Title Page	2
	Copyright Page	3
	Dedication Page	4
	Contents at a Glance	5
	Table of Contents	6
	About the Authors	20
	About the Technical Reviewers	22
	Acknowledgments	23
	Introduction	25
	Prerequisites	25
	CHAPTER 1 The Basics	26
	Electricity	27
	Electrical Analogy	28
	Electrical Basics	29
	Circuits	31
	Measuring Electricity	32
	Multi-Meters	32
	Measuring Voltage	33
	Measuring Amperage	34
	Measuring Capacitance	34
	Measuring Resistance	35
	Calculating Resistor Power Using Ohm’s Law	36
	Oscilloscope	37
	Loads	38
	Inductive Loads	38
	Resistive Loads	38
	Electrical Connections	39
	Series Connections	39
	Parallel Connections	39
	Series and Parallel Connection	40
	Electronics	40
	Semi-Conductors	41
	Datasheets	41
	Integrated Circuits	42
	Packages	43
	Through-Hole Components	43
	IC Sockets	44
	Surface-Mount Components (SMT or SMD)	44
	Arduino Primer	45
	Arduino Variants	45
	Standard Arduino	46
	Arduino Mega	47
	Clones	47
	Arduino IDE	48
	The Sketch	49
	Variable Declaration	49
	The Setup Function	49
	The Loop Function	50
	Signals	51
	Digital Signals	52
	Digital Inputs	52
	Digital Outputs	52
	Special Case: External Interrupts	53
	Analog Signals	55
	Analog Inputs	55
	Analog Outputs (PWM)	56
	Duty-Cycle	57
	Frequency	58
	Homemade PWM Example	59
	Building Circuits	60
	Circuit Design	60
	Schematics	61
	Prototyping	65
	Breadboard	65
	Perforated Prototyping Board (Perf-Board)	66
	Printed Circuit Boards	67
	Soldering	68
	Soldering Shortcuts	70
	Building a Robot	71
	Hardware	71
	Basic Building Tools	71
	Materials	73
	Work Area	73
	Summary	74
	CHAPTER 2 Arduino for Robotics	75
	Interfacing Arduino	75
	Relays	76
	Types of Relays	76
	Relay Configurations	77
	Uses	79
	Calculating Current Draw	79
	Back-EMF Considerations	81
	Solid-State switches	81
	Transistors	82
	Bipolar Junction Transistor (BJT)	82
	Mosfets	84
	Logic-Level vs. Standard	85
	Mosfet Capacitance	85
	On-State Resistance—Rds(On)	86
	Calculating heat using Rds(On) and amperage of DC motor	86
	Parallel Mosfets	87
	Photo-Transistors	88
	Interfacing a Motor-Controller	89
	Motor-controller ICs	89
	Electronic Speed Controllers (ESCs)	90
	User Control	92
	Tethered (Wired) Control	92
	Infrared Control (IR)	92
	Radio Control Systems	93
	Amplitude Modulation (AM)	94
	Frequency Modulation (FM)	94
	Spread Spectrum 2.4gHz	95
	Xbee	95
	Sensor Navigation	96
	Contact Sensing	96
	Bump Switch	96
	Distance and Reflection Sensing	97
	IR Sensor	97
	Ultrasonic Range Finder	99
	Laser Range Finder	99
	Orientation (Positioning)	100
	Accelerometer	100
	Gyroscope	101
	Inertial Measurement Unit (IMU)	101
	Global Positioning Satellite (GPS)	102
	Real Time Kinetic (RTK) GPS	102
	Non-Autonomous Sensors	103
	Camera	103
	Current Sensor	104
	Summary	105
	CHAPTER 3 Let’s Get Moving	107
	Electric Motors	107
	Brushed DC Motor (Permanent Magnet Type)	108
	Brushless Motors	109
	Stepper Motors	110
	Gear Motors	112
	Servo Motors	112
	Continuous Rotation	114
	Linear Actuators	114
	Calculating Power	115
	Driving	115
	Finding the Right Motor	116
	The H-Bridge	116
	Generating a Brake	117
	Implementation	118
	Method 1: Simple Switches	119
	Method 2: DPDT Relay with Simple	120
	Method 3: P-Channel and N-Channel Mosfets	121
	Method 4: N-Channel H-Bridge	122
	H-Bridge ICs	122
	Changing PWM Frequencies	123
	Back EMF	125
	Current Sensing	127
	Commercial H-Bridges (Motor-Controllers)	128
	Small (Up to 3amps)	128
	Medium (Up to 10amps)	129
	Large (Over 10amps)	130
	The Open Source Motor Controller (OSMC)	130
	Batteries	131
	Nickel Cadmium (NiCad)	131
	Nickel Metal Hydride (NiMH)	132
	Lithium Polymer (LiPo)	133
	Lead-Acid	134
	Charging	137
	Materials	138
	Wood	138
	Metals	138
	Nuts and Bolts	139
	Plastics	140
	Chain and Sprockets	140
	Wheels	140
	Summary	140
	Chapter 4 Linus the Line-Bot	142
	Parts List for Linus	143
	How Linus Works	145
	The Track	146
	Building the IR Sensor Board	146
	Modifying a Servo for Continuous Rotation	155
	Method 1: Direct DC Drive with External Speed Controller	156
