February 19, 2007 Created by Dr. T.E. Varnado

Robot Control Systems

TED 384

Computer Applications in Industry (Robotics Education)

February 19, 2007 Created by Dr. T.E. Varnado

RCX

• 16-bit processor• One Piezoelectric

speaker produces 6 distinct tones and can ‘carry a tune’

• Sends messages back and forth using IR communication– Computer– RCX to RCX

http://everyschool.org/u/westlake/robby/6thGrade/TechofLegos/RCX3.gif

February 19, 2007 Created by Dr. T.E. Varnado

NXT

• 32-bit processor, 64K RAM, 256K flash memory• LCD screen and piezo speakers• 4 input ports, 3 output ports, wired USB 2.0

connection

http://davidbau.com/images/photo/nxtcloseup.jpg

February 19, 2007 Created by Dr. T.E. Varnado

NXT

• Bluetooth enabled

• Supports servos, meaning faster, stronger, and more precise motion (sensitive to 1° of 360°)

http://photos1.blogger.com/blogger/7893/2789/1600/howitworks.gif

February 19, 2007 Created by Dr. T.E. Varnado

VEX

• VEX controller directly manages sensor and motor devices

https://jvex-robotics.dev.java.net/VEXController.html

February 19, 2007 Created by Dr. T.E. Varnado

VEX

• Two Microchip PIC 18F8520 microprocessors

• 10 MIPS• 1800 bytes + 1024

bytes EE2• 32 K RAM• SPI serial link, Ports

RS232 and TTLhttp://ww1.microchip.com/downloads/en/devicedoc/39609b.pdf

February 19, 2007 Created by Dr. T.E. Varnado

VEX

• Master processor manages signals from the RC receiver and generates PWM (Pulse Width Modulation) for motor and servo control

• User processor for software development

http://en.wikipedia.org/wiki/Pulse-width_modulation

February 19, 2007 Created by Dr. T.E. Varnado

VEX

• Six Interrupt Inputs

• 16 max Digital I/O, 50 kHz

• 16 max Analog Inputs, 10 µSec

http://utkudiril.com/serendipity/uploads/project3_2.JPG