Training Module

ARDU 2005 Arduino-based Multifunction
Mobile Ground Robotics
Instructor
Dafizal Derawi
PhD candidate (UTM), B. Eng with Honours (Australia)
CEO of Drabot
Founder of Arduino Drabot Community
www.drabot.com Robotic Systems Enterprise - Arduino Drabot Community - Expert in Aerial Robotics
Dafizal Derawi
• CEO, Robotic Systems Enterprise
• Founder of Arduino Drabot Community
 PhD candidate, Universiti Teknologi Malaysia (UTM), 2013 –

present.
 Research Visitor, Autonomous Control Systems Laboratory,
Chiba, Japan, Dec 2014 – Dec 2015.
 Research Assistant, Computer Vision & Robotic Research

Group, Australian National University (ANU), 2012
 Tutor, Introduction to Electronics course, Research School of
Engineering, Australian National University (ANU), 2012
 Bachelor of Engineering with Honours majoring in
Mechatronic Systems, ANU, 2011
 Diploma in Electrical Engineering (Mechatronics) with Vice

Chancellor Award, UTM, 2009
 Founder & President of Research & Innovation Club (RIC),
UTM KL, 2008
Our activities….
www.facebook.com/drabot.robotics
Store Department (Online Shop)
https://www.facebook.com/pg/drabot.robotics/shop/
“Learn how to be a developer,
rather than a user!”
CHAPTER 1
UNMANNED GROUND
VEHICLE (UGV)
Introduction
• An unmanned ground vehicle (UGV) is a
vehicle that operates while in contact with the
ground and without an onboard human
presence (pilot).
A Gladiator Tactical Unmanned Ground Vehicle
Remote-Operated
• controlled by a human operator via interface.
• actions are determined by the operator based
upon either direct visual observation or
remote use of sensors such as digital video
cameras.
Autonomous
• Guardium used by the Israel Defense Forces to
operate as part of the border security
operations.
• uses its sensors to develop some limited
understanding of the environment, which is
then used by control algorithms to determine
the next action to take in the context of a
human provided mission goal
CHAPTER 2
INTRODUCTION TO
ARDUINO
2.1 What is Arduino?
• Google now!!!!
2.1 What is Arduino?
More details…
• www.arduino.cc
• Training module
Comparison…
• Parallax Basic Stamp, Netmedia's BX-24, MIT's Handyboard,
and many others offer similar functionality.
• BUT, Arduino:
– Inexpensive
– Cross-platform: Windows, Macintosh OSX, and Linux
operating systems
– Simple, clear programming environment
– Open source and extensible software
– Open source and extensible hardware
Complete
Arduino-based
system overview
2.2.1 Arduino UNO (USA only) &
Genuino UNO (outside USA)
Arduino UNO (USA only) &

Genuino UNO (outside USA).
The price is around RM 96 -

RM 105
Technical Specification
2.2.2 UNO compatible board
(used in this course)
DRABOT UNO
PRODUCT CODE: 201603032
PRICE: RM 40 ONLY
- Arduino Uno R3 Compatible

- USB Type A to B connector
(USB Cable is given)
Arduino UNO vs UNO compatible board
1.3 Arduino Software (IDE)
• You can tell your Arduino what to do by
writing code in the Arduino programming
language and using the Arduino development
environment.
• You can download Arduino Software from
– https://www.arduino.cc/en/Main/Software
• For those attend this course, please find
Arduino software inside the Software folder
CHAPTER 3 COMPONENTS
& ELECTRICAL
FUNDAMENTAL
• Open picture of overall system in your training
module folder…
Arduino Sensor Shield v5.0
Ultrasonic HC-SR04
Servo motor (9g Micro Servo)
Bluetooth Transceiver HC-05
Motor Driver L298N
DC Brush Motor
Compass Module
Infrared Sensor (IR sensor)
Infrared Receiver & Transmitter
(Remote Control)
Battery
Electrical Fundamentals
Analog to Digital Converter
(ADC)
Pulse Width Modulation (PWM)
• To control speed.
• Increase PWM value in order to increase
speed.
• PWM value: 0 – 255 only!!!!
Serial Communication
CHAPTER 4
ARDUINO PROGRAMMING
LANGUAGE
Introduction
• The Arduino language is based on C/C++.
Arduino programs.
• Three main parts:
1) Basic
2) Variables and constants
3) Functions
4) Control Structure
Basic
Syntax
#include
• #include is used to include outside libraries in your sketch. This
gives the programmer access to a large group of standard C libraries
(groups of pre-made functions), and also libraries written especially
for Arduino.
• Similar to #define, has no semicolon terminator, and the compiler

will yield cryptic error messages if you add one
#define
• #define is a useful C component that allows the programmer to give
a name to a constant value before the program is compiled.
• Syntax:
#define constantName value

