Parallax Penguin User manual

Web Site: www.parallax.com

Forums: forums.parallax.com

Sales: sales@parallax.com

Technical: [email protected]

Office: (916) 624-8333

Fax: (916) 624-8003

Sales: (888) 512-1024

Tech Support: (888) 997-8267

Penguin Robot Kit

(Red #27313)

(Blue #27314)

(Clear #27315)

(Black #27316)

The Penguin Robot is a precision-machined 4” tall biped. The Penguin walks forward with a tilt-stride

action and turns by sweeping both feet on the ground in opposite directions. Individual movement

segments are linked together for this robot to walk. This basic biped design functions best in the

Penguin’s small scale. The Penguin mechanics have a close-tolerance fit and are designed to provide

precise electronic control.

The Penguin’s microcontroller is an embedded BASIC Stamp2px24 module, the fastest and most powerful

BASIC Stamp microcontroller model in the Parallax lineup. The Penguin requires three hours to assemble,

after which it is a PBASIC programming challenge to exploit all of the robot’s capabilities.

Note: This document is for Penguin Robots Rev A or Rev B.

If your robot has a "REV B" label near the 7-segment display on the

PCB, please look out for assembly instruction differences specific to

Rev B.

(Note that Penguin Robots Rev A are not labeled.)

Table of Contents

1.0 Introduction.................................................................................................................................2

1.1. Audience ............................................................................................................................................................2

1.2. Features .............................................................................................................................................................2

1.3. System and Software Requirements:................................................................................................................3

1.4. Bill of Materials...................................................................................................................................................3

1.5. Body Kit Mechanical Drawings..........................................................................................................................4

2.0 Assembly.....................................................................................................................................5

2.1. Tools Required...................................................................................................................................................5

2.2. Assembly Instructions........................................................................................................................................5

2.3. Mechanical Troubleshooting Guide.................................................................................................................17

3.0 Programming the Penguin......................................................................................................18

3.1. Programming Concept.....................................................................................................................................18

3.2. Servo Calibration..............................................................................................................................................18

3.3. Penguin’s BASIC Stamp 2px24 Pinout ...........................................................................................................18

3.4. Example Programs ..........................................................................................................................................19

3.5. Optional Compass Calibration.........................................................................................................................19

3.6. Other Helpful Documentation ..........................................................................................................................19

3.7. Test Code Listings ...........................................................................................................................................20

4.0 Electronics................................................................................................................................23

4.1. CR123 Batteries...............................................................................................................................................23

4.2. Schematic.........................................................................................................................................................23

1.0 INTRODUCTION

1.1. AUDIENCE

The Penguin isn’t a beginner’s robot. The Penguin is a small desktop robot, not intended for long-distance

adventuring. The Penguin’s electronics are fully assembled and wired to an assortment of I/O devices.

Additionally, it has a fairly complex programming process which is more difficult to understand than a

two-wheeled robot. For example, Penguin’s walking steps must be linked and the compass sensor must

be calibrated. For these reasons we recommend this robot for the hobby robotics enthusiast or collector

who has an extended interest in PBASIC programming.

1.2. FEATURES

yBS2px24 module chipset

yCNC-machined 6061 aluminum parts available in four color schemes

y(2) micro servos

yHitachi HM55B Digital Compass sensor

yBlue seven-segment LED for feedback

y(2) photoresistors

y(2) infrared emitters and one detector

yPiezospeaker in body, underneath battery pack

y3-position power switch located adjacent to battery pack

yFTDI 232RL mini USB programming port

y(2) CR123 batteries for 6V power supply

yOrange power indicator LED

y(2) expansion I/O ports, with Vss and Vdd header for Ping))) distance sensor or RF modules

1.3. SYSTEM AND SOFTWARE REQUIREMENTS:

yPC running Windows XP/Vista, with an available USB port

yBASIC Stamp Editor Software v 2.3 or higher - download from www.parallax.com/downloads.

yUSB VCP Drivers - these can be installed automatically via the BASIC Stamp Editor v2.3 installer,

or you may download the latest version separately from link on www.parallax.com home page.

yPenguin Test and Sample Programs - test programs are included in this document; all programs

listed may be downloaded as .bpx files from Penguin product page at www.parallax.com.

