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Step 10: Final Assembly, Tuning and Touch-Ups

Up until now you may have noticed that we haven't glued the solarcell down in place. There's been a good reason for that -

balance. Now that you have everything installed, you can now find the optimum position for the solarcell. Best way to do this is

to move the solarcell until the Photopopper balances just forward of the wheels. When it does, glue the solarcell in place.

Balancing the Photopopper like this is good for several reasons. When the Popper moves, it will tend to do a bit of a "wheelie",

lifting the power capacitor off the surface. This lowers friction and increases the performance. Also, I've found that when the

sensors get stuck in something, the Popper's tilting backward motion helps free it up.

Tuning the Optics so it goes

Straight for the Light

Move the solarcell forward until....

! It tips forward. Glue the solarcell down.

clunk

Solarbotics

PHOTOPOPPER 4.2

BEAM Photovore

Solarbotics

PHOTOPOPPER 4.2

BEAM Photovore

Solarbotics

PHOTOPOPPER 4.2

BEAM Photovore

Solarbotics

PHOTOPOPPER 4.2

BEAM Photovore

If your Photopopper prefers the right,

rotate the trim pot to the right.

We're going to use the trim pot to fine-tune your Photopopper so that it is

directional and will head directly towards the

brightest source of light in the vicinity.

Start by placing your Photopopper near some very directional, single-source light, like on a sunny desktop or a table with a

single light bulb. It should make a bee-line towards the source of the light. If you get a left or right side preference behaviour (see

the images), then turn the trim pot a 1/2 turn in the direction of the "slower" motor. As you get close to the "sweet spot" on the

trim pot, the Photopopper will start tracking very near dead-straight for the light source. Once tuned, it shouldn't need tuning

every again!

When the Photopopper is properly tuned, it

will pivot around one motor until it is zoned

in on the source of light it wants, then will

start alternating steps in a "left / right / left /

right" pattern.

Lastly, you may need to adjust your touch-

sensors. If you find that your Photopopper is

acting erratically when it triggers on one

side, the sensor may be set too sensitive.

You can reduce the sensitivity by sliding the

tuning sleeve forward towards the pin tip.

This means the sensor must bend more

before it activates. Experiment over time to

see what sensitivity works best for your

Photopopper.

Now that you're done, try putting shadows

and obstacles in front of it, and see what

happens!

very

Balancing the Photopopper

This is the very final thing you have to do before you can start thoroughly playing with, ummm - I mean

your Photopopper's behaviour.

examin-

ing,

If your Photopopper prefers the left,

rotate the trim pot to the left.

Содержание BEAM Robotics Kit 2

Страница 1: ...vel Ltd Document Revision February 13 2002 PDF FILE Public Release NOTE This file is provided for educational and promotional use only Release of this document does not place it in the public domain Commercial use of this information is STRICTLY PROHIBITED This document is provided as is Solarbotics is not responsible for errors or omissions in this document Copyright Solarbotics Ltd 1998 PDF FILE...

Страница 2: ...This page left blank intentionally ...

Страница 3: ... Sensor Preparation 12 Step 9 Touch Sensor Installation 13 Step 10 Final Assembly Tuning Touch Ups 14 The Wrap Up 16 A Brief History of Photovores Back Page Disclaimer of Liability Solarbotics Ltd Is not responsible for any special incidental or consequential damages resulting from any breach of warranty or under any legal theory including lost profits downtime good will damage to or replacement o...

Страница 4: ...e to be attached to the solarcell 2 Copper wire for structural support 2 Augat sockets These look like pins with a little socket on the end These will be turned into touch sensors for the Photopopper 2 Sensor springs These will be used with the Augat sockets to be the touch sensors 2 1 16 Heat shrink tubing This will be used in the construction of the touch sensors and also be used for the wheels ...

Страница 5: ...governing which Solarengine fires the Photopopper can avoid obstacles and go towards light The name BEAM is an acryonym for Biology Electronics Aesthetics and Mechanics It breaks down like this If you re going to create something from scratch you model it after successful designs Soooo we steal um I mean borrow many good ideas from Mother Nature There s some techniques that we can use that nature ...

Страница 6: ...s light sources Or if you want you can tweak it so that it will prefer to turn one way versus the other simply by changing the way the two light sensors balance each other on their electronic see saw The light sensors are very good at what they do They re designed to view a 100 degree angle and will not let the Photopopper get itself caught in a shadow while there are better sources of light nearb...

