Arduino机器人实战：从入门到精通

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"Arduino Robotics 2011 是一本英文原版图书，专注于使用Arduino进行机器人开发的实战指南。书中涵盖了从基础到高级的各种项目，适合对Arduino和机器人技术感兴趣的读者，包括学生和成年人。" 在本书中，作者深入浅出地介绍了Arduino这一开源电子平台在机器人领域的应用。Arduino是硬件和软件的结合，它允许用户通过简单的编程语言控制各种电子元件，从而实现自动化和智能化的功能，非常适合初学者和爱好者进行创新项目。第一章"Introducing Oracle APEX"可能会让读者有些困惑，因为标题与Arduino或机器人技术不直接相关。通常情况下，Oracle APEX是Oracle数据库的一个Web应用程序开发工具，这可能是印刷错误或者目录的混杂，实际内容应该是关于Arduino的基础知识。第二章"ArduinoforRobotics"是书的核心，介绍了Arduino在机器人制作中的基本概念和应用。读者将学习如何选择合适的Arduino板、安装必要的软件、编写基本程序以及连接传感器和执行器。第三章"Let’sGetMoving"带领读者进入实际操作，教授如何使机器人移动，可能涵盖了马达控制、运动规划和反馈系统等主题。第四至第十二章分别介绍了不同的机器人项目，如"LinustheLine-Bot"（直线追踪机器人）、"WallytheWall-Bot"（壁障机器人）、"MakingPCBs"（制作印刷电路板）、"TheBug-Bot"（仿生机器人）、"Explorer-Bot"（探索机器人）、"RoboBoat"（机器人船）、"Lawn-Bot"（割草机器人）、"TheSeg-Bot"（ segway 类型的平衡机器人）和"TheBattle-Bot"（战斗机器人）。每个项目都提供了详细的步骤和指导，帮助读者构建和编程自己的机器人。第十三章"AlternateControl"探讨了除了直接编程之外的其他控制方法，可能包括远程控制、无线通信和人工智能应用。最后，索引部分方便读者快速查找特定的主题和技术，而作者、技术审阅者和致谢章节则提供了对书籍创作背景的了解。这本书通过一系列实践性强的项目，旨在培养读者的创新思维和动手能力，无论年龄大小，只要有兴趣，都可以从中学习到丰富的Arduino机器人知识。通过这些项目，读者不仅可以掌握Arduino编程，还能了解机械结构、传感器应用、控制系统设计等多个方面的工程知识。

CHAPTER 1  THE BASICS

V = I * R

I = V / R

I = 12v / 1000 ohm

I = 0.012 amps or 12 milliamps

Now we use the amperage to calculate the total power (heat):

P = I ² * R

P = (0.012 amps * 0.012 amps) * 1000 ohms

P = 0.144 watts

The total power is calculated as 0.144 watts, which means we should use a resistor with a power

rating greater than .144w. Because common resistor values are usually 1/8w (0.125w), 1/4w (0.25w),

1/2w (0.5w), and so on, we should use a resistor with a power rating of at least 1/4w (a common size) and

still safely dissipate 0.144w of power. Using a 1/2w resistor will not hurt anything if you can fit the larger

size into the circuit–it will simply transfer heat more easily than a 1/4w resistor with the same resistance

value.

Now you should be able to figure out if your resistors have an appropriate power rating for your

application. Let’s talk about the different types of load components.

Oscilloscope

Although the multi-meter is great for measuring the voltage, resistance, and amperage, it is sometimes

helpful to be able to see exactly what is going on in an electrical signal. There is another device that is

designed to analyze electrical signals, called an “oscilloscope.” The oscilloscope can detect repeated

patterns or oscillations in an electrical signal, and display the wave-form of the signal on the screen of

the device. It is effectively a microscope for electrical signals. These machines have been expensive

($500-$5000) until recently—some hobby grade oscilloscopes have entered the market for under $100.

The open-source DSO Nano (see Figure 1-8) digital oscilloscope built by Seeedstudio.com and also

sold (in the United States) through Sparkfun.com (part #TOL-10244). I have had this oscilloscope for

about a year and use it frequently because it is easy to use and about the size/weight of a cell-phone, all

for about $89. It contains a rechargeable lithium battery and can be charged through a mini USB cable. It

also has a memory card slot available for storing readings to view later on a PC.

