Let's Make Robots!

RB-9 RROS-based Robot

This robot was built using the RB-9 chassis available from RobotBASIC.org. It is powered by a RROS-based PCB that uses 5 ranging sensors to create a Virtual Sensory System (VSS) that includes 4 bumpers, 5 proximity sensors, and a turret-ranger). It also supports 3 lines sensors, a compass, a beacon detector, and battery monitoring. The video points out the major parts, and shows how easy it is to program this robot by explaining a simple application where the robot finds and moves to objects that are close by. Complete information about the RROS can be found in the RROS User's manual that can be downloaded here: http://robotbasic.org/resources/RROS_Users_Manual.pdf Appendix E of the manual provides the full source code for the application shown in the video. The abundance of sensors on this robot means it can be used to create far more applications and behaviors than robots that only have a few sensors.

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Nice robot.


Does the tube around the sensor improve it by making it more directional?

Where is it placed? over the emiter or receiver?



Yes, the tubes (on the SR04 receivers) prevent stray echos from adjacent sensors from showing up on the wrong one.  The RROS supports IR sensors (which of course do not need them) and PING sensors.  The PINGS can be triggered indivitually by the RROS so they are stray echo free without the tubes.  On larger diameter robots where the SR04's are cabled to the perimeter, making them much further apart, the tubes are not needed.  The RROS manual discusses MANY potential problems such as these as well as how the RROS solves the problems.  Even if you do not want to use the RROS, reading the manual can give you lots of ideas for your own projects.  Here is a link to download the RROS manual.


Thanks for your detailed explanation.

I've been using SR04s for some time now and always wondered if I could make them more directional by placing a tube in the receiver or transmitter.

Currently I'm building a robot that is positioned very close to the ground and the range the SR04s is limited because of echos coming from the ground.

Well I guess I'll have to do mind own experiments and report back if I find anything usefull.


thanks again

If your robot is very close to the ground, consider the analog IR ranging sensors (pololu.com). These are also supported by our RROS chip.   They do not have the wide detection cone, of course, but then that is why they are not affected by the ground.


I bought 4 IR leds + receptor and thats what I'm using at the moment