The Robotics Primer Workbook Developed by  USC, iRobot® and Microsoft® Robotics Studio

Prerequisites

Contents 1 Purpose 1.1 Option 1: iRobot Command Module 1.2 Option 2: Gumstix 1.3 Option 3: Microsoft Robotics Studio and BAM

Purpose

This page describes the hardware and software required for the workbook exercises. There are three available hardware options:

1. ) The iRobot Create and iRobot Command Module.
2. ) The iRobot Create and Gumstix computer stack.
3. ) The iRobot Create, Microsoft Robotics Studio, and BAM Bluetooth device.

The first option combines iRobot Create, a low-cost programmable robot platform for hobbyists, educators, and researchers and the iRobot Command Module. This Module attaches to the Create and contains a programmable Atmel microcontroller and break-out ports for attaching external sensors and actuators.

The second option combines the iRobot Create and a Gumstix computer stack that is comprised of a Robostix microcontoller break-out board, a Gumstix XScale computer, and a Wifistix 802.11b/g board. This option replaces the iRobot Command Module mentioned in Option 1 above with the Gumstix computer stack. This setup contains a computer capable of running Linux, an Atmel microcontroller capable of interfacing with sensors and actuators, and wireless communications.

The third option makes use of the iRobot Create and Command Module, a Bluetooth wireless device called the BAM, and the Microsoft Robotics Studio. This setup uses Microsoft Windows and their recently developed Robotics Studio.

Each option has different software requirements and associated features. It is best to review the exercises before deciding which option to use; not all exercises can be done with all of the three options, since the different options naturally provide differing capabilities. We summarize some of the main advantages and disadvantages (pros and cons) of each option below.

All exercises require the Robotics Primer Workbook source code, found here

Option 1: iRobot Command Module

Think of the iRobot Command Module as the brains behind the iRobot Create. The iRobot Command Module contains a microcontroller, which is similar to the CPU found in your desktop computer. The difference is that the microcontroller is far less powerful, requires less electricity, and contains ports for connecting sensors (like sonar or IR) and actuators (such as servo motors). The microcontroller also has flash memory built in, much like a USB flash drive. Programs that you write will be placed in this memory, and when the Command Module is powered on the microcontroller will automatically execute the program residing in memory. The programs that you will write are in the C programming language. This workbook assumes that you understand the C programming lanuage. Fortunately there are plenty of good books on the C programming language available at almost any bookstore.

With this setup, a Create and Command Module combination, the Create robot will function as a true autonomous robot. This means that once the robot is powered on, it will start moving and acting without external help from a human or desktop PC. The software necessary to program the Command Module is called WinAVR] and is freely available online. This software provides a convenient integrated development environment in which you can write programs in the C programming language, compile and download them to the Command Module. The instruction manual provided with the Create explains the process of installing and using the WinAVR software.

• Pros:
  1. Inexpensive, self-contained unit
  2. No external battery required
  3. Easy to use and program
• Cons:
  1. Less computational power (won't be able to complete all the sections in the workbook)
  2. No wireless communication

Parts List

iRobot Create

iRobot Command Module

Option 2: Gumstix

The Gumstix is a small computer that runs the Linux operating system. With the Gumstix computer and a few other expansions boards you gain wireless (802.11g) communications, and a microcontroller similar to the one contained with the iRobot Command Module.

The Gumstix option makes use the C++ programming language and Player, an open-source robust robot controller. The Player software makes programming a robot very simple by hiding many of the low-level hardware detail. The cost of using this software is extra computation, which in turn requires the Gumstix computer.

While the hardware and software for this option is not necessary for all the exercises, it does open the door for more complex exercises such as multi-robot tasks, onboard processing of complex data and algorithms, teleoperation, and remote data-visualization.

• Pros:
  1. More computational power (can complete all woorkbook sections)
  2. Wireless communication for data visualization, teleoperation, multi-robot coordination
• Cons:
  1. More expensive and difficult to use
  2. Requires a separate battery pack

Parts List

iRobot Create

Gumstix Connex 200xm

Robostix

Wifistix

Option 3: Microsoft Robotics Studio and BAM

A third option is to use the newly released Microsoft Robotics Studio. This is a design environment using Windows XP, Visual Studio, and a Bluetooth connection to the iRobot Create. While, a substantially different design than either the Create/Command Module or the Gumstix option, there is limited support for our exercises under this system.

• Pros:

1. Usable through Windows XP
2. Usable with .NET

• Cons:

1. Cannot add any additional sensors to iRobot Create robot
2. Not supported for most of workbook

Parts List

iRobot Create

Windows XP PC with BlueTooth

BAM