Introduction1 Robot Programming Boot Camp2 Ready, Set, Go! No Wires or Strings Attached2 Boot Camp Fundamentals3 Core Robot Programming Skills Introduced in This Book4 BURT-Basic Universal Robot Translator4 BRON-Bluetooth Robot Oriented Network6 Assumptions About the Reader''s Robot(s)6 How Midamba Learned to Program a Robot7 1 What Is a Robot Anyway?9 The Seven Criteria of Defining a Robot10 Criterion #1: Sensing the Environment11 Criterion #2: Programmable Actions and Behavior11 Criterion #3: Change, Interact with, or Operate on Environment11 Criterion #4: Power Source Required11 Criterion #5: A Language Suitable for Representing Instructions and Data12 Criterion #6: Autonomy Without External Intervention12 Criterion #7: A Nonliving Machine13 Robot Categories13 What Is a Sensor?16 What Is an Actuator?17 What Is an End-Effector?18 What Is a Controller?19 What Scenario Is the Robot In?23 Giving the Robot Instructions25 Every Robot Has a Language25 Meeting the Robot''s Language Halfway27 How Is the Robot Scenario Represented in Visual Programming Environments?30 Midamba''s Predicament30 What''s Ahead?32 2 Robot Vocabularies33 Why the Additional Effort?34 Identify the Actions38 The Autonomous Robot''s ROLL Model39 Robot Capabilities41 Robot Roles in Scenarios and Situations42 What''s Ahead?44 3 RSVP: Robot Scenario Visual Planning47 Mapping the Scenario48 Creating a Floorplan49 The Robot''s World52 RSVP READ SET53 Pseudocode and Flowcharting RSVP56 Flow of Control and Control Structures60 Subroutines64 Statecharts for Robots and Objects66 Developing a Statechart68 What''s Ahead?72 4 Checking the Actual Capabilities of Your Robot73 The Reality Check for the Microcontroller76 Sensor Reality Check79 Determine Your Robot''s Sensor Limitations81 Actuators End-Effectors Reality Check84 REQUIRE Robot Effectiveness87 What''s Ahead?89 5 A Close Look at Sensors91 What Do Sensors Sense?92 Analog and Digital Sensors95 Reading Analog and Digital Signals97 The Output of a Sensor99 Where Readings Are Stored100 Active and Passive Sensors101 Sensor Interfacing with Microcontrollers103 Attributes of Sensors107 Range and Resolution108 Precision and Accuracy108 Linearity109 Sensor Calibration110 Problems with Sensors111 End User Calibration Process112 Calibration Methods112 What''s Ahead?114 6 Programming the Robot''s Sensors115 Using the Color Sensor116 Color Sensor Modes118 Detection Range119 Lighting in the Robot''s Environment119 Calibrating the Color Sensor119 Programming the Color Sensor120 Digital Cameras Used to Detect and Track Color Objects124 Tracking Colored Objects with RS Media124 Tracking Colored Objects with the Pixy Vision Sensor128 Training Pixy to Detect Objects129 Programming the Pixy130 A Closer Look at the Attributes134 Ultrasonic Sensor135 Ultrasonic Sensor Limitations and Accuracy135 Modes of the Ultrasonic Sensor139 Sample Readings140 Data Types for Sensor Reading141 Calibration of the Ultrasonic Sensor141 Programming the Ultrasonic Sensor143 Compass Sensor Calculates Robot''s Heading153 Programming the Compass154 What''s Ahead?157 7 Programming Motors and Servos159 Actuators Are Output Transducers159 Motor Characteristics160 Voltage160 Current161 Speed161 Torque161 Resistance161 Different Types of DC Motors161 Direct Current (DC) Motors162 Speed and Torque165 Motors with Gears167 Motor Configurations: Direct and Indirect Drivetrains177 Terrain Challenge for Indoor and Outdoor Robots178 Dealing with Terrain Challenges179 Torque Challenge for Robot Arm and End-Effectors182 Calculating Torque and Speed Requirements182 Motors and REQUIRE183 Programming the Robot to Move184 One Motor, Two, Three, More?185 Making the Moves186 Programming the Moves186 Programming Motors to Travel to a Location191 Programming Motors Using Arduino198 Robotic Arms and End-Effectors200 Robot Arms of Different Types201 Torque of the Robot Arm203 Different Types of End-Effectors205 Programming the Robot Arm208 Calculating Kinematics212 What''s Ahead?216 8 Getting Started with Autonomy: Building Your Robot''s Softbot Counterpart219 Softbots: A First Look222 Parts Section224 The Actions Section224 The Tasks Section224 The Scenarios/Situations Section224 The Robot''s ROLL Model and Softbot Frame225 BURT Translates Softbots Frames into Classes227 Our First Pass at Autonomous Robot Program Designs239 What''s Ahead?240 9 Robot SPACES241 A Robot Needs Its SPACES242 The Extended Robot Scenario242 The REQUIRE Checklist245 What Happens If Pre/Postconditions Are Not Met?248 What Action Choices Do I Have If Pre/Postconditions Are Not Met?248 A Closer Look at Robot Initialization Postconditions249 Power Up Preconditions and Postconditions251 Coding Preconditions and Postconditions252 Where Do the Pre/Postconditions Come From?257 SPACES Checks and RSVP State Diagrams262 What''s Ahead?263 10 An Autonomous Robot Needs STORIES265 It''s Not Just the Actions!266 Birthday Robot Take 2266 Robot STORIES268 The Extended Robot Scenario269 Converting Unit1''s Scenario into STORIES269 A Closer Look at the Scenario''s Ontology271 Paying Attention to the Robot''s Intention282 Object-Oriented Robot Code and Efficiency Concerns304 What''s Ahead?306 11 Putting It All Together: How Midamba Programmed His First Autonomous Robot307 Midamba''s Initial Scenario307 Midamba Becomes a Robot Programmer Overnight!308 Step 1. Robots in the Warehouse Scenario310 Step 2. The Robot''s Vocabulary and ROLL Model for Facility Scenario #1312 Step 3. RSVP for Facility Scenario #1313 Visual Layouts of a Robot POV Diagram315 Midamba''s Facility Scenario #1 (Refined)316 Graphical Flowchart Component of the RSVP317 State Diagram Component of the RSVP324 Midamba''s STORIES for Robot Unit1 and Unit2325 Autonomous Robots to Midamba''s Rescue338 Endnote342 What''s Ahead?342 12 Open Source SARAA Robots for All!343 Low-Cost, Open-Source, Entry-Level Robots344 Scenario-Based Programming Supports Robot Safety and Programmer Responsibility345 SARAA Robots for All346 Recommendations for First-Time Robot Programmers348 Complete RSVPs, STORIES, and Source Code for Midamba''s Scenario349 A BURT''s Gotchas351 TOC, 9780789755001, 4/19/16.