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PC Control These demos and projects allow the robot to be controlled via a computer.

ArbotiX Commander Control - These demos and projects control the Robot using the ArbotiX Commander, the handheld Arduino based remote control.

Direct Control - These demos and projects control the Robot directly from sensors connected directly to the Robot's control board.

Pose Control - These demos and projects allow you to create and playback a sequence of poses.

Serial Control - These demos and projects control the robot using a serial packet protocol.

Standalone - These demos and projects are deisgned to let your robot function without a computer or additional microcontroller.

Wireless Control - These demos and projects allow you to control the robot wirelessly - usually by replacing the Serial Connection with XBee modules.

Reference - These articles have technical details regarding the control and operation of the robot.

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More info here

Antsy Getting Started Guide

Contents:

  1. Setting up the Arduino Software
  2. Centering your Servos
  3. Antsy Assembly
  4. Wiring Antsy
  5. Controlling Antsy
  6. Demos and Projects
  7. RobotGeek 101

1. Setting up the Arduino Software

Geekduino Getting Started Guide

If you have not already set up your Geekduino/ Arduino compatible board, please see the Geekduino Getting Started Guide. This guide will assist you in getting set up with the Arduino software as well as install libraries and test sketches. Even if you do not have a Geekduino, you should follow through this guide to grab the test sketches you will be using throughout the getting started guide.

2. Aligning Your Servos

geekmount-pins-note.jpg

Servo motors act like robotic joints - you can set them to specific positions to move your robot to different positions. This means that the servo needs to be set to s specific position before assembling your robot, or it will not work correctly. We are going to 'center' the servos, setting them to halfway between their maximum and minimum position. To begin centering your servos, we're going to have to set up your test rig. This is incredibly easy to do with a RobotGeek Sensor Shield. Start by attaching your Sensor Shield to your Geekduino/Arduino Compatible board. Slot the bottom pins of the RobotGeek Sensor Shield into the terminals in the top of the Geekduino. Note how the boards seat evenly on top of each other, and the pins line up exactly. Be careful not to bend the pins.

Wiring
Device Sensor Shield Port
Servos
Center Servo RobotGeek Servo Digital 9
Right Servo RobotGeek Servo Digital 10
Left Servo RobotGeek Servo Digital 11
b_500_500_16777215_00__images_tutorials_antsy_servocenter_bb.png
Jumpers and Power

RobotGeek servos must be powered by an external power supply like the 7.4V Battery included with your kit. If you have servos plugged in to the shield and do not have the external power supply plugged into your Geekduino you will see erratic behavior.

You will also need to adjust your shield to make sure the power is getting to the servos correctly. Make sure that the jumper for 9, 10, and 11 on the Sensor Shield is set to Voltage In (VIN) If you would like more information about this, check out the Jumpers/Power section of the RobotGeek 101 learning series.

Code

The following code will set any servos on pins 3,5,6,9, and 10 to a centered position (90°).

This code will both test and center your servos. Each servo will move do 45 degrees, 125 degrees, then 90 degrees. If you want to restart the movement, just push the reset button on your Geekduino. Make sure to only run this code when nothing is attached to your servos. Running this code on an assembled robot could damage the robot or servos.

File > Sketchbook > RobotGeek sketches > Tools > centerServo

If you cannot find this sketch, make sure you have setup your Libraries in the Geekduino Getting Started Guide. You can load this code using the same method as you used to load your test code on the Geekduino Getting Started Guide.


Installing Servo Horns

Once the RobotGeek Servos have stopped moving, they are centered and you can install the servo horn. To line up the horn, place it with the notch facing up. If it does not slide on easily, or it clicks into place with the holes not facing cardinal directions, ignore the notch, remove the horn, rotate it about 45 degrees and try again. Repeat until the top and bottom holes are aligned as close to exactly North and South of the center, as shown.

Warning: Do not rotate the center shaft during this process. This was aligned when you ran the centerServo tool in the above step.

b_500_500_16777215_00__images_tutorials_rgServo_center3.jpg b_500_500_16777215_00__images_tutorials_rgServo_center4.jpg b_500_500_16777215_00__images_tutorials_rgServo_center5.jpg

Your servos don't need to be 'perfectly' aligned, but the closer you can get, the better the robot will operate. Once your horn is ready, use a black phillips bolt included with the horn to secure the horn to the servo.

None of your servos require the idler horn for this project.

If you'd like more information on centering servos, see this page for more information and a video on centering servos.

3. Antsy Assembly

Antsy Assembly Guide

At this point, follow through the Antsy Assembly Guide to get your crawler built. Once you have completed the assembly, return here to wire, test, and run your crawler.

4. Wiring Antsy

Device Sensor Shield Port
Servos
Center Servo RobotGeek Servo Digital 9
Right Servo RobotGeek Servo Digital 10
Left Servo RobotGeek Servo Digital 11
Analog Sensors
Right Light Sensor RobotGeek Light Sensor Analog 0
Left Light Sensor RobotGeek Light Sensor Analog 7
Digital Sensors
Right Eye RobotGeek LED Driver Digital 5
Left Eye RobotGeek LED Driver Digital 6
Buzzer RobotGeek Buzzer Digital 12
IR Receiver RobotGeek IR Receiver Digital 2
b_500_500_16777215_00__images_tutorials_antsy_antsy_bb.png

5. Controlling Antsy

RobotGeek Antsy Control Sketch

Once you unzip the file, rename the Antsy-master folder to Antsy. Put the Antsy folder in your RobotGeek sketches folder.

Documents -> Arduino -> RobotGeek sketches	

Now start/restart your Arduino IDE. Once the IDE is open, you can open the Antsy Demo.

File -> Sketchbook -> RobotGeek sketches -> Antsy -> AntsyDemo	

Upload this sketch and get your controller ready!

b_500_500_16777215_00_images_tutorials_antsy_controller.jpg

The controller is laid out intuitively, but let's go over some of the major points:

  • The Directional Pad is used for walking Antsy around. Pressing in a cardinal direction moves or turns Antsy in place, or you can press Forward/Back at the same time as Left/Right to make Antsy walk while turning.
  • The A, B, TA, and TB buttons are used to show off Antsy's emotes! Pressing one of these buttons will have Antsy show off its personality.
  • The Select Button will cycle through the three modes Antsy has. First mode is direct control, second mode is light following, and the third is light aversion.
  • If you want to operate more than one IR controlled device, or are experiencing issues with crosstalk from another device using an Infrared Remote, you can switch between one of two signal modes with the A/B Switch. This defaults to A in the code.

6. Demos and Projects

Coming Soon

RobotGeek 101

Are you ready to dive even deeper into the world of Arduino? Then take a look at Robotgeek 101! RobotGeek 101 is a step by step guide that will teach you how to build, wire, and program your Geekduino/Arduino. Through RobotGeek 101 you will learn the basics of Arduino like digital input and output, and move on to more advanced topics like PWM and servo control. By the end of RobotGeek 101 you'll be well equipped to start modifying our demo code and creating your own custom applications.

RobotGeek 101

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