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of Table Contents Introduction............................................................................................1 Basic Overview........................................................................................2 User Control Interface................................................................................3 Wheel Sensors.........................................................................................5 Bumper Sensors........................................................................................6 Wheel Motors.........................................................................................9 Packaging............................................................................................12 Program Flow Charts................................................................................14 References............................................................................................17 Disclaimer All information presented in this document has been obtained from both internet sources (as indicated in the Reference Section) and/or via our own experience in reverse engineering the Roomba. This information is factual, to the best of our knowledge. This literature is intended for educational purposes; it is not an instruction manual. This IPRO 316 Subgroup and the Illinois Institute of Technology is not responsible for any action performed on a Roomba by a reader following this document. Any experimentation executed because of this document is done at the reader's own risk. 1 Introduction The participants of IPRO 316: Creating an Interdisciplinary Robotics Initiative strive to bring an awareness of robotics to the student body and administration at the Illinois Institute of Technology (IIT). It is the goal of this IPRO to develop a future undergraduate curriculum at IIT. In an effort to accomplish this goal, students in the past have researched and compared the undergraduate curriculum of the Electrical and Computer Engineering, Computer Science, and Mechanical Engineering Departments to the undergraduate robotics curriculums of other universities. The IPRO 316 Spring 2004 has pushed a stronger presence into administration, through the first stages of implementing a robotics competition sponsored by IIT, attempting to obtain scholarships available to students interested in robotics (funded by robotics corporations), and laying the ground-work for future professional speakers, who are related to the robotics field. In addition to the administrative push, this IPRO is also designed to promote attention and academic stimulation through the presentation of several robotic projects. To accomplish this task, students work on several "hands-on" projects, hoping to stimulate other students with project deliverables. One such project for the IPRO 316 Spring 2004 semester is the creation of a mobile platform using the structure of the Roomba as a base. This IPRO 316 Subgroup's project was designed to be a demonstration of robotic experimentation preformed at IIT, and our product deliverable was devised in order to facilitate the use of a robot as an educative tool and platform for future robotic experimentation. The goal of this subgroup's project was to transform a Roomba into a robotic mobile platform such that it could to be used as a base for robotic experiments and analysis. This document was created in hopes to facilitate the use of the Roomba as a robotic platform for future robotic experiments. Included in this document is an explanation of the robotic components as used by Roomba. Following each explanation of the individual elements is an account of the project methods used to implement similar functionalities via the Javelin Stamp. This document may also serve as an illustration the basic components of a small-sized robot. 2 Basic Overview The Roomba is a robotic vacuum cleaner created by iRobot Corporation. It was originally designed to clean floors; however, it has also become a platform for experimentation with robotics. As the patent for the Roomba covers only the microcontroller, it is within rights to use the structure of the Roomba so long as a different microcontroller is employed. The microcontroller was replaced with the Parallax Javelin Stamp Board. The Javelin Stamp is a single board computer that was designed to function as an easily programmable "brain" for electronic products. The Javelin is programmed using Parallax software and a subset of Sun Microsystems Java Programming Language. Once a code has been downloaded onto the Javelin, it can run the program independently of any computer. The mobile platform is composed of two wheel motors, three push button sensors, five infrared sensors, a user control interface, a power switch, and a 15 V battery.1 These will be explained in greater detail. Figure 1: The Hacked Roomba 1 These are the robotic Roomba components. The vacuum cleaning components will not be explained in this document, as the focus was to create a mobile robotic platform rather than recreating the Roomba itself. 