Handy Board MX. page 1
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1 Handy Board MX The Handy Board MX (Modular extension) was developed as a quick-connect system to help eliminate connection errors, reduce prototyping time, and lower the bar of necessary technical skill. With so many variables contributing to the success of a microprocessor controlled system, removing some of the complexity in the hardware connections should make for more effective project development all around. The system incorporates RJ12 jacks, phone cords, and a standardized wiring scheme to facilitate the direct connection of a variety of sensor input and motor output devices. The system is centered around the MIT Handy Board that has been outfitted with an array of RJ12 jacks, six (6) for input and six (6) for output. A set of corresponding input/ output devices that have also been outfitted with an RJ12 jacks, that can be quickly connected to the Handy Board via standard 4 & 6 wire phone cords. (Phone cords were chosen as the interconnect because of they are widely available in many lengths, are durable, and easy to use.) On the input side, plugging a sensor/switch device into any of the input jacks will connect it to the necessary analog, digital, power and ground wires. Similarly on the output side, plugging an output device into any of the output jacks will connect it to the appropriate motor, servo, digital out, power and ground wires. The Handy Board MX system is expandable, creating your own custom modules is straight forward following the standardized wiring scheme. After the creation of your project, disassembly and reassembly is a breeze, making field installation more effective, fast and reliable. page 1
2 Handy Board MX - (Modular extension) overview diagram. Output modules outfitted with RJ12 jacks are controlled via standard 4 & 6 wire phone cables. Examples include switchable power strip, servo motors, stepper motors, and easy prototyping breadboard. Phone cord connection Handy Board with RJ12 jacks for easy connection to input/output modules. Yellow jacks Ý OUTPUT Ý White jacks INPUT Phone cord connection Input modules interface with Handy Board via 4 & 6 wire phone cords. Examples include, IR distance sensor, PIR motion detector, digital compass, and easy prototyping breadboard. page 2
3 Handy Board module Ý Yellow jacks OUTPUT The Handy Board s header pins have been outfitted with RJ12 jacks to serve as the primary IO connections to external devices. On the input side there are six RJ-12 jacks that access the analog, digital, and general input ports. Each individual jack accesses one each of the analog, digital and general ports. (General ports accept either digital or analog input). The number of the specific port is listed on each jack. Ý White jacks INPUT A set of modular input devices have been built that, when plugged into any of the input jacks, are connected to the appropriate port, be it analog, digital or general. Similarly, on the output side there are six RJ12 jacks that access, the servo, motor, and digital output ports. A set of modular output devices have been built that, when plugged into the output jacks, are connected to the appropriate output port: servo, motor or digital out. After plugging in any of the modules with a phone cord, the device can be accessed by referencing the port number written on top of the occupied jack. Side view of RJ12 jacks The following pages will show the MX modules currently available and give some demonstration code that will get you started using the module with the Handy Board MX. page 3
4 MX infrared distance sensor module The MX IR distance sensor measures the intensity of the infrared light bounced back from an object. The infrared LED shines outward and the intensity of the reflected light is registered by the photo transistor in terms of resistance. The greater the amount of infrared light present, the lower the resistance. IR distance sensor Given this inverse relationship, you can set up a simple program to poll the analog port the sensor is connected to, and use the changing values to control some variable of another device, such as the time delay. Try plugging the IR MX module into the first (far right) input jack (white label). The IR sensor is an analog device, which means it outputs a continuous range of values. These values will be measured and register as a range from If you look at the analog port listed on the first jack, you will see A2. So when writing code for your applications using this jack you will reference analog(2) to poll its current value. The following code example will vary the speed at which the beeper sounds as you move closer/ farther way from the sensor. Close-up showing infrared LED (top) and infrared photo transistor (bottom). The photo transistor is shielded from direct exposure from the LED with heat shrink tubing. void main() { while (1) { beep(); sleep(analog(2)/6); page 4
5 MX compass sensor module The MX compass sensor measures the magnetic field of the earth and returns a directional value. The compass is composed of four Hall effect sensors that will switch from open to closed when a magnetic field passes through it in a specific direction. The sensors are laid out in a cross pattern, so that one sensor is always triggered when held in a horizontal plane. MX compass sensor void main() { while (1) { printf( N%d E%d S%dW%d\n, digital(13), digital(28), digital(27), digital(26)); sleep(0.15); Given this arrangement of sensors, you can set up a simple program to poll the ports the MX compass is connected to, and produce a different action for each of the four cardinal directions. The Hall effect sensors are sensitive enough to actually be triggered when partially facing the magnetic field. The result of this is that you can get the two closest sensors to be triggered simultaneously. So, for example, if you set up a program to do compass readings, you could get a reading of NE or SW in addition to the four cardinal directions of N, S, E & W. Try plugging the compass MX module into the last (far left) input jack (white label). The compass sensor is a digital device, which means it is either off or on and outputs only a 0 (off) or 1 (on). If you look at the ports listed on the last jack, you will see G28, D13, G26 & G27. So when writing code for your applications using this jack you will reference these port numbers to poll their current values. Note that general ports are referenced as either digital or analog depending upon how you want them to function. The code example to the left, will display a 1 or 0 next to the letters N, E, S, & W. The value of 1 indicates that the sensor is facing that direction. If 1 is displayed twice, then the sensor is facing between two of the cardinal directions such as SE or NW. page 5
