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Xbee Controlled Robot
1

Items Required

   Product Name                                 Quantity                          
        • Acrylic Chassis                                           1                         Buy Now
        • Wheels                                                        2                         Buy Now
        • Castor Wheel                                              1                         Buy Now
        •  BO motor                                                    2                         Buy Now
        •  Motor Clamp                                              2                         Buy Now
        •  SPDuino Board                                           1                         Buy Now
        •  Xbee Shield                                                1                         Buy Now
        • NiMh Battery                                              1                        Buy Now  
        • Xbee Module                                              2                         Buy Now
        • Xbee USB Adapter  Board                         2                         Buy Now
        • USB A to mini B Cable                              2                         Buy Now
        • USB A-B Cable                                         1                         Buy Now
        • Barrel Jack Charger Board                         1                         Buy Now
        • Adapter 9V 1A                                           1                         Buy Now
2

Component Specification

CHASSIS

          Length: 150mm
          Width:  120mm  
  • Either own chassis can be designed or available chassis can be used.
  • Provisions are made to fix sensors, SPDuino Board, small castor wheel etc.,
  • clamp is fixed to attach motors.
    



MOTOR

         RPM: 150 RPM at 12 v
  • This is plastic geared motor and has D type shaft.
  • This is used in autonomous robots and line follower robots etc.,
     

WHEEL

          Diameter: 7 cm      
          Width: 8 mm
  •   These wheels are used for BO/ Plastic geared, D type shaft motors.
      

CASTOR WHEEL

          Base plate diameter - 27.5 mm
          Caster wheel diameter - 13.5 mm
          Wheel height - 18 mm
  • The small castor wheel is an omni-directional wheel.
  • This wheel is used as free support front wheel for robots.


 
SPDUINO BOARD
  • Microcontroller: ATmega328
  • Operating Voltage: 5V
  • Input Voltage (recommended): 7-12V
  • Input Voltage (limits): 6-20V
  • Digital I/O Pins: 14 (of which 6 provide PWM output)
 


XBEE SHIELD
  • Provided with stackable headers
  • On board 5V, 1.5Amps regulator
  • Hassle free interface for xbee modules
  • Includes dual motor driver (L293D)
  • Indicators provided for Data-in, Data-out and RSSI (Signal strength indicator) compatible Xbee  Series 1 and Series 2 (and 2.5), standard and Pro version.



XBEE MODULE SERIES 1 (WIRE ANTENNA)
100 m range
Local or over-air configuration



XBEE USB ADAPTER BOARD
  • Compatible for all modules with Xbee footprints  
  • Indicator for Signal strength(RSSI), power, TX and RX
  • Comes with Mini USB connector



USB A to mini B Cable

  •  This cable will be used to connect both the xbee modules to your computer for software  configuration 





USB A to B Cable

  •  This cable will be used for uploading the program code in spduino

       

  BATTERY
  • Battery Voltage: 7.2V / 3 cell
  • Battery capacity: 1000mAh
  • Battery weight: 150gms
  • Dimensions: 50mm x 40mm x 15mm



Barrel Jack Adapter Board
  • Required to recharge the battery from adapter

 

Adapter 9V 1A
3

Robot Assembling

FIXING CLAMP AND CASTOR WHEEL
  • Clamp is fixed in the given provision with screws.
            

  • Small castor Wheel is fitted in front side of the chassis with screws.
                                
FIXING THE MOTOR
  • The clamp has many holes to connect the motor in any desired position.
  • Both the motors are fixed in the appropriate holes in the clamp.
  • The shaft of the motor should face the other end so as to fix the wheel.
                 
                 

FIXING THE WHEELS TO CHASSIS
  • The wheels are fitted to the shaft of both the motors.
                
  • They are screwed in the axle of the wheel. 
                  


FIXING SPDUINO BOARD AND SHIELD
  • To fit the board in chassis the long screw is inserted the board and required spacers are added to it.
  • The space between the board and chassis is separated by the spacers.
                            Arduino Board

Now the board is fixed in the chassis with screws already connected to it.

                    

Above the board the Xbee shield is connected using the stackable headers.
4

Xbee Module Configuration

XBEE modules are configured using XCTU software developed by Digi International.
Step 1: Connect both the Xbee modules with the help of Xbee Adapter to the computer via USB
  

Step 2: Open XCTU software. 


Step 3 : Click on add a radio module.
  

Step 4: Select one com port set the baud  rate(same for both xbees and in program) and click on finish.


 
Step 5: Open another window of XCTU software and repeat these steps for the second com port.
Step 6: Click on the Xbee module detected the software will read the information automatically.
  

Step7 :  Repeat the step 6 for the second Xbee Module.

Step 8: Make sure that the  ID PAN ID , DH Destination Address high and DL Destination Address Low is SAME for both the modules.
  


Step 9: Now open the monitor (1) in both the XCTU screen and connect them on clicking the connect button (2).
 


Step 10: Now to send information click on the + sign and add the information packet by giving it a name and writing the information is ASCII code and click add packet.
 
  



Step 11: After adding the packet click on send selected packet then you will see the transmitted information  in the other XCTU window and now reply to the message for the console log.

 
  
 


Step 11: Configuration is complete now exit XCTU software and remove one XBee and attach it to the XBEE shield of your Robot.

Step 12: Connect the Motors and Battery to the Xbee Shield and upload the Program in your SPduino.


 
Step 13: Open Arduino software and communicate with your robot using the XBee attached to the computer via serial monitor. Select the correct com port and control the robot with computer.




IMPORTANT NOTE:

The jumpers of the xbee shield used in this tutorial should be in micro-controller mode otherwise the robot will not work and don’t forget to adjust  the jumper of  spduino board after uploading the program. 
5

Sample Program

In this sample program the  robot performs these basic 5 movements:

  Forward
  Backward
  Right
  Left
  stops

Motor teminals in the Xbee shield are programmed to move the robot.
High and Low signals are given to control the motor.

FORWARD
  • Left and right motor rotates in same direction.
  • Now the robot moves forward.
    
BACKWARD
  • Left and right motor rotates in a direction opposite to forward action.
  • Robot moves backward.

RIGHT
  • The left motor has to move forward and right motor has to reverse.
  • Robot turns right.

LEFT
  • The left motor has to move backward and right motor has to forward.  
  • Robot turns right.

Stop

  • Left and right motor stops rotates.
  • Now the robot Stops.

View sample program to be uploaded in the Spduino from the link given.

The program is explained briefly in this copy and use the program in arduino software.

View sample program
HAPPY ROBOTING !!!

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