Learning Robot Programming with Linkbot for the Absolute Beginner 7th Edition Harry H. Cheng UC Davis Center for Integrated Computing and STEM Education (C-STEM) University of California-Davis http://c-stem.ucdavis.edu February 16, 2018 Copyright ⃝c 2012-2018 by Harry H. Cheng, All rights reserved. Permission is granted for users to make copies for their own personal use or educational use. Further reproduction, or any copying of machine- readable files (including this one) to any server computer, is strictly prohibited, unless a prior approval is obtained from the author. Table of Contents Preface . xii 1 Introduction 1 1.1 Introduction . 1 1.1.1 Summary . 2 1.1.2 Terminology . 2 1.1.3 Exercises . 3 1.2 C-STEM Studio . 4 1.2.1 Summary . 5 1.2.2 Terminology . 5 1.2.3 Exercises . 5 1.3 RoboPlay Competition . 5 1.3.1 Summary . 6 1.3.2 Terminology . 6 1.3.3 Exercises . 6 1.4 Major Features of Linkbot . 6 1.4.1 Summary . 7 1.4.2 Terminology . 8 1.4.3 Exercises . 8 1.5 Run the On-Board Demo Program on the Linkbot . 8 1.5.1 Summary . 9 1.5.2 Terminology . 9 1.5.3 Exercises . 9 1.6 Play with Multiple Linkbots . 9 1.6.1 PoseTeaching Mode . 10 1.6.2 TiltDrive Mode . 10 1.6.3 CopyCat Mode . 10 1.6.4 Unpair the Connected Linkbots . 10 1.6.5 Summary . 10 1.6.6 Terminology . 11 ii 1.6.7 Exercises . 11 2 Controlling a Linkbot Using the Robot Control Panel 12 2.1 The Zero Positions of the Linkbot . 12 2.1.1 The Schematic Diagram of the Linkbot . 12 2.1.2 The Zero Position for a Joint of the Linkbot . 13 2.1.3 Testing the Zero Positions and Relaxing Motors of a Linkbot . 13 2.1.4 Recalibrating the Zero Positions of the Linkbot . 14 2.1.5 Summary . 14 2.1.6 Terminology . 14 2.1.7 Exercises . 14 2.2 Connect Linkbots from a Computer . 15 2.2.1 The Linkbot Device Driver . 15 2.2.2 Adding Linkbot IDs in Linkbot Labs . 16 2.2.3 Summary . 17 2.2.4 Terminology . 17 2.2.5 Exercises . 18 2.3 Control a Linkbot Using the Robot Control Panel . 18 2.3.1 The Robot Control Panel . 18 2.3.2 Individual Joint and Speed Control . 19 2.3.3 Rolling Control for Linkbot-I . 19 2.3.4 Buzzer Control . 20 2.3.5 Monitoring Accelerometer Data . 20 2.3.6 Control Multiple Linkbots . 21 2.3.7 Summary . 22 2.3.8 Terminology . 22 2.3.9 Exercises . 22 2.4 The Color Panel . 23 2.4.1 Summary . 24 2.4.2 Terminology . 24 2.4.3 Exercises . 24 3 Getting Started With Programming Linkbots 25 3.1 Get Started with Ch for Computer Programming . 25 3.1.1 Getting Started with ChIDE . 25 3.1.2 Copy Code in Curriculum . 26 3.1.3 The First Ch Program . 26 3.1.4 Opening Programs in ChIDE from Windows Explorer . 28 3.1.5 Editing Programs . 29 3.1.6 Running Programs and Stopping Their Execution . 29 3.1.7 Output from Execution of Programs . 29 3.1.8 Newline Character . 30 3.1.9 Copying a Program to Another Program in C-STEM Studio . 30 3.1.10 Correcting Errors in Programs . 32 3.1.11 Summary . 32 3.1.12 Terminology . 33 3.1.13 Exercises . 33 iii 3.2 Drive Forward and Backward by Angle Relative to its Current Joint Position . 34 3.2.1 Summary . 35 3.2.2 Terminology . 36 3.2.3 Exercises . 36 3.3 Monitor Joint Angles Using the Robot Control Panel in Debug Mode . 36 3.3.1 Summary . 36 3.3.2 Terminology . 38 3.3.3 Exercises . 38 3.4 Drive a Distance for a Two-Wheel Robot . 38 3.4.1 Summary . 39 3.4.2 Terminology . 39 3.4.3 Exercises . 39 3.5 Set the LED Color . 39 3.5.1 Summary . 40 3.5.2 Terminology . 40 3.5.3 Exercises . 41 3.6 Play Melody . 41 3.6.1 Summary . ..