TETRIX Tele-Op Manual de usuario

Hardware Connections

1. Connect one end of the Powerpole extension cable to the other battery

connection port on PRIZM. Connect the other end of the Powerpole

extension cable to the battery connection port on the Tele-Op module.

2. Connect one end of the daisy-chain data cable to the I2C expansion

port on PRIZM. Connect the other end of the daisy-chain data cable to

the I2C port on the Tele-Op module.

3. Choose a location on the TaskBot to attach the Tele-Op module.

Make sure that the location is close enough to PRIZM that the power

connection cable and the daisy-chain data cable will reach between the

Tele-Op module and PRIZM. Attach the Tele-Op module using leftover

socket head cap screws and kep nuts from your TETRIX MAX set.

4. This activity uses the motor encoders built into the TETRIX MAX

TorqueNADO® Motors. Connect one end of a motor encoder cable to a

TorqueNADO motor. Connect the other end of the cable to the encoder

port on PRIZM that corresponds to the motor port for that motor

(Motor 1 to Encoder Port 1, Motor 2 to Encoder Port 2).

5. Make sure that the Ultrasonic Sensor on the TaskBot is connected to

Port D2 on PRIZM.

6. Make sure that the Line Finder Sensor is connected to Port D3 on

PRIZM.

7. Make sure that the servo that raises and lowers the ag on the TaskBot

is connected to Servo Port 1 on PRIZM.

Tele-Op Module Activity 2 – TaskBot Control

Parts Needed

• Built TETRIX® MAX TaskBot from PRIZM

Programming Guide

• Tele-Op module

• PS4 DUALSHOCK 4 gaming controller

• Powerpole extension cable

• Daisy-chain data cable

• 2 motor encoder cables

• USB cable

• Socket head cap screws

• Kep nuts

Overview

In this activity, you will understand how the Tele-Op module enables you to control

a robot using the buttons, triggers, joysticks, and sensors associated with the PS4

DUALSHOCK 4 gaming controller. You will first need to build the TaskBot using

instructions from the PRIZM® Programming Guide. The TaskBot should include

the PRIZM controller, the Line Finder and Ultrasonic Sensors, and the servo/flag

attachment that is used for the final activity in the PRIZM Programming Guide.

TETRIX Tele-Op Control Module Activity 2 1

Bluetooth Connections

1. Make sure all devices that your PS4 controller has previously been

paired with are o. This enables the PS4 controller to search for and

connect to your Tele-Op module.

2. Make sure the PS4 controller is o.

3. Plug the Bluetooth dongle into the Tele-Op module’s USB port.

4. Turn on the PRIZM controller. The PRIZM controller and the Tele-Op

module should both have a blue LED that lights up, indicating they

have power. You should also notice a green ashing LED on the Tele-

Op module, indicating that the Bluetooth dongle is compatible. If

you do not see a green ashing light, then no Bluetooth dongle is

connected or the dongle is not compatible with the Tele-Op module.

Refer to the Tele-Op technical guide for more information on Bluetooth

compatibility.

5. To pair the PS4 controller with the Bluetooth dongle, the controller

must be put into discovery mode. On the PS4 controller, hold down the

Share and the Power buttons at the same time for about ve seconds

until you see the controller's light bar ash white in a rapid pattern. The

controller is now in discovery mode.

6. Press the black button on the Tele-Op module. The green LED on the

Tele-Op module should remain on and stop ashing. Also, the light bar

on the game controller should be a solid green color to indicate the

controller is paired and ready to be used to control the Tele-Op module.

7. After the PS4 controller has been paired with the Bluetooth dongle in

the Tele-Op module, you don’t need to go through this process again

unless you want to pair a dierent device or Bluetooth dongle. Simply

turn on PRIZM and the Tele-Op module and then press the Power

button on the PS4 controller. The controller will automatically connect

to the Bluetooth dongle in the Tele-Op module.

