OPEN-ROBOT: Wireless (802.11b/g) or ZigBee™ Open-Source RFID Mobile Robot

**OPEN-ROBOTs Featured in January 2009 Issue of Servo Magazine**

The first three above images show fully assembled OPEN-ROBOTs with a MatchPort® b/g WiFi module, the fourth with an XBee® ZigBee™ module and the fifth with an SRV1 Blackfin-based Camera board from Surveyor Corp stacked on top of a MatchPort b/g (These items must be purchased separately). For a fully functioning robot you must purchase either (1) MatchPort b/g or (2) XBee wireless modules and (1) XBee Explorer USB. At this time, I have decided to stock the MatchPort b/g module, rubber antenna, and UFL to SMA antenna cable and sell these items in a MatchPort Kit. However, I do not stock the XBee modules.  Contact us if you are interested in the OPEN-ROBOT kit and/or have questions. Please browse through the OPEN-ROBOT Manual because OPEN-ROBOT kits require soldering and mechanical assembly. Approximate assembly time is 3 hours, but depends heavily upon soldering and mechanical assembly experience.

OPEN-ROBOT Kit contains the basic unassembled robot. The RFID Kit can always be added at a later date.

Unassembled OPEN-ROBOT Kit $125.00 + Shipping (Excludes required wireless module. Robot body color may vary)

OPEN-ROBOT Kit + RFID Kit contains the basic unassembled robot plus the RFID kit..

Unassembled OPEN-ROBOT Kit + RFID Kit $140.00 + Shipping (Excludes required wireless module. Robot body color may vary)

MatchPort Kit contains (1)-MatchPort b/g configured to work with OPEN-ROBOT, (1)-Antenna, and (1)-UFL to SMA Antenna Cable. (Required for a fully functioning robot)

MatchPort Kit $95.00 + Shipping

OPEN-ROBOT Assembly Service. When added to a robot purchase, this service covers full assembly and testing of your OPEN-ROBOT prior to shipping, so you only have to add batteries once it arrives. Each robot will be hand assembled and adding this service will delay shipping.

Assembly Service for (1) OPEN-ROBOT Kit $50.00 (Requires the purchase of (1) OPEN-ROBOT Kit.)

**NOTE: Only unassembled kits can be returned for a full refund within 30 days (shipping fees excluded). If we assembled your kit then it can also be returned within 30 days (shipping fees excluded).

Specifications:

Overall dimensions - 4.50" wide x 5.75" long x 3.50" high.

Powered by 6-AA alkaline or rechargeable batteries.

Included with Unassembled OPEN-ROBOT Kit:

(1)-Custom PIC18F4520 based controller board with integrated H-Bridge chip. Unique serial-based boot-loadable firmware (upgradeable & modifiable) resides in PIC18F4520. Firmware provides a simple serial-based command set for controlling OPEN-ROBOT across a wireless connection.

(2)-GM8 gear motors and wheels.

(1)-Custom Wireless communication board (must purchase suitable wireless module).

(2)-Front facing Sharp GP2D120 Infrared range sensors for accurate obstacle detection (upgradeable to five).

(2)-Cadmium sulfide light sensors for detecting ambient light conditions.

(1)-Battery voltage monitoring system. Can be used to detect when batteries need replacing or charging.

Programming header for PIC18F4520. Connection point for optional In-Circuit Programmer/Debugger (ICD).

Free C# GUI Software and C# Class Library (Requires Microsoft's® Visual C# 2005 Express Edition) or Free Java GUI Software

Free Mechanical/Electrical Design files (Requires Alibre or suitable CAD and free ExpressPCB software)

What is Unique About OPEN-ROBOT?:

All OPEN-ROBOT documentation, related software, PCB design files, and mechanical design files are provided free of charge. You can modify/redesign your Open-Robot or simply use these components to build a custom robot of your own. A lot of research time and money went into developing the mechanical/electrical hardware and software for this robot, so in return we do ask that you give us the appropriate credit if you use our designs and/or software. Open-Robot is a fully autonomous mobile robot with integrated wireless and the ability to read and write passive Radio Frequency Identification (RFID) tags (must purchase RFID Kit). You can choose to use either the MatchPort b/g WiFi module or a suitable XBee ZigBee module to wirelessly control your robot. However, we recommend using the MatchPort b/g if you plan to add the SRV-1 Camera board. Wirelessly control your robot from a desktop or laptop computer using our free Windows® based Manual Control Program. Write your own high-level control code using Microsoft's® free Visual C# 2005 Express Edition and our easy to use C# Class Library that encapsulates all of Open-Robot's functionality or use Java, NetBeans and our free Open-Robot java GUI as a staring point for your own custom application. This way you can get your robot to do something cool right out of the box. We recommend using (6)-NiMH rechargeable AA batteries to provide OPEN-ROBOT with approximately 2-3 hours of run-time.