6 MX motion sensor module The MX passive infrared motion sensor measures the ambient infrared light (heat) generated by the body. The PIR sensor registers changes in the infrared light in the environment, and triggers a switch when a sudden change occurs. MX PIR motion sensor With this sensor you can set up a simple program to poll the digital port the sensor is connected to. The switching event can then control some other device when motion occurs. Try plugging the MX motion detector module into the first (far right) input jack (white label). The motion sensor is a digital device, which means it is either off or on and outputs a value only 0 or 1. If you look at the digital port listed on the first jack you will see D8. So, when writing code for your applications when using this jack, you will reference digital(8) to poll its current value. The following code example will trigger the Handy Board beeper when motion occurs within the range of the PIR motion detector. void main() { while (1) { if (digital(8) == 0) beep(); sleep(0.25); page 6
7 MX prototyping module The MX prototyping module is a breadboard that can be attached directly to any input or output jack on the Handy Board MX. MX prototyping module A breadboard is a prototyping board that permits the easy connection of components by simply pushing the wire leads into the sockets. The rows of sockets that run vertically in the center area of the board are connected together. Pushing two wires into vertically adjacent holes will connect them. The MX prototyping board makes use of the sockets at the extreme top and bottom to connect to the analog & digital ports, servo ports, motor ports, digital out, 5 VDC, and ground of the Handy Board MX. If you plug the MX prototyping module into the input side (white label), you will have access to the analog/digital ports, 5VDC and ground. If you plug the MX prototyping module into the output side (yellow label), you will have access to the servo & motor ports, along with 5VDC and ground. Take a look at the MX prototyping board and you will see white and yellow color coded labels indicating the port access type. Try plugging the MX prototyping board into the first (far right) input (white label) jack. Now plug one end of a resistor into the socket marked GRD and the other end into socket marked A. Next, type the following code into the command line of interactive C. This will poll analog port 2 for its value, and you should see a value between analog(2); page 7
8 MX servo module The MX servo module takes input from the Handy Board to move its drive shaft to a specific angle and hold that position. MX servo module Servos are used frequently in radio control vehicles for steering - moving control rudders or wheels to set positions. With the MX servo module you can use a simple program to control the rotation of any device connected to the output shaft. Try plugging the MX servo module into the first (far left) output jack (yellow label). If you look at the servo port listed on the first jack you will see S0 listed. So, when writing code for your applications when using this jack, you will reference servo0=_ to change its position. The following line of code typed at the Interactive C command line will move the servo to a different position. The first line just initiates the servo controller, so it only needs to be typed once per session. init_expbd_servos(1); servo0 = 1500; servo0 = 100; servo0 = 3000; Note that servos vary in the input range that they will accept. You can do damage to the servo by sending values that are out of range. It is best to start with a value of 1500, this is approximately the middle. From here try adding and subtracting 100 to see how far the servo will move without hitting its limit (unit will vibrate indicating motor is trying to move past its physical limit). The values of 100 to 3000 should be fine for this particular servo. page 8
9 MX power switching module The MX power switching module takes input from the Handy Board to switch on/off AC power to the four outlets. We use the power from one of the Handy Board motor ports to activate a relay which switches the AC power for the strip. MX power switching module Try plugging the MX power switching module into the first (far left) output jack (yellow label). If you look at the motor port listed on the first jack you will see M0 listed. So, when writing code for your applications when using this jack, you will reference motor (0,_). The following line of code typed at the Interactive C command line will activate motor port 0 and close the relay in the power strip. motor(0,100); motor(0,0); /* on*/ /* off*/ The first field accepts the motor port number, 0 in this case. The second field is the power level, 100 means 100% of the power *. When using the motor port with an actual motor, varying this value will change the speed of the motor. Sending a value of 0 switches the port off. MX power switching module, close-up of RJ12 control jack. *Using less than 100% of the power with this module will not fully actuate the relay, and result in a buzzing noise. page 9
10 Wiring diagrams Dinsmore 1490 Compass PIR sensor KC778B Experimenter socket Handy Board wiring scheme page 10
11 Future direction The Handy Board MX system and wiring scheme should be considered open source. The impetus for creating the modular foundation was to facilitate ongoing development of additional hardware modules and accompanying software. Future additions under consideration: ~Serial communication port for connecting i2c devices such as the Devantech ultrasonic range finder, and other Handy Boards. ~Cable adaptors to combine multiple motor port connections in a single phone cord. ~Library of software modules to accompany the hardware devices. Code written using simple program logic with adequate documentation for first time users to be able to follow along. Code modules for standard tasks. ~Ruggedized jack array for mounting to the Handy Board. Current prototype used adhesive tape to fasted RJ12 jacks to the Handy Board chassis. Design: Leigh Rosser With help from Ken Camarata, Mark Gross and Richard Lotz. Prototype Production: Leigh Rosser The Handy Board is a 68HC11-based controller board designed for experimental mobile robotics work. MIT has licensed the Handy Board design at no charge for educational, research, and industrial use. page 11
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