Note: When you connect the PS4

controller to the Tele-Op module,

the game controller pairs with the

Bluetooth dongle that is inserted

into the Tele-Op module’s USB

port. If you remove the dongle

from one Tele-Op module and

plug it into another, the game

controller can now be used

to control the second Tele-Op

module.

Note: When you turn off power

to PRIZM and the Tele-Op

module, the PS4 controller will

automatically turn off after about

10 seconds.

2TETRIX Tele-Op Control Module Activity 2

Opening the Sketch

On your computer, open the Arduino Software (IDE). The sketch for this activity is

stored with the examples that come with the Tele-Op library. To open the sketch,

select File > Examples > TETRIX_TeleOp > PS4_Examples > TaskBot_Activity_1.

A new sketch window will open with the example sketch.

Executing the Code

1. Connect the USB cable to a USB port on your computer or device.

Connect the other end of the cable to the USB port on PRIZM.

2. Make sure the PRIZM and Tele-Op module are turned on and that your

PS4 controller is paired with your Tele-Op module. There should be a

solid green LED showing on both the PS4 controller and the Tele-Op

module.

3. In the Arduino Software (IDE), make sure the correct COM port is

selected to communicate with PRIZM. Go to Tools > Port and then

select the correct COM port.

4. In the software window, click the Upload button to upload the sketch.

After the sketch has been uploaded, unplug the USB cable from PRIZM.

5. Start the program by pressing the green Start button on PRIZM. You

should now be able to control the movement of the TaskBot using the

PS4 controller. Try out these dierent controls.

Set Motor Power

Drag your finger across the touch pad from left to right to set the speed of your

motors. The further you drag to the right, the faster your motors will turn. You can

adjust the speed at any time by touching a different position on the touch pad.

Tank Drive Navigation

Use the joysticks to drive the TaskBot around. The left joystick should control

the left motor and the right joystick should control the right motor. If they are

opposite, turn off your TaskBot. Switch the motor ports and encoder ports that each

TorqueNADO is plugged into, turn your TaskBot back on, and restart the program.

You should find that the farther you push the joysticks up, the faster the TaskBot will

move forward. The farther you pull the joysticks down, the faster the TaskBot will

move backward.

Direction Pad Control

You can also steer the TaskBot using the four buttons on the direction pad. This

enables you to steer the TaskBot with your left hand while freeing up your right

hand to press other buttons.

90-Degree Turns

To make a 90-degree turn, press the L2 or R2 button. Using the encoders, the

TaskBot will automatically perform a 90-degree turn to the left or right.

Crawl Mode

While driving the TaskBot, hold down the L1 button to enter crawl mode. This

cuts the motor power down to 15% of its current speed, slowing the robot down.

Although the robot is much slower in crawl mode, you have much more precise

control of the robot to get it to go exactly where you want it to go.

Turbo Mode

While driving the TaskBot, hold down the R1 button to enter turbo mode. This

increases the motor power to a full 100 percent of the speed set by the PS4’s touch

pad. Turbo mode enables you to move your TaskBot much faster but makes it more

difficult to have precise control.

Note: The Tele-Op module has a

USB port that is used to flash its

firmware. This USB port should not

be used when uploading sketches.

Make sure you use the USB port

on PRIZM. Uploading a sketch to

the Tele-Op module will overwrite

its firmware, making it unusable

until it can have its firmware

flashed again.

Note: Due to wheel slippage,

you might notice the TaskBot not

making an exact 90-degree turn.

The friction between the wheel

and the surface you are driving on

is always an issue when trying to

make precise movements.

TETRIX Tele-Op Control Module Activity 2 3

Pitch and Roll Mode

You can also use the PS4 controller’s internal gyroscope to control your TaskBot.

Hold down the L1 and R1 buttons at the same time to enter pitch and roll mode.

While continuing to hold these buttons down, tilt the controller forward to move

forward, back to go backward, left to turn left, and right to turn right.

Line-Following Mode

Drive the TaskBot up to a line so that the Line Finder Sensor is directly over the line.