Optional Accessories (Must be purchased separately, but not required for a functioning robot):

This connector will provide your OPEN-ROBOT with a connection point for the SRV-1 Blackfin Camera board by Surveyor Corp.

OPEN-ROBOT 32-PIN SRV-1 Connector $5.00 + Shipping

This kit includes (1)-GP2D120 sensor and the necessary mounting hardware and cable. OPEN-ROBOT supports a total of (5)-GP2D120s.

OPEN-ROBOT GP2D120 Sensor & Mounting Kit $15.00 + Shipping

This kit includes (1)-RFID module, (1)-RFID tag, (1)-RFID antenna and cable. Get this kit if you purchased your OPEN-ROBOT without the RFID kit.

OPEN-ROBOT RFID Kit $20.00 + Shipping

(1)-125KHz OPEN-ROBOT RFID Tag. Purchase this tag to use with your OPEN-ROBOT. Request a quote for quantities of 10 or more.

OPEN-ROBOT RFID Tag $3.95 + Shipping

SRV-1 Blackfin Camera Board can be purchased separately and stacked on top of the MatchPort-802.11b/g PCB. You will need to purchase the 32-PIN SRV-1 Connector above. Here is a video from the SRV-1 Camera while Open-Robot drives down a hallway.

Low-Cost WW-02 wheel encoders can be purchased separately and installed. Proportional-Integral-Derivative (PID) position and velocity control is supported in the PIC18F4520 firmware when WW-02 encoders are installed.

CCS C Compiler for PIC18F4520 can be purchased separately. This compiler will allow you to modify the PIC18F4520 firmware or create your own programs. If you are a student or educator be sure to get the educational version since it is significantly discounted.

CCS In-Circuit Programmer/Debugger (ICD) can be purchased separately and used in conjunction with the CCS C Compiler. This will allow you to quickly program the PIC18F4520, but also perform invaluable in-circuit debugging.

Related Documents:

OPEN-ROBOT Parts List/Pricing (~133 KB). This document lists all OPEN-ROBOT parts with part#'s and where to buy.

About OPEN-ROBOT (~1.2 MB). This document will introduce you to OPEN-ROBOT and its flexibility across the educational spectrum.

OPEN-ROBOT Manual, 1/02/09 (~20 MB). This comprehensive document will lead you through the OPEN-ROBOT assembly process. It also contains several procedures to help you configure your MatchPort b/g or XBee modules along with software, firmware, and other important information. Always check back here for the latest version by date.

OPEN-ROBOT Experiments (~ 100 KB). This document discusses several experiments that can be executed using OPEN-ROBOT.

Add WW-02 Wheel Encoders (~2.2 MB). This document explains the process of adding WW-02 Wheel Encoders to your OPEN-ROBOT.

SRV1 Camera Board Firmware (modified for OPEN-ROBOT)

How to upload SRV1 modified firmware(~280 KB). This document will explain how to upload SRV1 firmware that has been modified to accept OPEN-ROBOT commands.

SRV1 Modified Firmware(~96 KB). This zip file contains three different compiled SRV1 firmware files. The differences have to do with the baud rate: 115k, 921k, and 2500k. The firmware has been modified so that the SRV1 firmware recognizes a pass-through character, '~'. Upon recognizing this character, the SRV1 firmware then proceeds to send all remaining characters to OPEN-ROBOT and stops once a line return character, '\r', is seen. One additional modification allows you to upload new OPEN-ROBOT firmware while the SRV1 Camera is connected to your robot.

SRV1 Modified Firmware Source-Code(~1.55 MB). This zip file contains the SRV1 modified firmware source-code. This modified firmware is based off of a 10-19-08 build from Surveyor Corp.

