Building a robot with the .Net Micro Framework
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Slides from my DDD Sydney session.
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Building a robot with the .Net Micro Framework
- 1. Building a robot with .Net Micro Framework Ducas Francis SC @ Readify
- 2. NetMF • Open Source Platform for small embedded applications • Runs on devices with a 32-bit processor and as little as 64K RAM • Provides the efficiency of creating and maintaining devices in managed code
- 3. Why NetMF? • Use Visual Studio as the IDE • Program in C# • Same code runs on any NetMF device with minimal changes • Full debugging capabilities – Emulator – Breakpoints – Stepping – Variables – Stack Traces • Includes many bus drivers • Managed Code with Garbage Collection
- 4. What about Arduino? • Open Source Platform for electronics prototyping • Uses the Arduino programming language (C++ based) and Arduino IDE. • Benefits – Inexpensive – Cross-Platform Software – Nice IDE – Open Source and Extensible Software (C++ or AVR-C) – Open Source and Extensible Hardware (ATMEGA8/168)
- 5. NetMF Hardware - Netduino • Pro – Atmel ARM7 • Go – STMicro Cortex- 48MHz 128KB Flash M4 168MHz 384KB 60KB RAM Flash 100KB RAM
- 6. NetMF Harware - GHI • FEZ Spider – EMX ARM7 72MHz • FEZ Cerberus/Cerbuino/Cerb40 – 3000KB Flash 12000KB RAM OSHW Cortex-M4 168MHz 300KB Flash 112KB RAM • Fez Hydra – OSHW ARM9 240MHz 3000KB Flash 12000KB • FEZ Panda II - USBizi-100 ARM7 RAM 72MHz 148KB Flash 62KB RAM
- 7. Arduino Compatible vs Gadgeteer • Compatible with • Sockets over Pins Arduino shields • Modules are pre-built • Pins over Sockets • Not all boards have all • Easy to prototype with socket types breadboards and • Usually have more breakout boards powerful processors • More flexible for electronics projects
- 8. What Are We Building • Let’s see…
- 9. Fez Panda II
- 10. Tamiya Dual Motor Gearbox
- 11. Tamiya Dual Motor Gearbox
- 12. Tamiya Track and Wheel Set
- 13. Tamiya Plate Set
- 17. Accelerometer
- 18. What you Need • Mainboard • FEZ Panda II $50 • Motors • SolarRobotics RM3 2x $4 • Gearboxes • Tamiya Double Gearbox (70168) $15 • Wheels • Tamiya Track and Wheel Set (70100) $15 • Housing/Plates • Tamiya Universal Plate Set (70157) $10 • Batteries • 4xAAA + 1x9V $10 • Motor Driver • 1A Dual TB6612FNG H Bridge (ROB- 09457) $10 • Distance Sensor • MaxBotix LV-EZ0 Ultrarosnic Range Finder (SEN-08502) $35 • Accelerometer • Triple Axis Accelerometer ADXL345 (SEN- …) $30 Total: ~$150
- 19. Or You Could Just Buy a Kit… • FEZ Mini Robot Kit $120 • RP5 Tank Chasis + Driver $120
- 20. What you need to know • *Basic* electronics • How to use a soldering iron • How to cut a little code in C#
- 21. NetMF 101
- 22. Net MF 101 – What do I have? • Multithreading • GC • Flash access
- 23. NetMF 101 – What don’t I have? • Generics • A lot of RAM…
- 24. NetMF 101
- 25. NetMF 101 - IO • Digital IO • Interrupts • Analog IO • UART • SPI • I2C • PWM
- 26. NetMF 101 – Digital IO • Pin can either be set to HIGH (true) or LOW (false) • OutputPort.Write(bool) • bool InputPort.Read() • Demo - LED
- 27. NetMF 101 - Interrupts • Act when the signal changes from LOW to HIGH and vice-versa • NativeEventHandler InterruptPort.OnInterrupt • Demo - Bumper
- 28. NETMF 101 – Analog IO • Read a voltage – not just HIGH/LOW • Not part of core NetMF • byte AnalogIn.Read() • AnalogOut.Set(int value) • AnalogOut.Set(byte[] data, int offset, int count, int dataRate) • Demo – Ultrasonic Distance Finder
- 29. NETMF 101 – UART Serial Ports • Use 2 Pins to Communicate between 2 Devices – TXD – RXD • Wire to the opposite on each device – RXD => TXD – TXD => RXD • new SerialPort(“COM1”, …) • SerialPort.Read(byte*+, …) • SerialPort.Write(byte*+, …) • Demo - XBee
- 30. NetMF 101 – I2C • Use 2 Pins to communicate between master and multiple slave devices. – SCL – SDA • Provides a bus and ability to define configuration and communicate using transactions • Demo - Accelerometer
- 31. NetMF 101 - PWM • Pulse Width Modulation • Emulates a wave with given frequency and duty cycle • Motors should be given higher frequencies • PWM.Set(int freqHz, int dutyCycle) • Demo - Piezo
- 32. Building Tank Bot.. • Build the gearbox • Attach the gearbox to the frame and wheels • Attach the main board to the frame • Attach battery holders to the frame • Solder pins to the prototyping board, distance sensor, motor driver and accelerometer • Solder wires to the motors • Attach the distance sensor to the frame • Wire the motor driver, distance sensor and accelerometer to the prototyping board • Write some code…
- 33. Test Bots • Distance Sensor • Accelerometer • Motor Driver
- 34. Discovery Bot while (something within 30cm of front) avoid go forward
- 35. Safe Discovery Bot while (bot is tipping) avoid while (something within 30cm of front) avoid go forward
- 37. Where to learn more… • tinyclr.com • netmf.com • letsmakerobots.com • sparkfun.com • bildr.com • mbed.org
- 38. With thanks to our sponsors
- 39. Please complete your feedback forms, and return them to the registration desk for a chance to win a Nokia Lumia