The TaskBot should line up with the line so that it faces the same direction that

the line goes. Hold down the L2 and R2 buttons at the same time to enter line-

following mode. You should see the TaskBot start following the line.

Raising the Flag

Use the Cross, Square, Triangle, and Circle buttons to set the flag to different

positions.

Proximity Warning

While driving the TaskBot, you might notice that the PS4 controller will vibrate

if you get too close to an object. Using the Ultrasonic Sensor to detect distance,

PRIZM will turn on the PS4 rumble motors if an object comes within 50 centimeters.

Closer than 50

centimeters

Box or obstacle

4TETRIX Tele-Op Control Module Activity 2

Moving Forward

After you’ve experimented with the different methods of controlling the TaskBot

using the PS4 controller, it’s time to dig into the code that runs the TaskBot. Look at

the code for the TaskBot_Activity_1 sketch in the Arduino Software (IDE). The code

is broken down into eight sections.

Initialization

The beginning of the sketch starts by including the PRIZM and Tele-Op libraries and

creating instances within each library class so that we can use the library functions.

This section also has all the global variable declarations. Recall that a global variable

can be used anywhere in the sketch. Four of the variables are float-type variables

that allow the use of decimal values. This is important for setting the percentages of

the motor power for the turbo (100%), crawl (15%), and normal (35%) modes.

There are also four integer variables – one for storing the xvalue from the touch

pad, one for storing the distance measured by the Ultrasonic Sensor to operate

the PS4 controller’s rumble motors, and two for storing the unique byte values of

different button combinations.

void setup()

The void setup() section has two new commands related to the Tele-Op module.

The ps4.setDeadZone commands set the size of the dead zones for the left and

right joysticks on the PS4 controller. By setting a dead zone, you identify the size of

an area for the joystick’s x- and y-axis that is considered neutral. When the joystick

returns to this neutral dead zone area, the joystick is considered to be centered.

Setting a higher dead zone value gives you a bigger neutral area but reduces the

sensitivity of the joystick outside the dead zone. On the other hand, a small dead

zone gives you more precise sensitivity but reduces the neutral area of the joystick.

TETRIX Tele-Op Control Module Activity 2 5

void loop()

The main loop starts with the ps4.getPS4() command. This command gets the

status of all the PS4 controller’s buttons, triggers, joysticks, and sensors and returns

the information to PRIZM. This command needs to be frequently repeated so

that as the user uses the controller, the status of what buttons are pressed gets

communicated to PRIZM.

The first if statement determines if there is an obstacle within the designated

detection range of the Ultrasonic Sensor. If the sensor detects an obstacle, the PS4’s

rumble motors are turned on. Otherwise, they are stopped.

The second if statement determines if there is a difference between what is stored

in the touchx variable and the current xvalue of the PS4’s touch pad. The

ps4.Touchpad(TOUCHX) command is what returns the xvalue of the touch pad.

If there is a difference between these two values, then the touchPadControl()

function is called. Otherwise, this function is skipped over. The touchPadControl()

function is where the speed of the motors are set using the touch pad.

Next, there are three while loops. These while loops determine if certain button

combinations are pressed. The ps4.buttons_1 command returns a unique byte

value depending on which buttons are pressed from Group 1. Group 1 buttons

include L1, L2, R1, R2, Triangle, Square, Circle, and Cross. Like Group 1, the

ps4.buttons_2 command also returns a unique byte value based on which buttons

from Group 2 are pressed. Group 2 includes the Up, Down, Left, Right, L3, R3, Share,

and Options buttons.

The first while loop will continuously call the lineFollow() function if the value

returned from ps4.buttons_1 equals the lineBtnCombo variable, which is 5. Five

is the unique value for when both the L2 and R2 buttons are pressed at the same

time. To simplify, the sketch will continuously run the lineFollow() function if the L2

and R2 buttons are both pressed.

Similar to the first while loop, the second while loop continuously calls the

pitchRollControl() function when the L1 and R1 buttons are pressed. When

these two buttons are pressed, the ps4.buttons_1 command will return 10,

which is the same value that is set for the pitchRollBtnCombo variable, and the

pitchRollControl() function is executed.

