Pitsco PRIZM Istruzioni operative

43212

TETRIX® PRIZM™ Robotics Controller

Programming Guide

Content advising by Paul Uttley, Pamela Scifers, Tim Lankford, Nevin Jones, and Bill Holden.

Build creation and SolidWorks® Composer™ and KeyShot® renderings by Tim Lankford, Brian Eckelberry, and Jason Redd.

Desktop publishing by Todd McGeorge.

restricting their use, copying, and distribution. No part of this product or related documentation may be reproduced in any

form by any means without prior written authorization of Pitsco, Inc.

All other product names mentioned herein might be the trademarks of their respective owners.

Check TETRIXrobotics.com for PDF updates of this guide.

V1.0

10/16

Table of Contents

TETRIX® PRIZM™ Robotics Controller Introduction.................................................................................2

PRIZM Controller Technology Overview..................................................................................................................3

PRIZM Setup.....................................................................................................................................................................................................5

Software Overview.................................................................................................................................................................................8

Software Setup.............................................................................................................................................................................................9

Getting Started Activities

Activity 1: Hello World!...........................................................................................................................................................................15

Activity 2: Moving Your DC Motors...................................................................................................................................................19

Activity 3: Moving Your Servo Motors.............................................................................................................................................22

Activity 4: Introduction to the Line Finder Sensor.....................................................................................................................25

Activity 5: Introduction to the Ultrasonic Sensor .......................................................................................................................29

Building and Coding the PRIZM TaskBot

Hardware Overview ................................................................................................................................................................................36

Activity 6: Build the TaskBot ................................................................................................................................................................51

Activity 7: Drive Forward.......................................................................................................................................................................84

Activity 8: Drive in a Circle....................................................................................................................................................................87

Activity 9: Drive in a Square.................................................................................................................................................................90

Activity 10: Simplify the Square.........................................................................................................................................................93

Building Interlude: Make the TaskBot Smart!...............................................................................................................................96

Activity 11: Drive to a Line and Stop............................................................................................................................................. 102

Activity 12: Follow a Line ................................................................................................................................................................... 105

Activity 13: Drive Toward a Wall and Stop.................................................................................................................................. 108

Activity 14: Avoiding Obstacles ...................................................................................................................................................... 111

Building Interlude: Give the TaskBot Attitude! ......................................................................................................................... 114

Activity 15: Combining the Sensors.............................................................................................................................................. 120

Build, Code, Test, Learn . . . Go! ........................................................................................................................................................ 123

Appendix

TETRIX PRIZM Robotics Controller Technical Specifications............................................................................................... 124

PRIZM Controller Component Overview and Pinout Diagrams ....................................................................................... 126

TETRIX PRIZM Arduino Library Functions................................................................................................................................... 133

TETRIX PRIZM Arduino Library Functions Chart ...................................................................................................................... 146

TETRIX PRIZM Arduino Library Functions Cheat Sheet......................................................................................................... 153

TETRIX PRIZM Sample Code Library.............................................................................................................................................. 154

Welcome, Coders, Roboticists,

Engineers, Students, Teachers,

Mentors, and Coaches,

Happy coding,

building, problem

solving, engineering,

and collaborating!

Pitsco Education is pleased to bring you the TETRIX® PRIZM™ Robotics Controller Programming Guide –

an exciting and progressive series of activities that teaches the essentials of learning to program your

TETRIX MAX creations using the PRIZM controller and the Arduino Software (IDE).

This programming guide offers a valuable tool for teaching students and teachers how to use the

PRIZM controller (the brain) and the TETRIX MAX system to build and code smart, precise robots that

are as real-world as it gets. The guide comes with five getting started activities, step-by-step building

instructions for creating a TaskBot, 10 complete TaskBot-oriented lessons, and Hacking the Code

extension activities, making it a great tool for exploring the functionality of the PRIZM controller,

TETRIX hardware components, and Arduino Software (IDE) and offering students a great foundation to

build on.

By combining the plug-and-play PRIZM controller with the intuitive MAX building system and an easy-

to-use, text-based software environment, this solution offers a great entry into teaching and learning

through robotics. The progressive nature of the activities enables robotic creations to come to life

quickly and easily, meaning students can experience instant success and focus more classroom time

on problem solving and applying their STEM knowledge.

Plus, PRIZM is not just a great tool for teaching programming. It can bring to life lessons on sensors,

power, gear ratios, and more. Even the controller’s clear polycarbonate shield was designed to

maximize educational value – letting users see the inner architecture of the controller.

We have also included some STEM Extensions (concepts beyond the scope of this guide) that can

be covered in each lesson if you choose to do so. These extensions can be incorporated if you have

content knowledge of these concepts or if you can work with other teachers to integrate these

concepts.

We hope this guide offers a great jumping-off point to learning with PRIZM. We cannot wait to see the

innovative projects and robotic creations that result.

2Getting Started

PRIZM Controller Technology Overview

PRIZM Robotics Controller:

A programmable device that is the brain of a TETRIX MAX robot.