1.4. BILL OF MATERIALS

Part # Description Quantity

Penguin Body Kit

720-27313 Red Anodized Penguin 1

720-27314 Blue Anodized Penguin 1

720-27315 Clear Anodized Penguin 1

720-27316 Black Anodized Penguin 1

Each of the above includes:

-- Body panels 2

-- Leg pairs attached to ankle 2

-- Feet 2

-- 4-40 5/8” long standoffs, with machined flat space 4

Penguin Hardware Package

720-00013 Stride linkage 1

720-00015 2-56 threaded rod 2.5" long 2

710-00013 4-40 1/8" long, 0.149" diameter stainless steel shoulder screw 4

710-00010 4-40 1/8" long, 1/8" diameter stainless steel shoulder screw 4

710-00011 4-40 1/4" button socket cap stainless steel screw 12

710-00012 2-56 1/4" button socket cap stainless steel screw 2

710-00014 2-56 1/4" flathead stainless steel screws 4

725-00016 2-56 ball links for 2-56 threaded rod 2

725-00062 1/16" hex key 1

725-00063 0.05" hex key 1

725-00064 5/64" hex key 1

725-00067 1.5 mm hex key 1

725-00018 1/16" ball links for 2-56 threaded rod 2

Electronics

555-27313 Penguin BS2px printed circuit board 1

Each of the above includes:

-- BS2px24 circuit board 1

-- Flat white ribbon cable to connect the boards 1

-- Power pack board 1

Miscellaneous

700-00064 Parallax dual-head screwdriver 1

752-00003 CR123 Batteries 2

805-00010 USB A to Mini B programming cable 1

900-00014 Grand Wing Naro standard servo 2

700-00063 Drill bit, #55 1

Missing parts? Your Penguin experience should be nothing short of complete success and

satisfaction. If you encounter a missing part contact us immediately and we’ll put it in the mail for you.

The best way to do this is by e-mail to sales@parallax.com, or you can call us at (888) 512-1024.

1.5. BODY KIT MECHANICAL DRAWINGS

2.0 ASSEMBLY

2.1. TOOLS REQUIRED

The Penguin kit includes a portion of the tools required to build the robot (the hex keys, drill bit, and

screwdriver). You will need to provide these additional tools to finish assembly, which are not included in

the kit:

ySmall pliers

yRuler or calipers

yHandheld drill, small drill press, or a vise

ySmall adjustable crescent wrench (or 3/16” socket)

ySafety glasses

Safety first! Taking basic safety precautions is absolutely necessary when building a Penguin. The

assembly process includes several steps where you will be exposed to danger. You will be using a

sharp drill bit to enlarge a tiny hole, and tiny pieces may fly. You will be pressing ball joints together,

where a small slip can puncture your skin. These dangers are minimized by wearing safety glasses

and using the right tools for the job.

2.2. ASSEMBLY INSTRUCTIONS

Step 1: Attach standoffs to servos

Connect (4) of the 4-40 1/4" button socket cap stainless steel screws to the middle of the 5/8” 4-40

standoffs. The standoffs have a machined flat space in the middle against which the servo tab will be

seated when the screw is tightened. Press the standoffs against the servo body when tightening the

screws. This will ensure proper spacing when the servos are mounted in the Penguin body panels.

Step 2: Center the servos using the BASIC Stamp Editor

This step centers the servos, so that further mechanical tuning will be minimized once the Penguin is

assembled. It also ensures that you won’t need to take the Penguin apart once you start programming it.

The servos need to be centered with a 1.5 ms pulse, following the directions below:

a. Connect the Penguin boards together using the flat ribbon cable, as pictured. For boards with a

"REV B" label near the 7-segment display, the blue-tipped side of the cable faces toward the

Parallax logo. Otherwise, the blue-tipped side of the cable faces away from the Parallax logo.

b. Insert two (2) CR123 batteries into the power pack. A line drawing on the inside of the battery

holder shows how the batteries are oriented. (Orientation may differ from picture shown.)

c. Plug two servos into the bottom of the power pack, being careful to orient them correctly. From

the perspective of this photo, the servo’s white leads are on the bottom, or the right side of each

servo connector as viewed behind the Penguin.

d. Download and install the BASIC Stamp Editor and FTDI USB VCP drivers software if you have not

done so already.

e. Plug the mini USB cable into the power pack.

f. Plug the other end of the USB cable into your PC.

g. Turn on power to the board (slide the switch toward the ribbon cable).

h. Open the BASIC Stamp Windows Editor and run the Penguin-CenterServos.bpx program.

i. The servos are now centered. Disconnect the servos first, and then remove the batteries and USB

cable from the power pack board.