The third while loop is for controlling the robot with the direction buttons. The

direction buttons are part of Group 2, which is why ps4.buttons_2 is used. The only

time ps4.buttons_2 returns 0 is when none of the buttons in Group 2 are pressed.

This while loop uses a not (!=) comparison to say, “while not none of the buttons in

Group 2 are pressed, call the directionButtonControl() function.” Not none doesn’t

make a lot of sense in English, but in coding, a double negative makes a positive

just like it does in math. So in other words, this while loop says, “while at least one

of the Group 2 buttons is pressed, call the directionButtonControl() function.”

6TETRIX Tele-Op Control Module Activity 2

Following the three while loops, we have a function call for adjustMotorPowers().

This function determines if the TaskBot should be in crawl mode, normal mode, or

turbo mode. This function will be explained in further detail a little later.

The next command line is for driving the TaskBot with the joysticks. This command

sets the motor power level based on the vertical positions of the left (for the left

motor) and right (for the right motor) joysticks. The commands ps4.Motor(RY)

and ps4.Motor(LY) get the yvalues of the joysticks and map these values to

motor power values between -100 for all the way down and 100 for all the way up.

However, these joystick positions are multiplied by the powerMultiplier variable.

The powerMultiplier variable is either 15% (0.15) for crawl mode, 35% (0.35) for

normal mode, or 100% (1.00) for turbo mode. This reduces the maximum speed of

the motors when in crawl mode or normal mode.

The L2 and R2 buttons are used to turn the TaskBot left or right by 90 degrees. The

next three lines of the main loop provide this functionality.

The first if statement turns the TaskBot left, and the second if statement turns

the TaskBot right. The command ps4.Button(BUTTON)will return 1 if BUTTON is

pressed or 0 if BUTTON is not pressed. In this command, BUTTON can be any of the

following PS4 buttons:

These if statements also use motor encoder commands to turn the motors

a specified number of degrees (+ or - 270 degrees) at a specified speed (360

degrees per second). Notice that each if statement also includes a delay to wait

for the motors to complete the command before continuing with the loop. After

completing the turn, the encoders are reset for the next iteration of the loop.

The last four lines of the main loop are used to control the servo that raises and

lowers the flag. These if statements use the same ps4.Button(BUTTON)command

to check the status of the Cross, Square, Triangle, and Circle buttons. When one of

these buttons is pressed, the servo that controls the flag is set to a corresponding

position.

• L1

• L2

• L3

• R1

• R2

• R3

• UP

• DOWN

• RIGHT

• LEFT

• TRIANGLE

• CROSS

• CIRCLE

• SQUARE

• SHARE

• OPTIONS

• POWER

• TOUCH

TETRIX Tele-Op Control Module Activity 2 7

void adjustMotorPowers()

This called function determines the speed of the TaskBot based on whether the

user wants to be in crawl mode, normal mode, or turbo mode. It is composed

of a three-part conditional statement that runs one of three sets of commands.

The if statement determines if the L1 button is pressed using the ps4.Button(L1)

command. If the L1 button is pressed, the powerMultiplier variable is set to the

lowSpeed value (0.15, or 15%) and the LED on the PS4 controller is changed to red.

If the L1 button is not pressed, then the second part of the conditional statement

is checked – the else if part. This statement determines if the R1 button is pressed

using the ps4.Button(R1) command. If the user presses the R1 button for turbo

mode, then the powerMultiplier is set to the highSpeed value (1.00, or 100

percent). The PS4’s LED is also set to green.

If neither of the first two conditions are met, then a third set of commands is

executed – the else part. Since the user does not want crawl mode or turbo mode,

then the only other option is normal mode. The powerMultiplier is set to the

medSpeed variable (0.35, or 35%), and the PS4’s LED is set to yellow.

void touchPadControl()

The touchPadControl() function sets the maximum speed of the TaskBot using the

PS4’s touch pad. The command ps4.Touchpad(TOUCHX) returns a value of 0 to

1920 depending on the x-coordinate of where the user last touched the PS4’s touch

pad. This value is stored in the touchx variable so it can be used later.