	Method 2: Servo Pulse Drive with Internal Motor Driving Circuitry	158
	Fitting the Drive wheels	160
	Making a Frame	164
	Making Connections	171
	Installing Batteries	173
	Install Power Switch	173
	Loading the Code	173
	Making the Track	179
	Testing	180
	Add-ons	181
	LED Lights	181
	Painting	183
	Adding Speed Regulator (Potentiometer)	187
	Summary	190
	CHAPTER 5 Wally the Wall-Bot	191
	How Wally Works	192
	Parts List for Wally	194
	The Motor-Controller	195
	The High-Side Switches	196
	The Low-Side Switches	196
	Building the Circuit	198
	Building the Frame	204
	Installing the Sensors	209
	Installing the Battery and Power Switch	212
	Installing a Power Switch	213
	The Code	214
	Code Objectives	215
	Summary	223
	CHAPTER 6 Making PCBs	224
	PCB Basics	224
	What You Need to Get Started	225
	Circuit Design	227
	Searching for Open-Source Designs	228
	Making Your Own Designs	229
	Schematics	229
	Board Layouts	229
	Working with the Schematic Editor	232
	Working with the Board Editor	237
	Transferring the Design	247
	Let’s Make an Arduino Clone: the Jduino	248
	Making the Transfer	249
	Etching	257
	Measuring the Solution	258
	Etching: Method 1	259
	Etching: Method 2	260
	Removing the Toner	263
	Drilling	266
	Soldering	267
	Building the Arduino Clone	268
	Building the BJT H-Bridge	271
	Testing	274
	Summary	277
	CHAPTER 7 The Bug-Bot	278
	Reading a Switch with Arduino	279
	How the Bug-bot Works	280
	Antennae Sensors	280
	Bumper Sensors	281
	Parts List for the Bug-bot	281
	The Motors	282
	Modifying the Servo Motors	282
	Controlling the Servo Motors	285
	Converting the Pulse Value to Degrees	286
	Mounting the Wheels to the Servos	287
	Building the Frame	288
	Marking the PlexiGlass	288
	Cutting the PlexiGlass	290
	Mounting the Motors	292
	Mounting the Caster Wheels	293
	Mounting the Arduino	295
	Installing the Battery	296
	Making the Sensors	298
	The Front Antennae Sensors	298
	The Rear Bump Sensors	299
	Making Wire Connections	302
	Loading the Code	304
	Creating a Delay	304
	Variables	305
	The Code	306
	Making a Top Hat	313
	Summary	315
	CHAPTER 8 Explorer-Bot	316
	How the Explorer-Bot Works	317
	R/C Control	317
	Powerful Motors	318
	Current Sensing	318
	Video-Enabled	318
	Xbee-Enabled	318
	Parts List for the Explorer-Bot	319
	Building the Frame	321
	Specs	321
	Adding Battery Bracket	322
	Cut Top Frame Brackets	324
	Cut Top Frame Braces	324
	Cut and Bend Main Frame Piece	325
	Add Crossbar and Mount Caster Wheel	327
	Plexiglass Deck (Optional)	329
	Building the Motor Controller	329
	Current Sensing and Limiting	330
	H-bridge Design	330
	Setting Up the Arduino	334
	Connecting the H-Bridges	335
	Setting Up Xbee	336
	Testing the Xbees	338
	Adding a Camera	339
	Pan and Tilt	340
	Make First Bracket	340
	Make Second Bracket	342
	Loading the Code	342
	Summary	350
	CHAPTER 9 RoboBoat	352
	Some Words in Advance	353
	Parts List for the RoboBoat	353
	Polystyrene Foam	356
	Epoxy Resin	357
	Gloves	357
	Fiberglass Fabric	357
	Glue	359
	Styrofoam Cutter and Razor Knife	359
	Miscellaneous	359
	The RoboBoat Design	359
	Assembling the Boat	361
	The Templates	361
	Gluing the Templates on the EPS/XPS Board	363
	Cutting Out the Segments	364
	Gluing the Segments Together	367
	Inserting the Foam Anchors	368
	The Coating	369
	Applying the Finish	371
	The Fins	371
	Painting	372
	The Deck	372
	Completing the Assembly	373
	The Propulsion Assembly	377
	The Baseplate	378
	The Pivot	379
	The Tube	380
	The Rudder Horns	381
	The Motor	381
	The Servo	382
	The Pushrods	382
	Electronics	382
	The Heart of the System: The ArduPilot PCB	383
	The GPS Module	384
	The Electronic Speed Controller (ESC)	385
	The Motor	386
	The Rudder Servo	386
	The Battery Pack	386
	Assembling the Electronics	386
	The Programming Adapter	388
	Software and Mission Planning	389
	GPS Receivers	389
	The Software	390
	AP_RoboBoat Module	391
	Debug Module	393
	Init Module	395
	Navigation Module	396
	PID_control Module	403