3 The User Control Interface The purpose of the user control interface is to allow the user to chose what size room he/she wants the Roomba to clean: small, medium, or large. Only after one of those buttons has pressed does the Roomba begin to clean. Figure 2: User Control Interface The schematic for this control interface is shown below. The buttons on the user control interface are similar to regular push buttons. Once S, M, or L is pressed, current is allowed to flow through, sending a signal to P7, P8, or P9, respectively. The operating system is designed such that once one of the buttons on the user control interface is pressed, an LED for that corresponding button will light up. In addition, the green or red LED will light up depending upon the battery level. Figure 3: Circuit Schematic for the Entire User Control Interface 4 The Hacked Roomba As we no longer included the vacuum cleaning aspects into our design, we did not feel the need to program all of these buttons. We did, however, use the "S" button to initialize our program. A user must press the "S" button on the control interface in order for the Roomba to begin moving. Below is the circuit schematic used to test whether or not the user control interface buttons were operational. Figure 4: Circuit Schematic Used to Test the User Control Interface 5 The Wheel Sensors The Original Roomba The Roomba was designed to operate only in an upright position. To prevent the Roomba from falling off stairs or toward a lower level, the engineers of the Roomba positioned three push button sensors: one for each wheel (left, right, and front). These push buttons are originally in an "open" state, where current is not allowed to flow through; however, if any of the wheels drop (i.e. falling off stairs), the robot will discontinue cleaning mode. Below are two pictures displaying the wheel sensor (small blue rectangular object in the upper left hand of the pictures. During normal operation (left) the wheels do not touch the sensors; however, if the Roomba begins to fall from the stairs (right), there is contact between the wheel and the sensor. This contact sends a signal to the main program and allows the "brain" to realize that the body is falling. Figure 5: Wheel Sensors in on and off state. The Hacked Roomba The circuit schematic used to test the push buttons is shown above. The push button acts as a switch; when pushed, it allows current to flow from one end to the other. (Note, this circuit is identical to the circuit used to for the user control interface; this similarity is due to the fact that both operate items in the same manner. The wheel sensors and the user control interface buttons are both push-button sensors)). The operating system was designed to mimic the original purpose of these push button sensors. The Roomba will stop and move in the reverse direction if any of these sensors are activated. 6 The Front Bumper Sensors The Original Roomba The front bumper contains five infrared (IR) sensors which allow the Roomba to detect whether or not it has collided into an object or wall. These sensors work by reflecting an infrared beam off a surface, and then detecting the changes in the returned infrared level caused by changes in that surface. Because the IR sensors uses infrared light, the spectrum is not within human visibility and so one is not able to visual these changes in the IR sensor. Shown below are the infrared emitter and detector sensors. On both diodes, one of the pins is connected to a flattened end. This flattened end is the cathode of the diode. Also shown below is the circuit layout for the photoelectric emitter and detector. Figure 6: Infrared emitter and detector sensors. Figure 7: Circuit Schematic for the Photoelectric Emitter and Detector Pair. 7 In normal state the IR detector does not "see" any infrared light, and outputs a logic high. When the IR detector sees infrared light sent by the emitter diode, the output will drop from logic high to logic low. If the infrared light does not reflect off an object, the IR detector output will stays high. The Roomba bumper is attached to two grey push-levers placed on the left and right side of the Roomba. When the Roomba collides into an object, the front bumper moves into the Roomba, causing the attached grey push-levers to cover the infrared emitters. This causes a change in the photoelectric detectors, which then send a signal indicating the robot bumped into an object. Figure 8: Grey Push Lever The Hacked Roomba Because each sensor outputs an analog signal, that output must be converted into a digital signal before it can be used as a meaningful input to the Javelin. The analog to digital converter (ADC) is shown below.. The complete circuitry for all five IR sensors and the interconnecting circuitry through the Javelin has also been included. The program follows the same concepts as the original Roomba: once any of the photoelectric detectors send a signal indicating the bumper was actuated, the Roomba stops and alters direction. Figure 9: Analog to Digital Converter Circuit for the Javelin 8 Figure 10: Circuit Schematic for the IR Sensors connecting to the Javelin 9 The Wheel Motors The Original Roomba In cleaning mode, the Roomba wheel motors draw 5.67 A of current and possess 13 V of voltage. Upon