6 standard control servo ports

2 quadrature

encoder input ports

Battery connection port

2 DC motor

control

ports

Start

button

Stop/Reset

button

1 motor controller

expansion port

USB

programming

port

1 I2C port

4 digital sensor ports

3 analog

sensor ports

2 continuous

rotation

servo ports

For complete, detailed specifications, please refer to the TETRIX PRIZM Robotics

Controller Technical Specifications located in the appendix on page 124.

Getting Started 3

Ultrasonic Sensor:

Enables a robot to measure

distance to an object and

respond to movement

DC Motor:

12-volt DC motor that

features 152 rpm and

320 oz-in. of torque

Standard Servo Motor:

Allows for exact

positioning within a

180-degree range of

motion

Motor Shaft Encoder:

Allows you to program the DC motors using both rotation

and degrees. Please note: The TETRIX Motor Shaft Encoder

Pack does not come as part of the robotics set and requires an

additional purchase.

Line Finder Sensor:

Enables a robot to follow

a black line on a white

background or vice versa

Powerpole Motor Cable:

Connects the DC Motor to

the power source

Continuous Rotation

Servo Motor:

Allows for continuous

direction of movement,

both forward and backward

Sensor:

A device that detects and responds to surrounding environmental factors

Motor:

A machine that produces motion or power for completing work

Encoder:

A sensing device that converts motion to an electrical signal that is read by the PRIZM controller to determine position,

count, speed, or direction of the TETRIX DC Motors

4Getting Started

Attaching the Sensors:

To connect a sensor to the PRIZM, plug one

end of the sensor adapter wire into the

sensor. Plug the other end into ports labeled

D2-D5 or A1-A3.

Attaching the DC Motors:

To connect a DC motor to the PRIZM, attach

the white end of the Powerpole connector

to the motor and plug the mating colored

connectors into one of the two motor

ports. Connectors should be plugged in

RED to RED and BLACK to BLACK for proper

operation.

Attaching the Servo Motors:

To connect a standard servo motor to the

PRIZM, plug one end of the servo wire into

servo ports 1-6. To connect a continuous

rotation servo motor to the PRIZM, plug one

end of the servo wire into servo ports labeled

CR1 or CR2.

PRIZM™ Setup

Getting Started 5

Warning: Do not attempt to use third-party battery packs with the PRIZM

controller. The TETRIX battery packs are equipped with a safety fuse and are

the only packs approved for use with the system. Damage to the product as a

result of doing so will void your warranty.

Downloading and Uploading:

The PRIZM USB port is used for

communication between PRIZM and a

Windows, Mac, or Linux device.

The port enables users to download and

upload data from the computer to the PRIZM

controller.

To upload a program to the PRIZM, plug

the B Connector of the USB cable into the

controller’s USB labeled port and plug the A

Connector into your device.

Powering the PRIZM:

The PRIZM controller is powered by a

TETRIX 12-Volt Rechargeable NiMH Battery

Pack.

Included with the PRIZM controller is an

on/off power switch assembly designed to

connect the battery pack connector to the

PRIZM-style Powerpole battery connection

port.

Instructions for assembling the battery and

on/off kit are included in the Building the

TaskBot activity in this guide.

6Getting Started

Attaching the Battery to the PRIZM:

To connect the battery pack to the PRIZM,

plug the colored battery connectors into

one of the two battery ports located on the

controller. Connectors should be plugged

RED to RED and BLACK to BLACK for proper

operation. Do not connect in reverse polarity.

The battery pack can be plugged into either

the top or bottom row of the port.

Warning: Do not attempt to connect two battery packs to one PRIZM

controller. Damage and failure will occur if this is attempted. Use only one

battery pack to power the PRIZM system and any extra daisy-chained

expansion controllers.

Getting Started 7

Software Overview

The Arduino Integrated Development Environment (IDE) is open-source software

that compiles code and sends it to the hardware. As a text-based and developer-

friendly software with a huge existing user base, the Arduino Software (IDE) is

supported for a variety of Windows, Macintosh, and Linux devices. This makes the

Arduino Software (IDE) flexible, classroom friendly, and competition ready and offers

all users, even the hobbyist, a low entry and high ceiling. All these factors make it

perfect for beginner and veteran coders alike.

The Arduino Software (IDE) uses a C-based programming language to communicate

with the PRIZM. Within the Arduino Software (IDE) an individual program is referred

to as a sketch. Each of the activities in this guide will involve creating a sketch that

gives instructions to the robot.

For the purposes of this guide, we will focus on the basics of using the Arduino

Software (IDE) as it applies to the PRIZM controller. Working through examples and

hands-on application of code using a small TaskBot constructed with the TETRIX

MAX robotics building system will show you how easy it is to use Arduino with

PRIZM.

Note: This is not meant

to be a complete tutorial

on programming with the

Arduino C-based language.

There are many excellent

resources available on the

web to learn more about

advanced programming

skills. If you are interested

in such resources, a good

place to start would be the

Arduino website at

www.arduino.cc.

8Getting Started

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