.