Parallax Penguin, Руководство пользователя

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Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 2 of 23
Table of Contents
1.0 Introduction................................................................................................................................. 2
1.1. Audience ............................................................................................................................................................2
1.2. Features .............................................................................................................................................................2
1.3. System and Software Requirements:................................................................................................................3
1.4. Bill of Materials ...................................................................................................................................................3
1.5. Body Kit Mechanical Drawings ..........................................................................................................................4
2.0 Assembly..................................................................................................................................... 5
2.1. Tools Required...................................................................................................................................................5
2.2. Assembly Instructions ........................................................................................................................................5
2.3. Mechanical Troubleshooting Guide.................................................................................................................17
3.0 Programming the Penguin ...................................................................................................... 18
3.1. Programming Concept.....................................................................................................................................18
3.2. Servo Calibration..............................................................................................................................................18
3.3. Penguin’s BASIC Stamp 2px24 Pinout ...........................................................................................................18
3.4. Example Programs ..........................................................................................................................................19
3.5. Optional Compass Calibration .........................................................................................................................19
3.6. Other Helpful Documentation ..........................................................................................................................19
3.7. Test Code Listings ...........................................................................................................................................20
4.0 Electronics ................................................................................................................................ 23
4.1. CR123 Batteries...............................................................................................................................................23
4.2. Schematic.........................................................................................................................................................23
1.0 INTRODUCTION
1.1. AUDIENCE
The Penguin isn’t a beginner’s robot. The Penguin is a small desktop robot, not intended for long-distance
adventuring. The Penguin’s electronics are fully assembled and wired to an assortment of I/O devices.
Additionally, it has a fairly complex programming process which is more difficult to understand than a
two-wheeled robot. For example, Penguin’s walking steps must be linked and the compass sensor must
be calibrated. For these reasons we recommend this robot for the hobby robotics enthusiast or collector
who has an extended interest in PBASIC programming.
1.2. FEATURES
y
BS2px24 module chipset
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CNC-machined 6061 aluminum parts available in four color schemes
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(2) micro servos
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Hitachi HM55B Digital Compass sensor
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Blue seven-segment LED for feedback
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(2) photoresistors
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(2) infrared emitters and one detector
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Piezospeaker in body, underneath battery pack
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3-position power switch located adjacent to battery pack
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FTDI 232RL mini USB programming port
y
(2) CR123 batteries for 6V power supply
y
Orange power indicator LED
y
(2) expansion I/O ports, with Vss and Vdd header for Ping))) distance sensor or RF modules