Embedded Programming and Robotics -- Introduction 1

Embedded Programming and

RoboticsIntroduction and Overview

Presented byJohn Cole

Senior Lecturer in Computer ScienceThe University of Texas at Dallas, USA

Embedded Programming and Robotics -- Introduction 2

About the Course

• During the two weeks we will be together, our main objective is to learn the fundamentals of embedded programming on two processors: the Arduino and the Raspberry Pi• To do this, our main project will be to build a working robot

that can be controlled by various programs. We will use both the Arduino and the Pi for this.

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About the Course

• You’ll work in teams of 4. You can select your own team.• This is a collaborative effort, not a graded class; you are

encouraged to help each other learn• By the end of the workshop, each team will have a working

robot and various programs for it•We will also do other small embedded-programming projects

to illustrate principles

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About the Course

•We’ll be doing a little soldering, and we’ll use the multimeter when necessary to check out circuits• You’ll learn basic Python programming and gain some

familiarity with Linux if you don’t already have it• Above all, we’re here to have fun while we’re learning

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About Your Instructor

• Six years as an adjunct (part-time) faculty member in the Computer Science Department at The University of Texas at Dallas from January 2006 through May 2012, full time senior lecturer since then• Taught at Collin College and, long ago, Illinois Institute of

Technology in Chicago• 40 years of writing software in a large variety of industries• Completed MS in Computer Science from Illinois Institute of

Technology and some work toward PhD

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Instructor Web Site

•Web page: www.utdallas.edu/~John.Cole

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Logistics

•We start at 9:30 every morning and finish the morning session at 12:30• One hour break for lunch• Return at 1:30 and work until 4:30• Breaks at 11:00 and 3:00 for about 10-15 minutes• If you need to take a restroom break other than the

scheduled times, just go• Please wear your nametag

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Workshop Format

• This will be done as a workshop, not a regular class• This means that I’ll present for a while, never more than an

hour at a time and usually less• After I have introduced a topic or defined a project, you will

work on it in your group• Once everyone has finished or come to a stopping point,

we’ll discuss it as a class, then go on to the next topic

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Workshop Format

• If your group gets behind, try to catch up during lunch or after class• If I’m going to fast for the group, ask questions or ask me to

give you more time• You can take photos of things I present if you like• Slides and code will be made available on my Web site

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What You Should Already Know

• You should know how to program in C/C++ at some reasonably good level• You should have a basic understanding of the components of

a computer and how they work together• An understanding of basic electricity is helpful, but I’ll cover

that

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Secondary Skills

•We will be doing a little soldering, but not much. If you want to make things more permanent, you can get circuit prototyping boards and solder components onto them.•We will be doing a little mechanical assembly, but again, this

will be pretty simple.• You should document your work so you remember what you

did. Often, we will build something, then take it apart and build something else. Photos are great, and so are written notes and diagrams.

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What We Will Cover: Week 1Morning Afternoon

Intro and logisticsBasic Electricity and precautionsArduino Basics, including tools setup

C/C++ RefresherSimple counter exerciseTransistor BasicsSensor Overview

Robot Assembly: connecting the motors, basic wiringLCD display and keypadMechanical design

The motor control chipSimple program to move forward for 10 seconds and stopProgram to turn in a circle for 30 seconds

The IR sensor and edge-followingBluetooth communication

Controlling your robot from BluetoothJoystick control

Light sensorsFollow the light beam programTemperature/humidity sensor: sending back status.

The range finder.“Follow me” programInterrupts and interrupt service routines

Intro to Raspberry PiBasic Linux commandsUsing the GPIO pins

Introduction to Python: basic syntax, conditionals, loops, GPIO access

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What We Will Cover: Week 2

Morning Afternoon

Continuing Python: functions, the camera, Internet access

More Python: Bluetooth, CURSES screen control library, etc.

Robot control with the Raspberry Pi through BluetoothAndroid control program

Robot controller with the Pi.PWM on the Pi

The Raspberry Pi camera.The OpenCV library

Roving camera

Programming the Pi in C/C++ More C/C++ on the PiIntro to Pi assembly language

Design your own program Finish projects and discuss future direction

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Schedule Notes

• There are some basic things we must cover, such as Arduino programming, Python, the basics of the boards, and so on• However, if the class has a consensus on an additional

related topic, or expansion on some of the existing ones, I’m open to suggestions

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Murphy’s Law

• Anything that can go wrong will go wrong• Corollary: at the worst possible time

• This course involves wiring, electronic parts, and software you didn’t write. Things will go wrong. Connections will come loose, chips will burn out, programs won’t work the way you think they should, and so on. This is all part of our craft. Don’t worry about it.

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Let’s Get Started!