//Note that the # is necessary
• Example:
#define ledPin 3
// The compiler will replace any mention of ledPin with the
// value 3 at compile time
Maths operators
Comparison operators
Compound operators
• x++ means x = x+ 1
• x-- means x=x-1
Variables
Data Type RAM Number Range
void keyword N/A N/A
boolean 1 byte 0 to 1 (True or False)
byte 1 byte 0 to 255
char 1 byte -128 to 127
unsigned char 1 byte 0 to 255
int 2 byte -32,768 to 32,767
unsigned int 2 byte 0 to 65,535
word 2 byte 0 to 65,535
long 4 byte -2,147,483,648 to 2,147,483,647
unsigned long 4 byte 0 to 4,294,967,295
float 4 byte -3.4028235E+38 to 3.4028235E+38
double 4 byte -3.4028235E+38 to 3.4028235E+38
string 1 byte + x Arrays of chars
array 1 byte + x Collection of variables
Functions: Digital
Write this in Write this in

Initialize this in void loop() void loop()
void setup() This function for This function for
Digital Output Digital Input
Functions: Analog Input &
PWM (a.k.a Analog Output)
NO Initialization in Write this in Write this in

void setup() void loop() void loop()
This function for This function for
PWM Analog Input
Control Structure
• Control structure
– if
– if…..else
– for
– while
– do…while
if
• if, which is used in conjunction with a comparison
operator, tests whether a certain condition has been
reached, such as an input being above a certain
number.
Format
if…else
if (pinFiveInput < 500)
{
// action A
}
else
{
// action B
}
if (pinFiveInput < 500)
{
// do Thing A
}
else if (pinFiveInput >= 1000)
{
// do Thing B
}
else
{
// do Thing C
}
for
• To repeat a block of statements enclosed in curly braces.
• An increment counter is usually used to increment and
terminate the loop.
• Useful for any repetitive operation, and is often used in
combination with arrays to operate on collections of
data/pins
• There are three parts to the for loop header:
for (initialization; condition; increment) {

//statement(s);
}
CHAPTER 5
GETTING STARTED
(WINDOWS)
1) Get an ARDUINO UNO / UNO
compatible board and USB cable
2) Download and install the
Arduino Software (IDE)
• https://www.arduino.cc/en/Main/Software
• You can choose between the Installer (.exe) and the Zip packages.
• We suggest you use the first one that installs directly everything
you need to use the Arduino Software (IDE), including the drivers.
• With the Zip package you need to install the drivers manually.
• For those attend this course, please find the Arduino Software
inside the Software folder. You don’t need to download this
software.
• When the download finishes, proceed with the installation and

please allow the driver installation process.
3) Install the board drivers
• UNO compatible board user (used in this
module)
– You may have to install extra drivers for CH340.
– For those attend this course, please find this
driver inside the Software folder. You only need
to double click on the driver file and then
Windows will finish up the driver installation
from there
4) Connect the board
• The USB connection with the PC is necessary to
program the board and not just to power it up.
• The Uno and Mega automatically draw power from
either the USB or an external power supply.
• Connect the board to your computer using the USB
cable. The power LED should go on.
5) Launch the Arduino Software (IDE)
• Double-click the Arduino icon (arduino.exe)

created by the installation process. (Note: if
the Arduino Software loads in the wrong
language, you can change it in the preferences
dialog. See the Arduino Software (IDE) page
for details.)
6) Open the blink example
• File > Examples >01.Basics > Blink
7) Select your board
8) Select your serial port
• Select the serial device of the board from the
Tools | Serial Port menu.
• This is likely to be COM3 or higher (COM1 and
COM2 are usually reserved for hardware serial
ports).
9) Upload the program
• click the "Upload" button in the environment.
• Wait a few seconds - you should see the RX
and TX leds on the board flashing.
• If the upload is successful, the message "Done
uploading." will appear in the status bar.
Congratulation!!!
CHAPTER 6
TUTORIAL
(refer module)
CHAPTER 6
TUTORIAL
(refer module)
CHAPTER 7
Project
(refer module)
THANK YOU!!!!
training@drabot.com
011-10880900
(WhatsApp/SMS)
Utusan, 17 Jan 2017
http://www.utusan.com.my/sains-teknologi/teknologi/drabot-bangkit-minat-robotik-1.432619
Drabot in Metro Ahad today (4 Dec 2016)

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ARDU 2005 Arduino-based Multifunction

Mobile Ground Robotics

 PhD candidate, Universiti Teknologi Malaysia (UTM), 2013 –

 Research Assistant, Computer Vision & Robotic Research

 Diploma in Electrical Engineering (Mechatronics) with Vice

Arduino UNO (USA only) &

The price is around RM 96 -

- Arduino Uno R3 Compatible

• Similar to #define, has no semicolon terminator, and the compiler

#define constantName value

void keyword N/A N/A

boolean 1 byte 0 to 1 (True or False)

byte 1 byte 0 to 255

char 1 byte -128 to 127

unsigned char 1 byte 0 to 255

int 2 byte -32,768 to 32,767

unsigned int 2 byte 0 to 65,535

word 2 byte 0 to 65,535

long 4 byte -2,147,483,648 to 2,147,483,647

unsigned long 4 byte 0 to 4,294,967,295

float 4 byte -3.4028235E+38 to 3.4028235E+38

double 4 byte -3.4028235E+38 to 3.4028235E+38

string 1 byte + x Arrays of chars

array 1 byte + x Collection of variables

Write this in Write this in

NO Initialization in Write this in Write this in

• There are three parts to the for loop header:

for (initialization; condition; increment) {

• When the download finishes, proceed with the installation and

• Double-click the Arduino icon (arduino.exe)

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