Scamper kit / Dagu

Scamper Kit

Scamper is an omni-wheel based robot kit designed for students and hobbyist. The kit comes in a high quality case and includes all parts and tools needed to make a line following or maze solving robot. No soldering or programming is required.

Features

• Pre-programmed ComMotion controller.
• Six omni wheels with natural rubber rollers.
• Three geared motors with metal gears.
• Three hall effect sensors.
• Three magnetic encoder discs.
• Anodized aluminium chassis.
• Battery holder (6x AA) with power switch.
• IR sensor PCB.
• Can be programmed with the Arduino IDE.
• Optional Arduino can be added for more functionality.

Ideal for Beginners

This is an ideal kit for beginners who have not learned to program but want to build a robot. The ComMotion controller has several demonstration programs built in.

When the robot first powers up it will play a tune using the motors as speakers and wait a few seconds for any I2C command from an external controller or serial command from an optional Xbee module.

If no I2C or serial commands are received then it runs the demonstration software and will cause the motors to beep to indicate what mode it is in.

Pressing the reset button while in demonstration mode causes the robot to switch between maze solving and line following modes. The motors will beep to indicate which mode is selected.

Part List

• 6x Omni wheel with rubber rollers
• 1x Anodized aluminium chassis
• 1x Pre-programmed ComMotion controller
• 1x IR sensor PCB with adjustable sensitivity
• 1x IR sensor PCB mounting bracket
• 1x IR sensor cable
• 1x 6x AA battery holder with 5A power switch
• 1x Fiberglass battery strap
• 3x 78:1 geared motor with metal gears
• 3x magnetic encoder disc with rubber hubs
• 3x Hall-effect sensor
• 3x 4mm fiber washer
• 4x 25mm brass spacer (male to female)
• 4x 12mm brass spacer (female to female)
• 2x 17mm brass spacer (female to female)
• 4x 3x10mm screws
• 4x 3mm nyloc nut
• 8x 2.5x8mm screws
• 15x 3x6mm screws
• 15x 110mm cable tie

ComMotion Controller:

This controller uses two ATmega8A processors that communicate with each other and any external controller using the I2C protocol.

Although the board is configured as an Arduino R3 shield it can be used with almost any external processor (3.3V or 5V). The I2C pullup resistors are connected to the IO ref pin. This allows 3.3V or 5V to be selected.

The I2C address of the controller can be selected using 4 dip switches. Advanced users can store additional address data in the EEPROM to access a larger range of addresses if required.

Each ATmega8A processor monitors 2 encoders and 2 current sensors to control the speed and direction of 2 motors as well as providing over current protection.

Arduino Motor Control Shield

As an Arduino shield, the controller does not use any pins except for SDA and SCL. This leaves all your other pins free for other shields. ComMotion is easy to use and has pre-programmed configurations for 3 omni wheel, 4 omni wheel or 4 mecanum wheel. In these modes you simply need to send 3 integers over the I2C bus: speed, angle and rotation. A fourth mode allows each motor to be controlled individually.

Wireless Control

The robot requires a pre-configured Xbee module to be plugged into the provided socket. The controller will then accept commands from the Xbee module as well as the I2C interface.

Programming

Experienced users can re-program the two ATmega8A processors using an Arduino running the ISP programmer sample code and the Arduino IDE. A switch on the controller lets you choose which processor is connected to the ISP socket.

Interfacing

FTDI headers provide access to each processors serial port allowing serial devices such as LCD displays and Bluetooth modules to be connected. 5 spare analog pins are also available along with Vcc and Gnd in a servo style header.

Kit Specifications

• Chassis: 2mm thick anodized aluminium
• Rollers: Natural rubber
• Battery: 6xAA
• Motor voltage - nominal: 6V
• Motor voltage - maximum: 8.4V
• Motor current - no load: 150mA
• Motor current - stall: 2.75A @ 6V
• Gearbox ratio: 78.125:1
• Encoder disc: 8 pole neodymium magnet
• Encoder sensor: Open drain hall-effect sensor (3V - 22V)
• Encoder resolution: 625 state changes per wheel revolution

ComMotion Specifications

• Processors: 2x ATmega8A (16MHz)
• Input voltage: 6V - 16V
• Logic voltage: 5V @ 500mA
• Wireless support: Xbee / WiFly socket with voltage translation
• Xbee / WiFly power: 3.3V @ 300mA
• Battery monitor range: 0V - 17V
• Battery monitor resolution: ?0.02V
• Analog Inputs: 5x 10bit (A3,A6 MCU1 - A3,A6,A7 MCU2)
• Motor drivers: 4x FET _H_ bridge
• Motor current continuous: 2.5A (each motor)
• Motor current stall: 4A (each motor)
• Current monitor range: 0A - 5A (each motor)
• Current monitor resolution: ?5mA (each motor)
• I2C bus speed: 100 kbit/s
• I2C addresses: 16 selectable pairs (software configurable)
• Serial ports: 2x 5V TTL logic (FTDI sockets)

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