Страница 7: ...botics PHOTOPOPPER 4 2 BEAM Photovore Photovore Behaviours 4 This Photovore has the light dead in it s sights and makes a left right left right motion to get to it Your Photopopper is designed to exhibit two main behaviours Light seeking and Obstacle avoidance The primary goal of any Phototropic light seeking robot is to find and maintain access to a source of light it s primary source of energy T...

Страница 8: ...der them in place Make absolutely sure that solder does not bridge across from one pad to the next this is a very common problem that will keep the Photopopper from working The 2 2k Ohm resistor has four 4 coloured stripes on it It does not matter which way it gets installed but make sure that it sits flat against the PCB before you solder it down just like in the photograph This makes your instal...

Страница 9: ...Another benefit of this new technology is that your Photopopper will have a greatly enhanced low light operating capability You won t need very much light to feed this BEAM robot The 680 kOhm resistors colour coded Blue Grey Yellow Gold in this part of the circuit are used to balance how much effect the touch sensors yet to be built installed can override the eyes of the Photopopper We need this b...

Страница 10: ... photo Don t forget to clip the remainder that sticks out of the other side you have been clipping the excess leads haven t you The motor connections are quite straightforward The blue or darker wire is connected to pad M1 and the red or lighter wire is connected to pad M2 Note how the fuse clip is soldered in from the sides and not from underneath Important Stuff On each motor the Blue darker wir...

Страница 11: ...ghter wire going to the positive pad After that the wires down near the pads This is very important to do as the pads are not that strong and you might accidentally yank the soldered wires right off the solarcell So go do it Right now You don t want to know what Guido will do to you if you don t GLUE After the glue has dried on the wires solarcell add the solarcell to the Photopopper PCB Simply so...

Страница 12: ...d down Same sort of situation Adding the power capacitor to the PCB requires you to bend the leads of the capacitor down right against the face of the capacitor Just make sure that you get the polarity correct before you bend The side with the white stripe is negative and you will want to make sure that the bend looks just like that in the above image And just like any of the other compo nents mak...

Страница 13: ...e it to the front and to the right of the light the left motor should activate This is a sure fire indication your Photopopper is seeing the light and trying it s best to move itself closer to it will not As soon as you connect the power capacitor to the PCB and place your Photopopper near a source of light one of the motors should start pulsing If so BRAVO Congratulations You re the new proud own...

Страница 14: ... ve pre bent it far enought that the final bend should be a minor task for you When finished trim the excess wire When finished your Photopopper should look like the one below The motor shafts and the capacitor should all be touching at the same time If it rocks on the capacitor and only one motor shaft touches you will have to de solder one end of the support wire and push it further through the ...

Страница 15: ...l be used to tune the sensitivity of the touch sensor Take a spring wire and stretch it out to about 15mm so you can just see between the coils picture 5 Then push the spring onto the pin up to the tubing but not over the end If this causes some problems try twisting the spring while pushing it on so it threads onto the tubing Lastly reach between the spring coils with your knife and slide the cut...

Страница 16: ...small single pad and push the sensor wire into the solder Trim off any excess wire image 2 Lastly make sure that a The spring is only on the insulation and not touching the pin and b The solder on the large pad touches only the pin collar see image 3 Image 4 shows how the touch sensors should look from straight head on If your touch sensor is bent when at rest bend the whole pin spring so the pin ...

Страница 17: ...ource of light in the vicinity Start by placing your Photopopper near some very directional single source light like on a sunny desktop or a table with a single light bulb It should make a bee line towards the source of the light If you get a left or right side preference behaviour see the images then turn the trim pot a 1 2 turn in the direction of the slower motor As you get close to the sweet s...

Страница 18: ...s a full point 2 2 1 The competing device must initially fit within the boundaries of a 150mm 6 cube 3 No batteries rechargeable or otherwise are be allowed on the Photovore competitor only verifiable electrical capacitors No other form of power source chemical mechanical animal etc is allowed The competitor must extract all the energy it uses from solar cells on its chassis 4 Devices are forbidde...

Страница 19: ...d behave pursue it After all the on back page is a very non traditional photovore but has proven to be very aggresive and effective at the expense of its difficulty of construction don t contact us for how to build it details we don t have them We hope that you ve had fun working on your Photopopper and now that it is finished you should expect to enjoy it for another 10 or 20 years Mind you that ...

Страница 20: ...ke the fig 2 New geome try using flagella arms instead of wheels was successfully experimented with in designs like fig 3 and the twins fig 4 New advances in low power electronics resulted in the expermental fig 5 and fig 6 This kit uses the best techniques learned from all these prototypes Photopopper 4 2 Photovore BEAMant PHD 1 0 Turbot 2 0 Turbot 3 0 Photopopper prototypes 4 0 4 2b Figure 1 BEA...

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