Because the touch pad can go all the way up to 1920 but our motors have a max

power of only 100, the map function is used to set the highSpeed variable to a

value between 0 and 100. Then, the highSpeed variable is converted to a decimal

number between 0 and 1 to represent a percentage of the maximum motor power.

After the highSpeed variable is set, the medSpeed and lowSpeed variables can

be set. The medSpeed variable is set to 35% of the highSpeed value, and the

lowSpeed variable is set to 15% of the highSpeed value.

8TETRIX Tele-Op Control Module Activity 2

void lineFollow()

The lineFollow() function gets called when the L2 and R2 buttons on the PS4

controller are pressed at the same time. Remember that in the main loop, this

function is called from inside a while loop. As long as the L2 and R2 buttons remain

pressed, the sketch will not break out of the while loop, and this function will

continuously be executed. This is why the first line of the function is the

ps4.getPS4(); command. Without this command, the button and joystick status of

the PS4 controller would never get updated, and the sketch would never break out

of the while loop. Including this command at the beginning of the function enables

the program to know when either the L2 or R2 button is released and the time to

stop line following.

The other three lines of code in this function should look familiar by now. The PS4

controller’s LED is set to blue to indicate the TaskBot is in line-following mode. The

two if statements read the Line Finder Sensor and cause the TaskBot to turn one

way if the sensor detects dark and the other way if the sensor detects white.

void pitchRollControl()

When the PS4 controller’s L1 and R1 buttons are pressed at the same time, the

TaskBot goes into pitch and roll mode, and this function is called from the main

loop. Similar to the LineFollow() function, this function is called from within a

while loop. The program will not break out of the while loop until either the L1 or

R1 button is released. Because of this, it is important to check the status of the PS4

controller’s buttons every iteration of the while loop. This is why the first command

inside the function is the ps4.getPS4() command. This command updates the

status of the controller’s buttons, joysticks, and gyroscope sensor values, and it is

the gyroscope sensor values that determine the pitch and roll.

TETRIX Tele-Op Control Module Activity 2 9

Also inside the function are two commands to change the color of the controller’s

LED. These two commands work together to cause the LED to flash between blue

and red, indicating that the TaskBot is in pitch and roll mode.

The TaskBot’s motors are controlled with the third command in this function.

Although it looks complicated, the prizm.setMotorPowers() command has just

two values in it: the power for Motor 1 and the power for Motor 2. These two values

are separated by the comma.

For Motor 1, the command adds the pitch and roll measurements from the PS4

controller’s gyroscope. For Motor 2, the controller’s roll measurement is subtracted

from the controller’s pitch measurement. The table below shows the TaskBot’s

behavior when the PS4 controller is tilted to its maximum tilt.

Notice that in the last two table entries, the TaskBot moves the opposite direction of

the controller tilt, but because of the backward motion, the TaskBot ends up facing

the direction of the tilt.

Controller Tilt Pitch Roll Motor 1

P + R

Motor 2

P - R Result Motion

All the way

forward 100 0100 100 Forward at full speed

(both motors forward)

All the way

backward -100 0-100 -100

Backward at full speed

(both motors

backward)

All the way left 0-100 -100 100

Rotate left/

counterclockwise

(left motor backward,

right motor forward)

All the way right 0100 100 -100

Rotate right/clockwise

(left motor forward,

right motor backward)

Forward and left 100 -100 0200

Pivot left forward

(left motor stationary,

right motor forward)

Forward and

right 100 100 200 0

Pivot right forward

(left motor forward,

right motor stationary)

Backward and

left -100 -100 -200 0

Pivot right backward

(left motor backward,

right motor stationary)

Backward and

right -100 100 0-200

Pivot left backward

(left motor stationary,

right motor backward

100

Pitch

Roll

100

-100

10 TETRIX Tele-Op Control Module Activity 2

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