CHAPTER 1  THE BASICS

Figure 1-8. The DSO Nano from SeeedStudio.com (and sold through Sparkfun.com) is an excellent choice

for an inexpensive ($89), but full-featured, digital pocket oscilloscope.

Although an oscilloscope is an invaluable tool to have when diagnosing electronic signals, it is not

necessary to have for the projects in this book. You can get by with readings from a simple multi-meter.

There are also other budget oscilloscope options available, including a DIY kit from Sparkfun.com for

around $60 (part #KIT-09484).

Loads

The “load” in a circuit refers to a device in the circuit that uses the electricity. There are many different

examples of a load from a DC motor to an LED or a heater coil, and each will create a different reaction

in the circuit. For instance, a heater coil (found in a hair dryer or space heater) is simply a coiled resistive

wire made from a metal that can become glowing red when it is hot, but it does not melt. Whereas an

electric motor uses electricity to energize an electro-magnetic field around a coil of wire, causing the

motor shaft to physically move. There are two types of loads on which we focus: inductive and resistive.

Inductive Loads

If you apply power to a device and it creates moving energy, it is likely an inductive load–this includes

motors, relays, and solenoids. Inductive loads create an electro-magnetic field when energized and

usually take some time to deenergize after the power is disconnected. When the power is disconnected

using a switch, the magnetic field collapses and dumps the remaining current back to the power

terminals. This phenomenon is called Back-EMF (Electro-Motive Force) and it can damage the

switching components in a circuit if they are not protected by rectifying diodes.

Resistive Loads

A resistive load uses electrical current to produce light or some other form of heat, rather than

mechanical movement. This includes LEDs, heater elements, lightbulb filaments, welding machines,

soldering irons, and many others. Resistive loads use a constant amount of electricity because their load

is not affected by external influence.

CHAPTER 1  THE BASICS

switch (called a relay) does not qualify as an electronic device, because it uses electricity to generate a

mechanical motion used to activate the switch.

The electronic switch forgoes the mechanical switching action by using an electrical reaction within

the device, thus there are no moving parts. Without a physical movement, these devices can be switched

extremely fast and with much greater reliability. The substances that these switches are made from

conduct electricity only under certain circumstances—usually a specific voltage or current level must be

present at the input and output of the device to open or close it. When the device is turned on, it

conducts electricity with a specified amount of resistance. When the device is turned off, it does not

conduct electricity and instead acts as an insulator. This type of electronic component is called a “semi-

conductor” because it can become a conductor or insulator depending on the electrical conditions.

Semi-Conductors

The use of semi-conductors in place of mechanical switches is what makes a circuit “electronic,”

because they enable electrical signals to be switched at extremely high speeds, which is not possible with

mechanical circuits. There are many different semi-conductors, and we discuss a few important types

that are used in most of our circuits.

• Diode: Like a one-way valve for electrical current, this device enables only

electrical current to pass through it in one direction–extremely useful by itself, but

also the basis for all solid state electronics.

• Light Emitting Diode (LED): This type of diode emits a small amount of light when

electrical current passes through it.

• Light Dependent Resistor (LDR): This type of semi-conductor has a changing

resistance, depending on the amount of light present.

• Bipolar Junction Transistor (BJT: This is a current-driven electronic switch used for

its fast switching properties.

• Metal-Oxide Semiconductor Field-Effect Transistor (moset): This is a voltage-driven

electronic switch used for its fast switching properties, low resistance, and

capability to be operated in a parallel circuit. These are the basis for most power

amplifier circuits.

These devices all have multiple layers of positively and negatively charged silicon attached to a chip

with conductive metal leads exposed for soldering into the circuit. Some transistors and mosfets have

built-in diodes to protect them from reverse voltages and Back-EMF, so it is always a good idea to review

the datasheet of the part you are using.

Datasheets

Each device should have its own datasheet that can be obtained from the manufacturer–usually by

downloading from its website. The datasheet has all of the important electrical information about the

device. The upper limits, usually called “Absolute Maximum Ratings,” show you at what point the device

will fail (see Figure 1-12). The lower limits (if applicable) tell you at what level the device will no longer

respond to inputs–these usually will not hurt the device, it just won’t work.

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navy_koo

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