inspecting the Roomba board, it is unclear as to whether or not the wheel motors interface directly with the microprocessor or if additional circuitry was used. The Hacked Roomba As previously stated, the Javelin outputs 5 V for a logic high. Although the wheel motors are able to operate at 5V; they are not able to operate at low output current. This problem, however, is common in robotics: logic circuitry is able to produce a sufficient level of voltage but does not produce nearly enough current required to drive robotic loads. The most common solution to this problem is the use of an H-bridge. An H-bridge is a circuit composed of transistors, resistors, and diodes. The transistors act as switches allowing one to control the direction of a motor through two logic inputs driven by a processor. The diodes are used as a safety for the transistors: electronic devices which prevent the transistors from damage caused by the back electromagnetic force voltage generated from the motor's coil. Shown below are the Pin Out and Truth Table for the Texas Instruments Quad Half H Driver Chip, the SN754410NE. This circuit contains four half h bridges. A full H-bridge is composed of a certain number of transistors (depending on the type of Hbridge) and allows one to program a motor for three conditions: stop, forward, and reverse. This capability achieved by the use of two inputs. In the case of the SN754410NE, the inputs are denoted by A, while the outputs are denotes by Y and an enable pin. Some specifications are shown below. These specifications and more detailed information regarding the Quad Half H Driver Chip can be found on the Texas Instrument website.2 A EN Y Motion 1 1 1 Fwd 0 1 0 Rev X 0 0 Stop Table 1: SN 754410NE Truth Table 2 http://focus.ti.com/docs/prod/folders/print/sn754410.html 10 1 2 3 4 5 1, 2 E N 1A S N 754410 1Y HE A T S INK A ND GND V cc1 4A 4Y 16 15 14 HE A T 13 S INK 12 A ND GND 3Y 3A 3,4 E N 11 10 9 6 7 8 2Y 2A V cc2 Figure 11: Pin Out for the SN754410NE. Output Voltage(Max) Switching Voltage(Max) Peak Output Current Drivers Per Package Output Clamp Diodes Input Compatibility Delay Time(Type)(ns) 36 V 36 V 2000 mA 4 Yes CMOS,TTL 800 Table 2: SN 754410NE Specs The maximum output of the SN754410NE is 2A; however, at normal operation, the output current is approximately 1A. Although the wheel motors can operate at 5 v and 1A, the motor does not have enough power to drive the entire robot. In order to increase power, we placed two H-Bridge chips in parallel (one can also solder one on top of the other, but one must also place a heat sink on top of both chips) in order to create twice the amount of current. 11 Shown below is the truth table used to program the wheel motors. Wheel Javelin Stamp Quadruple Half H Driver 1,2 EN P1 0 0 1 1 3,4 EN P9 0 0 1 1 1A P2 0 1 0 1 3A P10 0 1 0 1 2A P7 1 0 1 0 4A P15 1 0 1 0 1Y P3 X X 0 1 3Y P11 X X 0 1 2Y P6 X X 1 0 4Y P14 X X 1 0 Motion Right Wheel Motor P15 0 0 1 1 P14 0 1 0 1 P13 1 0 1 0 stop stop forward reverse Left Wheel Motor P12 0 0 1 1 P11 0 1 0 1 P10 1 0 1 0 stop stop forward reverse Table 3: Truth Table for the Motor Wheel Program 12 Packaging As the goal of our project was to convert the Roomba into a robotic mobile platform, we decided to remove all the vacuum cleaning components inside the Roomba. This extra spaced allowed us to place the additional circuitry inside the Roomba, rather than having both the Javelin and a protoboard on top. The following pictures show the Roomba internals and the new design. Figure 12: Roomba Internals: Before Figure 13: Roomba Internals: After 13 Javelin Pin-Out 15 14 13 12 11 1 1,2 E N 1A S N 754410 1Y HE A T S INK 4Y V c c1 4A 16 15 14 1 2 3 4 1,2 E N 1A S N 754410 1Y HE A T S INK 4Y V c c1 4A 16 15 14 M 5 6 7 8 2Y 2A V cc2 HE A T 13 S INK 12 A ND GND 3Y 3A 3, 4 E N 11 10 9 M 10 2 3 4 5 6 7 8 HE A T 13 S INK 12 A ND GND 3Y 3A 3, 4 E N 11 10 9 2Y 2A V cc2 9 IR Sensor System 8 7 Wheel Sensors User Control Interface Figure 13: Design Layout for Additional Circuitry 14 Program Flow Charts Left Wheel Sensor Front Wheel Sensor MAIN TRANSMISSION Right Wheel Sensor Front IR Sensors Interrupt Front IR Sensors MAIN Turn TRANSMISSION 15 16 Front Wheel Sensor Interrupt MAIN TRANSMISSION Check All Wheel Sensors True False Reverse TRANSMISSION Turn 17 Left Wheel Sensor Interrupt MAIN TRANSMISSION Check All Wheel Sensors True False Reverse TRANSMISSION Turn 18 Right Wheel Sensor Interrupt MAIN True Check All Wheel Sensors False TRANSMISSION Reverse TRANSMISSION Turn 19 References www.roombacommunity.com www.dprg.org www.robologic.com.co.uk/tutbegmot.htm http:://focus.ti.com/docs/prod/folders/prints/SN754410.html http::/plan.cs.drexel.edu/project/legorobots/hardware/sensors/ir.html http::/plan.cs.drexel.edu/project/legorobots/hardware/sensors/proximity.html www.parallax.com www.radioshack.com
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chapter-3.ppt
Path: Illinois Tech >> CS >> 549 Fall, 2009
Description: C 549: S C ryptography and Ne twork S curity e by Xiang-Yang Li De partm nt of C pute S nce I I T e om r cie , C ryptography and Ne twork S curity e 1 Notice This le cturenote(Cryptography and Ne twork S curity) is pre d by Xiang-Yang Li. This e p...