	Servo_control Module	405
	Header Files	407
	Installing the Software	408
	Installing the Arduino IDE	408
	Configuring the Arduino IDE	409
	Compiling and Uploading the Code	410
	Customizing the Code	411
	Customizing the Rudder Control	412
	Customizing the PID Constants	412
	Customizing the Motor Speed	412
	Customizing the Waypoint Timeout	413
	Customizing the Waypoint Radius	413
	Customizing the Rudder Extents	413
	Mission Planning	413
	Employing Google Earth for the Coordinates	414
	Putting It All Together	417
	Integrating the System	418
	Ships Ahoy!	420
	Troubleshooting	421
	The Thrust of the Motor/Propeller Is Not Sufficient	421
	The Motor Does Not Start	422
	Summary	423
	CHAPTER 10 Lawn-Bot 400	424
	How the Lawn-bot 400 Works	425
	Lawn Mower Deck	426
	High-Capacity Batteries	427
	Steel Frame	427
	Dump-Bucket	427
	Pneumatic Tires	427
	Headlights	427
	Failsafe	428
	Tools and Parts List	428
	Lawnmower	428
	Parts Lists	428
	The Wheels	429
	Front Caster Wheels	430
	Rear Drive Wheels	430
	Installing Sprockets	431
	The Frame	433
	The Drive-Train	441
	Motor Mount Brackets	441
	Installing the Chain	445
	The Motor Controller	448
	Buying a Motor Controller	448
	Sabertooth 2x25	448
	Cooling Fans	450
	Motor Controller feedback	450
	Current sensor IC	451
	The Arduino	451
	Securing Connections for a Bumpy Ride	452
	Building a Breakout Board	452
	The Failsafe	456
	R/C Toggle Switch	457
	Power Relays	460
	Avoiding an R/C Failsafe	461
	Making Connections	462
	The Code	463
	Adding Cosmetics and Accessories	468
	Painting	468
	Headlights	469
	Dump Bucket	470
	Lawnmower Kill-Switch	472
	Summary	472
	CHAPTER 11 The Seg-Bot	474
	How the Seg-Bot Works	476
	Inertial Measurement Unit	476
	Steering and Gain	476
	Engage Switch	476
	Parts List for the Seg-Bot	477
	Selecting the Right Sensors	478
	3.3v Power	480
	Accelerometer	480
	Gyroscope	482
	Cycle Time	483
	Gyro Starting Point	483
	Gyroscope Drift	483
	Gyroscope Versus Accelerometer Summary	484
	Filtering the Angle	484
	Weighted Average	484
	Making the IMU Adapter Board	485
	Selecting the Motors	486
	Electric Brake Removal	488
	Motor Mounting Position	492
	Selecting the Motor Controller	493
	SoftwareSerial Library	494
	Sabertooth Simplified Serial	495
	The Batteries	496
	Sealed Lead-Acid	496
	Charging	497
	12v Supply	497
	The Frame	498
	Frame Design	499
	Building the Frame	500
	Inputs	504
	Steering	504
	Gain	504
	Engage Switch	504
	Level-Start	504
	Mounting the Inputs to the Frame	505
	Installing the Electronics	509
	Soldering the Inputs	512
	Wiring the Connections	513
	Reviewing the Code	514
	Checking the Angle Readings	517
	The read_pots() Function	518
	The auto_level() Function	519
	The update_motor_speed() Function	520
	The time_stamp() Function	522
	The serial_print_stuff() Function	523
	The Full Code	524
	Testing	530
	Summary	532
	References	532
	CHAPTER 12 The Battle-Bot	533
	Robotic Combat Is Born	535
	Battle-Bot Rules and Regulations	535
	No Price Limit!	536
	Is This Going to Be Expensive?	537
	Parts List for the Battle-Bot	537
	Input Control	540
	Fly Sky CT-6: The $32, 5-ch*, 2.4GHz Radio Alternative	540
	Attention Hackers	543
	The Electronics	543
	The Arduino	543
	The Motor Controllers	544
	The Frame	545
	To Buy or Build?	546
	Modifying the Wheels	547
	Building the Frame	548
	The Drive Train	552
	Gearing	553
	Calculating Gear Ratio	553
	Modifications	553
	Chain Tensioning Nut	554
	Threading Sequence	555
	Measuring the Chain	556
	Adding Spacers	557
	Batteries	558
	Securing Electronics	560
	Protecting Your Brains	561
	Making Connections	562
	The Code	565
	Armor	570
	Weapons	572
	Additional Information	581
	Summary	582
	CHAPTER 13 Alternate Control	583
	Using Processing to Decode the Signals	583
	Parts List for Alternate Control	584
	Selecting the Input	585
	Processing Prerequisites	586
	Following Protocol	586
	Examining the Processing Sketch	587
	Explanation	590
	Testing Processing	592
	Examining the Arduino Sketch	594
	Summary	599
	Index	601