ROLI CUP FRONT

Author: Robojack
Created: 7/31/2017
Updated: 3 months ago
Filesize: 443,928
This is my modified version of the EZ Robot Roli. It has been reworked to increase the functionality of its standard features. To begin with, the body has been reversed so that the cup holder is now the front of this track vehicle. This allows the articulating arms to actually pick and place items from the floor to the cup holder and vise a versa. The arms have been redesigned utilizing all of the original servos with additional EZ Bits. The arms now complement each other by using different degrees of movement. Note that the right shoulder rotational servo was swapped with the wrist lever servo. This enhances the right gripper usefulness. A rotational servo at the front of the vehicle pans an ultrasonic sensor and in the rear, overlooking everything is the camera and RGB module, with tilt functionallity by way of a lever servo. To begin with I rewired the HBridge terminals so that my Roli would respond correctly to the Hbridge Movement Panel. On the Hbrige there are two rows of 4 pins each. These are noted below as "O". Place the colored wires as shown. The center two pins on the top row are not used. BLACK O O O GREEN O BLUE O PURPLE O GREY O WHITE O Additional ultrasonic and compass sensors are in the planning stage. In the video, Speech Recognition is the Commanding Control. This is initialized with a command to "Wake". The Search function is standard color tracking. The red cup is placed randomly on the floor in the cup "up" position. The camera state is verbalized thru the EZB. The camera tracks directly to the color and stops when the color is lost. The distance to cup is a function of the camera tilt. AutoPosition Controls takeover from here to pick from this position with the Right Arm while the Left Arm completes setting the cup position in the cargo bay. From here the Left Arm takes over to return the cup to the floor while the Right Arm holds the position on the floor. The Left Arm picks the cup back to the cargo bay. The camera is not used for gripper use, although with the varibles located on the Camera Control, a much more accurate pick is certainly possible. On the Views Selection during assembly, you must select "rear view" to view the FRONT of this Roli. Otherwise all views are of the correct side. Some of the 3cube stacks on the right arm may be replaced with blocks. I just used what I had. Loose cubes and joints are easily remedied with a little Krazy glue. (This is permanent) This project is very much a work in progress, a learning tool. It's kind of like a messy desk, makes sense to the user, not so much to the casual observer. Hopefully others can use this initial start as a springboard to greater things. Added 3 Sonar to the front and 1 Sonar to the rear. Modify the front sonar sensors as follows: Remove the plastic back and snip the two plastic arms that hold the circuit board in the enclosure. Take some sponge packing material that your Roli was shipped in and cut two pieces sufficient to hold the circuit board in a "canted orientation". You will want the Left Sonar looking canted to the outside. You will want the Right Sonar looking canted to the outside. This is accomplished by placing a sponge underneath one end of the board and a sponge on top of the board on the opposite end. When the plastic back is replace, it will cant the sonar in its enclosure and cause it to focus towards one side. Doing this will assure full coverage of the front of Roli as it rolls along.
 
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Step 1

Add Rover Body as CARGO COMPARTMENT IS FRONT
  1. Connect HBridge PWM Left (Green) to Digital port D0
  2. Connect HBridge Left A (Blue) to Digital port D1
  3. Connect HBridge Left B (Purple) to Digital port D2
  4. Connect HBridge Right A (Grey) to Digital port D3
  5. Connect HBridge Right B (White) to Digital port D4
  6. Connect HBridge PWM Right (Black) to Digital port D5


Step 2

Add Rotation Servo as LEFT SHOULDER
  1. Connect to Servo port D20


Step 3

Add Extension Cube as LEFT CUBE 1


Step 4

Add Extension Cube as LEFT CUBE 2


Step 5

Add Lever Servo - 90 Degrees as LEFT ELBOW
  1. Connect to Servo port D21


Step 6

Add Lever Servo - 0 Degrees as LEFT WRIST
  1. Connect to Servo port D23


Step 7

Add Extension Cube as LEFT CUBE 3


Step 8

Add Servo Gripper as LEFT GRIPPER
  1. Connect to Servo port D22


Step 9

Add Extension Cube as RIGHT CUBE 1


Step 10

Add Extension Cube as RIGHT CUBE 2


Step 11

Add Extension Cube as RIGHT CUBE 3


Step 12

Add Lever Servo - 0 Degrees as RIGHT SHOULDER
  1. Connect to Servo port D14


Step 13

Add Lever Servo - 180 Degrees as RIGHT ELBOW
  1. Connect to Servo port D12


Step 14

Add Extension Cube as RIGHT CUBE 4


Step 15

Add Extension Cube as RIGHT CUBE 5


Step 16

Add Extension Cube as RIGHT CUBE 6


Step 17

Add Rotation Servo as RIGHT WRIST
  1. Connect to Servo port D15


Step 18

Add Servo Gripper as RIGHT GRIPPER
  1. Connect to Servo port D13


Step 19

Add Extension Cube as FRONT CUBE 1


Step 20

Add Extension Cube as FRONT CUBE 2


Step 21

Add Ultrasonic Distance Sensor as FRONT LEFT SONAR
  1. Connect Trigger to Digital port D16
  2. Connect Echo to Digital port D17


Step 22

Add Ultrasonic Distance Sensor as FRONT RIGHT SONAR
  1. Connect Trigger to Digital port D7
  2. Connect Echo to Digital port D8


Step 23

Add Extension Cube as FRONT CUBE 3


Step 24

Add Extension Cube as FRONT CUBE 4


Step 25

Add Ultrasonic Distance Sensor as FRONT MID SONAR
  1. Connect Trigger to Digital port D19
  2. Connect Echo to Digital port D18


Step 26

Add Lever Servo - 90 Degrees as CAMERA TILT SERVO
  1. Connect to Servo port D9


Step 27

Add Rotation Servo as CAMERA PAN SERVO
  1. Connect to Servo port D6


Step 28

Add Extension Cube as TOP CUBE 1


Step 29

Add EZ-B v4 Camera as CAMERA
  1. Connect Camera to Camera port NA


Step 30

Add RGB LED Block as RGB LED
  1. Connect to i2c port


Step 31

Add Extension Cube as TOP CUBE 2


Step 32

Add Extension Cube as TOP CUBE 3


Step 33

Add Ultrasonic Distance Sensor as REAR SONAR
  1. Connect Trigger to Digital port D10
  2. Connect Echo to Digital port D11