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Spark V Exp

This document is a lab manual for experiments with the SPARK-V robotics platform. It introduces the SPARK-V robot and its components. The SPARK-V uses an ATMEGA16 microcontroller and has sensors like line sensors, IR proximity sensors, and light intensity sensors. It also has actuators like DC motors and indicators like an LCD screen. The document describes the robot's architecture, programming, power system, and software support. It outlines an experiment to study the SPARK-V platform and understand its components, how robotics differs from embedded systems, and the role of intelligence in robots.

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yogesh
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87 views

Spark V Exp

This document is a lab manual for experiments with the SPARK-V robotics platform. It introduces the SPARK-V robot and its components. The SPARK-V uses an ATMEGA16 microcontroller and has sensors like line sensors, IR proximity sensors, and light intensity sensors. It also has actuators like DC motors and indicators like an LCD screen. The document describes the robot's architecture, programming, power system, and software support. It outlines an experiment to study the SPARK-V platform and understand its components, how robotics differs from embedded systems, and the role of intelligence in robots.

Uploaded by

yogesh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lab Manual on Embedded System in Robotics 1-1

SHRI VAISHNAV VIDYAPEETH VISHVAVIDYALAYA, INDORE


Shri Vaishnav Institute of Technology & Science
Discipline: Electronics & Communication Engineering No. of Pages: 05
Name: Roll Number: Batch:
Subject Code: BTEC-714 Subject Name: Embedded System in Robotics
Details of Submissions & Performance
Performing on First Submission Second submission
Regular turn Extra turn

Remarks and Grade by tutor:

Cross the Grade Exc VG G Fr M F Signature

Experiment No. 1

1.1. AIM

To study of SPARK-V.

1.2. OBJECTIVES

1.2.1. To understanding the various components of Robotics.


1.2.2. To understand the architecture of ATMEGA16A
1.2.3. Study of various sensor and actuators on SPARK-V

1.3. PRE-REQUISITES

1.3.1. Register organization and architecture of the ATMEGA16A.


1.3.2. Basics of embedded C

1.4. APPARATUS REQUIRED

1.4.1. SPARK-V
1.4.2. AC adaptor with exact 12VDC with 1Amp. current rating for battery charging.
1.4.3. 6 NiMH rechargeable batteries.
1.4.4. USB Cable

Department of Electrical & Electronics Engineering


Lab Manual on Embedded System in Robotics 1-2

1.5. THEORY

1.5.1. Introduction
Spark V is a low cost robot designed for robotics hobbyists and enthusiasts. It is jointly
designed by NEX Robotics with Department of Computer Science and Engineering, IIT
Bombay. Spark V will help you get acquainted with the world of robotics and embedded
systems. Thanks to its innovative architecture and adoption of the ‘Open Source Philosophy’
in its software and hardware design, you will be able to create and contribute to, complex
applications that run on this platform, helping you acquire expertise as you spend more time
with them.

1.5.2. SPARK-V ATMEGA16


Spark V robot is based on ATMEGA16 microcontroller. It has 3 analog white line sensors, 3
analog IR Proximity sensors, 3 directional light intensity sensors and Battery voltage sensing.
Robot has support for 3 MaxBotix EZ series ultrasonic range sensors. It also has support for
the servo mounted sensor pod which can be used to make 180 degrees scan for the map
making. Robot can be powered by 6 AA size rechargeable Ni-MH batteries. Robot has built-
in Smart Battery Controller which charges the battery in intelligent way and also monitors the
battery charge level when robot is in operation. Robot has on-board FT232 based true USB to
serial TTL converter. Robot programming is done using NEX Robotics Bootloader via USB
port. There is no need to use external programmer. Robot has 2x16 alphanumeric LCD, Lots
of LED indicators and Buzzer etc. for quick debugging. Robot has on-board socket for XBee
wireless module for Multi robot and robot to PC communication. Robot has two low power
60 RPM DC geared motors which are powered by L293D motor driver with the top speed of
66cm/second.

Department of Electrical & Electronics Engineering


Lab Manual on Embedded System in Robotics 1-3

Figure 1.1 SPARK V Robot

1.5.3. SPARK-V ATMEGA16

Figure 1.2 Spark V ATMEGA16 robot block diagram

SPARK V ATMEGA16 technical specification


Microcontroller:
ATMEL ATMEGA16

Programming:
Using NEX Robotics Boot loader via USB port (no need of separate
programmer)

Sensors:
Three white line sensors
Three IR proximity sensors
Three directional light intensity sensors
Two Position Encoders (optional)
MaxBotix EZ series ultrasonic range sensors (optional)
Servo mounted Ultrasonic Range Sensor (optional)
Battery voltage sensing

Indicators:
2 x 16 Characters LCD
Indicator LEDs
Buzzer
Battery low indication

Locomotion:
Two 60 RPM DC geared motors and caster wheel as support
Built-in clutch for protection of the motors from non continuous wheel stalling.
Top Speed: 66cm/second

Operational Modes:

Department of Electrical & Electronics Engineering


Lab Manual on Embedded System in Robotics 1-4

Standalone (Autonomous Control)


PC as master and robot as slave
Distributed (multi robot communication)

Communication:
USB Communication using FT232 USB to Serial Converter
Simplex infrared communication (From infrared remote to robot)
ZigBee (IEEE 802.15.4) (Wireless) (Robots to Robots and Robots to PCs )(Optional)
Dimensions:
Diameter: 15cm
Height: 7cm

Power:
6 AA size NiMH rechargeable batteries (Batteries not included)
Onboard Smart Battery Controller charges the battery in intelligent way and also monitors the
battery charge level when robot is in operation.

Locomotion:
Two 60 RPM DC geared motors and caster wheel as support
Built-in clutch protection for the motors from non continuous stalling of the wheel
Top Speed: 66cm/second

Optional Accessories:
Servo mounted Ultrasonic range sensor for 180 degree scan
Servo mounted directional light intensity sensor for 180 degree scan
Two position encoders
MaxBotix EZ series ultrasonic range sensors
XBee wireless module

Software Support:
GUI Based control, AVR studio, WINAVR

1.5.4. Using SPARK V Robot


In this experiment, various components of the robot and their principal of operations are
explained in detail. It is very important that user go through manual before starting to use
robot.
Spark V robot has 6 important modules:
1. Power management
2. Sensing
3. Actuation (locomotion)
4. Other peripherals
5. Communication
6. Intelligence (microcontroller)

Department of Electrical & Electronics Engineering


Lab Manual on Embedded System in Robotics 1-5

1.6. Questions to be answered by the students after completion of this experiment (in
own handwriting)

Q1. What are the major components of a robot?


Q2. How robotics is different from embedded system?
Q3. What do you understand by intelligence in a robot?

1.7. Students should submit in their own handwriting.

1.7.1. Answers to the questionnaire.

REFERENCES

[1]. SPARK-V Hardware Manual, NEX Robotics PVT LTD India.

Department of Electrical & Electronics Engineering

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