Arduino机器人制作指南

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"Arduino.Robotics(2011)" 是一本开源硬件平台教程，主要关注使用Arduino进行机器人制作。本书适合对Arduino和机器人技术感兴趣的读者，内容涵盖多个层次，从基础到高级，包括适用于中学生到成人的项目。书中通过实例介绍了Arduino编程语言（类似于C++）以及如何利用它来构建各种有趣的机器人。正文: 这本书深入浅出地介绍了Arduino在机器人领域的应用，无论你是初学者还是有经验的爱好者，都能从中受益。首先，"Chapter1: Introducing Oracle APEX" 引入了Oracle APEX这一开发工具，尽管书名中提及的是Arduino，但这个章节可能是关于如何将Oracle APEX与Arduino集成，用于数据处理或远程控制。 "Chapter2: ArduinoforRobotics"是入门章节，详细讲解了Arduino的基础知识，包括硬件组件、开发环境的设置、编程基础以及如何连接和控制外部设备。这些基础知识对于后续的机器人项目至关重要。 "Chapter3: Let’s Get Moving"至"Chapter12: The Battle-Bot"是实践部分，每章都围绕一个具体的机器人项目展开，例如"Chapter4: Linusthe Line-Bot"是关于循线机器人的制作，"Chapter5: Wally the Wall-Bot"涉及壁障机器人，"Chapter9: RoboBoat"介绍水上机器人，而"Chapter11: The Seg-Bot"则聚焦于类Segway平衡车的实现。这些章节通过实例详细阐述了从设计、搭建到编程的全过程，让读者能够亲手打造属于自己的机器人。 "Chapter6: Making PCBs"专门讨论了印刷电路板（PCB）的设计与制作，这对于提升机器人的专业性和可靠性至关重要。而"Chapter13: Alternate Control"则探讨了除了基本控制方式之外的其他控制方法，可能涉及无线通信或传感器技术的应用。在每个章节的末尾，作者还提供了索引和参考书目，方便读者进一步研究和深入学习相关主题。此外，书中还有作者、技术审阅者和致谢的部分，展示了团队合作和专业知识的积累。总结来说，《Arduino.Robotics(2011)》是一本全面的教程，不仅教授Arduino编程，还涵盖了机器人设计与制造的各个方面，适合那些希望将理论知识转化为实际动手能力的读者。通过本书，你可以掌握从简单到复杂的机器人制作技巧，并开启自己的创新之旅。

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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Damy1314

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