This page (revision-23) was last changed on 2021-04-30 11:40 by Murray Altheim

This page was created on 2019-12-28 03:23 by Murray Altheim

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KC 01
KC01

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The [KC01] robot is a [robot prototype] in the "mini" weight class.
The [KC01] robot is a [robot prototype] in the ["mini" weight class|RobotWeightClasses].
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__KC01__ (AKA "Kaycee Oh-One", for the ''__K__iwiBot __C__ircuitPlayground Model __1__'') is a [mini robot|MiniRobot] that without batteries weighs only 163 grams. It's currently an unfinished design and has no sensors, but it has ''plenty of possibilities'' in this regard. See below.
__KC01__ (AKA "Kaycee Oh-One", for the ''__K__iwiBot __C__ircuitPlayground Model __1__'') is a ["mini" sized|RobotWeightClasses] robot that without batteries weighs only 163 grams. It's currently an unfinished design and has two short-range Sharp infrared sensors, but there are ''plenty of possibilities'' in this regard. See below.
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It uses the __Circuit Playground Express__ microcontroller, which is very suitable for people who've never built a robot before, or used a microcontroller. The Circuit Playground board is very useful for non-robot applications as well.
It uses the __Circuit Playground Express__ microcontroller, which is a good start for people who've never built a robot or used a microcontroller before. The Circuit Playground board has many for non-robot applications as well.
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I learned recently of an "improved" version of the CRICKIT board (same form factor) called the [RoverWing|https://roverwing-board.readthedocs.io/en/latest/, which includes PID, an IMU and a more powerful motor controller.
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* small and lightweight (''[mini robot|MiniRobot]'' class) so that it can be run using a pair of micro gear motors
* small and lightweight so that it can be run using a pair of micro gear motors
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Below is the Bill of Materials, with an estimated cost of __NZ$147__. This doesn't include miscellaneous
Below is the Bill of Materials, with an estimated cost of __NZ$156__. This doesn't include miscellaneous
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* there are many options for wheels - just be sure you get some that match the 3mm shafts of whatever motors you choose
* there are many options for wheels (in addition to those on AdaFruit and Pimoroni, check out the ones available from [Piborg|https://www.piborg.org/motors-mounts-and-wheels-1140]) - just be sure you get some that match the shafts of whatever motors you choose (the micro gear motors are 3mm)
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[{Image src='attach/KC01/micro-gear-mod-thumb.jpg' link='attach/KC01/micro-gear-mod.jpg' caption='Modified Push Header Shim' align='right' class='imgFloatRight'}]
[{Image src='attach/KC01/original-motor-thumb.jpg' link='attach/KC01/original-motor-thumb.jpg' caption='Original Push Header Shim' align='right' class='imgFloatRight'}]
A very low-cost modification is to un-solder the right angle pins of the motor's ''Push Header Shim'' and replace them with a two-pin straight header. If you're using (for example) [Jumper Jerky|https://shop.pimoroni.com/products/jumper-jerky-junior?variant=1076482185] or some other type of solderless connectors, the original shim design leaves the plastic connectors hanging down vertically from the motors, significantly reducing the floor clearance (down to about 8mm). If your robot is only operating on a flat wooden, concrete or linoleum floor then this modification is probably not necessary.
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If you want to use odometry, you can __upgrade__ by buying the motor encoders and the motors ''without'' the Push Header Shim (which is incompatible with the motor encoders as they both solder to the same place). You'll want the extended back shaft version.
If you want to use [odometry], you can __upgrade__ by buying the motor encoders and the motors ''without'' the Push Header Shim (which is incompatible with the motor encoders as they both solder to the same place). You'll want the extended back shaft version.
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!! Notes, Known Questions and/or Issues
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!! Programming
With the two Sharp infrared sensors, I've written a short program that uses two of the touch sensors to activate a main loop function that performs simple object avoidance: if the left sensor detects something the robot backs up and turns turns right; if the right sensor detects something it backs up and turns left; and if both sensors detect something it just backs up further and turns randomly.
!! Limitations, Issues, Known Questions and/or Other Notes
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* this robot is pretty small and likely __cannot handle transitions between carpet and floor__, i.e., requires a smooth operating surface
* __smooth floors or low carpets only__: this robot is pretty small and likely cannot handle transitions between carpet and floor, i.e., requires a smooth operating surface
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* I recommend putting a bit of light oil on the motor shafts before you push them into the Moon Buggy wheels, as they go on very tight.
* Also, the wheels have a __mysterious inner design__ that's not mentioned on its product page, in that you can push the motor shaft in from either side __but the behaviour is different__. On one side it's as normal; on the other, if you only push the shaft in half way you'll get a clutch-like action, where the orange inner wheel will chatter and spin if overdriven rather than stall the motor. Feature or bug? I think: feature.
This page (revision-23) was last changed on 2021-04-30 11:40 by Murray AltheimTop