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Our Experiences with Phidgets. Lloyd Spencer Kevin Sikorski Monthly SRS Meeting November 18, 2006. CoroWare, Microsoft & Phidgets. Robot magazine http://www.botmag.com. What are Phidgets?. Small bits of hardware useful in robots Sensors Interface Boards
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Our ExperienceswithPhidgets Lloyd Spencer Kevin Sikorski Monthly SRS Meeting November 18, 2006
CoroWare, Microsoft & Phidgets Robot magazinehttp://www.botmag.com
What are Phidgets? • Small bits of hardware useful in robots • Sensors • Interface Boards • LCDs, Servo control, Encoders, etc. • Varying complexity • Goal is to free the developer from dealing with low-level hardware issues. • Made by Phidgets, Inc.
First Use • CoroWare needed an accelerometer for a robot. • We budgeted 3 days for integration. • We were done in 2-3 hours. • Most of our robots have an accelerometer in them. • Great for a simple “bump” sensor or inclinometer • Great for force feedback joystick control
Interface Kits • We use the 8/8/8 Interface Kit. • Digital I/O • Interface with analog sensors • CoroWare’s big robot has humidity, light, gripper pressure, and two voltage and temperature sensors. • Digital I/O good for driving LEDs orbump sensors.
Servo Control • One of our smaller robots uses acompact 4-servo controller. • Controls a 2 DoF Servo arm. • We’ve also usedthem to drivePan/Tilt unitsfor cameras.
A few others… • LCD • 16x2 LCD display with 16 Digital ins and outs. • Do it yourself sensors • Sharp GP2D12 IR sensors • Line following sensors • Force Sensing Resistors • 4-port USB Hub • 4-relay Interface Board
Findings (The Good) • Very easy to integrate • Lots of OSes: Windows, Linux, Mac • Lots of languages: .NET, C/C++, Visual Basic • Great for prototyping or one-offs • Decent power economy • Easy to find power • Good support
Findings (The Slightly Less Good) • Some Power limitations • Reasonable cost • Need a CPU that supports Phidgets • Their biggest Servo controlleronly handles 4 servos • Run out of USB ports quickly
Where to Get Phidgets • www.TrossenRobotics.com • www.PhidgetsUSA.com • www.Phidgets.com
Applications Non-DestructiveInspection Security andMonitoring UnmannedVehicles Robotic Functions Vision Navigation Manipulation Operating System Platform Plug andPlay WirelessCommunications DeviceDrivers Hardware Platform Sensors Motors Mainboards Rapid Robotics Integration
Rapid Robotics IntegrationCoroWare Surveyor 3000 • Machine Labs Base • VIA Mainboard • Phidgets Sensors • Accelerometer • RFID • Voltage Meter • Temperature Sensor • Light • Pressure • Lynxmotion Servos • Windows XP • Microsoft Robotics Studio
/joystick /UIService /arm /analogIn /servos /motor /temp /light /panTilt /rfid /voltage /relay /camera /accel Rapid Robotics IntegrationCoroWare Surveyor 3000 Remote Client Browser 802.11G wireless link Robot /movement
Microsoft Robotic StudioPhidgets Accelerometer Integration Direct reading of status from the browser
Microsoft Robotic StudioPhidgets Accelerometer Integration A few lines of code make a much nicer display