ITM531_module5.ppt
Path: Illinois Tech >> CS >> 524 Fall, 2009
Description: ITM531/CS524 Object Oriented Modeling and Design Module 5 Normal Forms Definition of Key A minimal collection of attributes X in relation R (A, B), such that A A, B. Normalization forms First Normalization Form (1NF) Second Nor...
lecture-auction.ppt
Path: Illinois Tech >> CS >> 595 Fall, 2008
Description: EconomicsandComputerScience Auctions CS595, SB 213 Xiang-Yang Li DepartmentofComputerScience IllinoisInstituteofTechnology AuctionOneItem Auctions Methods for allocating goods, tasks, resources. Participants: auctioneer, bidders Enforced agr...
HowardIntro05.ppt
Path: Illinois Tech >> LECTURES >> 05 Fall, 2009
Description: Welcome; Structure of the School; X-ray Safety Andrew Howard Illinois Institute of Technology ACA Summer School 18 July 2005 What youre going to hear here I cheated when I said this was just going to be an X-ray safety lecture! Welcome to the Scho...
cmsi499-fall2005-syllabus.pdf
Path: Loyola Marymount >> CMSI >> 499 Fall, 2009
Description: CMSI 499 INDEPENDENT STUDIES http:/myweb.lmu.edu/dondi/fall2005/cmsi499 Fall 2005 - Doolan 106 Variable sessions, meetings, semester hours Office Hours: TR 1:303pm, 4:306pm John David N. Dionisio, PhD e-mail: dondi@lmu.edu, AIM: dondi2LMU Doolan 106;...
cmsi499ky-spring2008-syllabus.pdf
Path: Loyola Marymount >> CMSI >> 499 Fall, 2009
Description: C M S I 499 INDEPENDENT STUDIES: DEVICE DRIVER DEVELOPMENT http:/myweb.lmu.edu/dondi/spring2008/cmsi499ky Spring 2008 - Doolan 106 Variable sessions and meetings, 3 semester hours Office Hours: TR 36pm or by appointment John David N. Dionisio, PhD e-...
cmsi698-summer2006-1-syllabus.pdf
Path: Loyola Marymount >> CMSI >> 698 Fall, 2009
Description: C M SI 6 9 8 /5 9 8 OPEN SOURCE SOFTWARE DEVELOPMENT WORKSHOP http:/myweb.lmu.edu/dondi/summer2006-1/cmsi698 Special Studies, Summer 2006 Session I Doolan 222 T 7:1010:10pm, 3 semester hours Office Hours: T 4:306pm or by appointment John David N. Di...
cmsi186-spring2008-hw7.pdf
Path: Loyola Marymount >> CMSI >> 186 Spring, 2009
Description: C M S I 186 PROGRAMMING LABORATORY Spring 2008 Program 7: Synthesis For this final assignment of the semester, we try to bring a number of elements together. Plus, you get to take charge of most of the program\'s final design - also appropriate for t...
cmsi182-fall2008-hw1021.pdf
Path: Loyola Marymount >> CMSI >> 182 Fall, 2009
Description: C M S I 182 INTRODUCTION TO COMPUTER SCIENCE Fall 2008 Assignment 1021 For next week, we have the usual readings and the usual passel of exercises and reflection. And oh yes, an item for extra credit. Not for Submission Full details on this weeks t...
cmsi371-spring2009-syllabus.pdf
Path: Loyola Marymount >> CMSI >> 371 Fall, 2009
Description: http:/myweb.lmu.edu/dondi/spring2009/cmsi371 Spring 2009 Doolan 219 TR 10:50am12:05pm, 3 semester hours Office Hours: TR 9-10:30am, R 36pm, or by appointment John David N. Dionisio, PhD e-mail: dondi@lmu.edu, AIM: dondi2LMU Doolan 106; (310) 338-578...
cmsi182-fall2008-hw1014.pdf
Path: Loyola Marymount >> CMSI >> 182 Fall, 2009
Description: C M S I 182 INTRODUCTION TO COMPUTER SCIENCE Fall 2008 Assignment 1014 This assignment seeks to reinforce our new post-midterm topics, and also adds some less technical reading material to serve as food for thought. Not for Submission As before, th...
