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Robot
Conversion Kit
Abstract
The Robot
Conversion Kit, RCK, is an AVR-powered electronic package that
enables a user to convert a
radio-controlled
(RC) car into an autonomous robot. RCK provides the fundamental
set of sensors, motor
drivers,
and functionality needed by nearly every mobile robot. RCK also
offers a mix of 10 analog and
digital
IO ports that the user can specify for other purposes. Further,
RCK includes software programmed
into the
AVR’s flash memory that demonstrates the principles of modern
robot control theory. RCK
demonstrates
these principles using nine engaging, built-in robot tasks.
RCK supports
experimentation. The user can select any of the built-in tasks
and adjust a key parameter of
each one
that affect the robot’s behavior. This is done via controls
on the RCK module. Thus, for
example,
the consequences of changing the gain in a control loop are
immediately apparent. Four LEDs
and a piezoelectric
beeper report the state of selected sensors and the robot status.
By connecting
RCK to a host computer the user gains even greater control.
A Windows-based user
interface
gives real-time access to all robot sensors, all behavior-affecting
parameters, and to the AVR’s
ports and
control registers. Connection to the host computer is made through
the AVR’s UART. A simple
but effective
serial protocol supports host/RCK communication.
With the
host computer interface users can also configure the software
building blocks built into RCK to
create new
and unique robot tasks. Such a task can be stored in the AVR’s
EEPROM memory and can run
automatically
at power up. RCK also provides a programming header that allows
advanced users to
program
the AVR’s flash memory directly in C or another language.
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