PIC18F4520 Firmware: (Requires a suitable CCS C Compiler for Modifications)

OPEN-ROBOT Controller Board PIC18F4520 Firmware V3 (~30 KB). This is the source code to the firmware that's pre-programmed into your Open-Robot's PIC18F4520 microcontroller. It's modifiable if you have access to a CCS C Compiler. You may want to purchase an In-Circuit Programmer/Debugger even though it's not required for uploading new programs or firmware since the PIC18F4520 is pre-loaded with a boot-loader. The preprogrammed boot-loader allows you to upload new firmware versions or your own code across the 802.11b/g wireless connection. To request older versions please contact us.

MatchPort b/g TCP/Sockets JAVA Software: (Runs on Mac OS/X, Windows® , Linux)

OPEN-ROBOT TCP Java Manual Control Center distribution files (~ 202 KB). This application is written using Java and the NetBeans IDE. If you want to modify the source-code then go right ahead. To run the application you must have the latest Java SE Runtime Environment (JRE) installed. To modify the source-code you will need to install the NetBeans IDE. I wrote this application under OS/X and have performed some limited testing under Windows® XP.

MatchPort b/g TCP/Sockets C# Software: (Requires Microsoft Windows®  .NET 2.0 or greater)

Open-Robot TCP Manual Control Center Installer (~250 KB). This application provides a graphical user interface for your MatchPort b/g equipped robot. This was written using Microsoft's® Visual C# 2005 Express Edition. Download the source code (~1 MB) for the Open-Robot TCP Manual Control Center if you want to see how to use the Open-Robot Functions Class Library.

Open-Robot TCP Function Class Library (~28 KB). This class was written using Microsoft's® Visual C# 2005 Express Edition. Click here for the Compiled Html Help File for this class library. Download Visual C# Express Edition and you'll be able to create your own Open-Robot control software quickly, easily, and freely! Download the source code (~210 KB) for the Open-Robot TCP Functions Class Library if you want to see how it works or make your own changes.

How to Use OPEN-ROBOT TCP Functions Class Library (~763 KB). This document explains how to use the OPEN_ROBOT_TCP_Class_Library. You can download the corresponding Visual C# Express 2005 Project source code from here (~53 KB).

OPEN-ROBOT TCP Behavior Control Software Installer (~233 KB). This application provides a graphical user interface for your MatchPort b/g equipped robot. Use this program to wirelessly control your robot with custom created behaviors, i.e. obstacle avoidance, run away, light track, light avoid, or object track. Take a look at the source-code (~537 KB) to get an idea for a program of your own or better yet modify it and add your own functionality. Please read the user manual for the TCP Behavior Control program.

XBee ZigBee C# Software: (Requires Microsoft Windows® .NET 2.0 or greater)

Open-Robot ZigBee Manual Control Center Installer (~240 KB). This application provides a graphical user interface for your XBee ZigBee equipped robot. This was written using Microsoft's® Visual C# 2005 Express Edition. Download the source code (~1 MB) for the Open-Robot ZigBee Manual Control Center if you want to see how to use the Open-Robot ZigBee Functions Class Library.

Open-Robot ZigBee Functions Class Library (~28 KB). This class was written using Microsoft's® Visual C# 2005 Express Edition. Click here for the Compiled Html Help File for this class library. Download Visual C# Express Edition and you'll be able to create your own Open-Robot control software quickly, easily, and freely! Download the source code (~180 KB) for the Open-Robot ZigBee Functions Class Library if you want to see how it works or make your own changes.

Mechanical Drawings:

Open-Robot was designed using Alibre Design 9.0. Alibre Design is economical, but yet contains numerous features that are typically found in more expensive 3D CAD software. If you don't have access to Alibre Design then simply use the following exported ACIS R13 files: MatchPort b/g or XBee.

Open-Robot Model Alibre Design Model files. The OPEN-ROBOT Alibre design files are contained within this download.

Printed Circuit Board (PCB) Files:

All Open-Robot PCBs were designed using the Express PCB Software. The ProtoPro service is an economical way to prototype new board designs. 

Open-Robot Controller board ExpressPCB file. Here is the ExpressPCB schematic file and the corresponding PDF.

OPEN-ROBOT PIC18F4520 I/O Allocation.

Open-Robot MatchPort/XBee/SRV-1 board ExpressPCB file. Here is the ExpressPCB schematic file and the corresponding PDF.

Open-Robot Original XBee board (this board is OBSOLETE and only supports the XBee module) ExpressPCB file.