cmsi186-spring2008-midsemester-tips.pdf
Path: Loyola Marymount >> CMSI >> 186 Spring, 2009
Description: C M S I 186 PROGRAMMING LABORATORY Spring 2008 Midsemester Tips Having now seen two sets of programs and lab reports from you, I wanted to compile (no pun intended) some points that will help improve the quality of your work. As overall themes, cons...
cmsi186-spring2008-hw-specification.pdf
Path: Loyola Marymount >> CMSI >> 186 Spring, 2009
Description: C M S I 186 PROGRAMMING LABORATORY Spring 2008 Assignment Submission Specication Adherence to specifications is an important (and perhaps underrated) element of day-to-day computing: it facilitates standardization, automation, and interoperability. ...
cmsi371-spring2009-hw0122.pdf
Path: Loyola Marymount >> CMSI >> 371 Fall, 2009
Description: C M S I 371 COMPUTER GRAPHICS Spring 2009 Assignment 0122 This initial assignment is meant to get you into a development groove with OpenGL. Not for Submission By January 20 1. If necessary, set up your primary work machine for OpenGL and C develop...
cmsi387-spring2008-syllabus.pdf
Path: Loyola Marymount >> CMSI >> 387 Spring, 2009
Description: http:/myweb.lmu.edu/dondi/spring2008/cmsi387 Spring 2008 Doolan 222 TR 1:352:50pm, 3 semester hours Office Hours: TR 36pm or by appointment John David N. Dionisio, PhD e-mail: dondi@lmu.edu, AIM: dondi2LMU Doolan 106; (310) 338-5782 structor may cur...
cmsi587-spring2006-midterm-review.pdf
Path: Loyola Marymount >> CMSI >> 587 Spring, 2009
Description: CMSI 587 O P E R AT I N G S Y S T E M S ( G R A D U AT E L E V E L ) Spring 2006 Midterm Review Sheet The midterm will take place as scheduled, on February 21; Ill shoot for 6090 minutes. This guide should help you to prepare for it properly. Cover...
cmsi671-spring2005-syllabus.pdf
Path: Loyola Marymount >> CMSI >> 671 Spring, 2009
Description: CMSI 671 COMPUTER GRAPHICS http:/myweb.lmu.edu/dondi/spring2005/cmsi671 Graduate Level, Spring 2005 - Doolan 222 Tuesdays, 6:309:30pm, 3 semester hours Office Hours: T 46pm, TR 11am12pm John David N. Dionisio, PhD e-mail: dondi@lmu.edu, AIM: dondi2LM...
cmsi698-spring2006-syllabus.pdf
Path: Loyola Marymount >> CMSI >> 698 Fall, 2009
Description: BIOL 498/CMSI 698 SPECIAL STUDIES: BIOINFORMATICS http:/myweb.lmu.edu/dondi/spring2006/cmsi698 Spring 2006 Doolan 222 R 6:30 9:30pm 3 semester hours Kam D. Dahlquist, PhD John David N. Dionisio, PhD e-mail: kdahlquist@lmu.edu dondi@lmu.edu, AIM: don...
cmsi371-spring2008-hw0410.pdf
Path: Loyola Marymount >> CMSI >> 371 Fall, 2009
Description: C M S I 371 COMPUTER GRAPHICS Spring 2008 Assignment 0410 This assignment seeks to exercise your transformation and matrix skills. And yes, for better or for worse, it also tries to remind you that work on your project should be proceeding concurren...
CMSI677S2009HW00ReferenceAnalysis.pdf
Path: Loyola Marymount >> CMSI >> 677 Fall, 2009
Description: CMSI 677 ARTIFICIAL INTELLIGENCE Spring 2009 Assignment 00 Reference Analysis (in class) Assignment Problems Read: Goldsmith and Junker: Preference Handling for Artificial 0a Intelligence. Answer the questions below. Complete the analysis for next we...
CMSI677DescrS2009.pdf
Path: Loyola Marymount >> CMSI >> 677 Fall, 2009
Description: CMSI 677 INTRODUCTION TO ARTIFICIAL INTELLIGENCE Spring 2009 3.0 units Tuesday 6:30 9:30 p.m. Doolan 222 Dr. Stephanie E. August - saugust@lmu.edu Course Description Objectives The primary objective of this course is to study the fundamental conce...
CMSI_ELEC601OverviewF08.pdf
Path: Loyola Marymount >> CMSI >> 601 Fall, 2009
Description: CMSI/ELEC 601 GRADUATE SEMINAR Dr. Stephanie E. August Overview The Graduate Seminar is the terminal class taken by graduate students in the Graduate Program in the Department of Electrical Engineering and Computer Science. It is a projectbased semin...