' Parallax Penguin Robot

' Penguin-CenterServos.bpx

' {$STAMP BS2px}

' {$PBASIC 2.5}

Center CON 1875 ' Centered servo pulse

StrideServo PIN 6

TiltServo PIN 7

PULSOUT StrideServo, Center ' Center stride servo (J1)

PULSOUT TiltServo, Center ' Center tilt servo (J2)

PAUSE 15

LOOP

Step 3: Assemble the Penguin body

Install the servos into the Penguin body using (8) 4-40 1/4" long button socket cap stainless steel screws

and the 1/16” hex key. The picture shows how the servo splines are oriented: the stride (bottom) servo

spline is near the rear of the Penguin; the tilt (top) servo spline is near the top of the Penguin. Tighten

the screws.

Step 4: Install stride linkage on the stride servo

Locate the small black plastic stride linkage with two ball-shaped ends. (This part has changed: the style

shown on the left is included in your kit. The previous style is shown in all the photographs.) The stride

linkage has a recess in the reverse shape of the servo spline. Press it onto the servo so that it is as close

to cross-wise to the Penguin body as possible; it may not be perfectly perpendicular because the spline is

toothed. For fine-tuning, this can be corrected with calibration-in-software using sample code available

for free download from the Penguin product page. Secure the stride linkage to the spline with the servo

screw.

Step 5: Attach legs and ankles to body

The Penguin’s legs and ankles come pre-assembled since they required a specialized tool to properly

insert small dowel pins through the round ankle. Each Penguin has a pair of left and right legs. Also

notice that there’s a round machined recess with a diameter slightly larger than the shoulder screw head

on each pair of legs. The recess faces out towards the shoulder screw, and the shortest part of the ankle

faces forward. Shoulder screws have a 1/8” diameter smooth stainless steel surface upon which the legs

will rock back and forth.

To install the leg assemblies on the Penguin, use the (4) 4-40 1/8" long shoulder screws and the 5/64”

hex key. The ball-shaped ends of the stride linkage fit within the matching oval cutout in the rear legs.

The legs should move freely when assembled, and you will hear the stride servo’s gears moving at the

same time. If it takes force to move the legs you have one of two problems: either the metal parts have

bound, or the screws are too tight into the body panels. Tighten everything enough to remove “slop” but

not so tight that parts are unable to move freely.

Step 6: Mount Penguin feet to the ankles

The Penguin kit has (4) 4-40 1/4" long, 0.149" diameter stainless shoulder screws which are used to

attach the feet to the ankles. The head of these screws provides a bearing surface for the ankle so it may

rotate freely within the foot when Penguin leans from side to side.

Each foot has an additional 2-56 threaded hole where the Penguin’s ball joints mount for the threaded

rod which connects to the tilt servo (the ski poles). These threaded holes denote the front of the foot.

Carefully drop the ankles into the foot. This is a close-tolerance fit; the ankle will only fit into the foot if it

is inserted squarely. Next, use the 1.5 mm hex key to tighten the 4-40 long 0.149” diameter stainless

steel shoulder screws into the ankle.

The Penguin will now stand up without assistance.

Four (4) 4-40 ¼” long 0.149” diameter

stainless shoulder screws hold the ankle

to the feet

Step 7: Screw 2-56 ball links into feet

The Penguin kit contains two different sizes of ball links. The 2-56 threaded ball links are used in this step

(the 1/16” ball links are used in a subsequent step). Open the package and thread the 2-56 ball link post

into the front of each foot. You can tighten them using a 3/16” socket or small wrench. Be careful not to

scratch the feet as you tighten the ball links. The threaded portion of the ball link will not screw all the

way into the foot because it has a small non-threaded portion between the threads and the hex-shaped

post. Don’t force it beyond the point at which the ball link is easily screwed into the foot.

Step 8: Attach plastic ball sockets to 2-56 threaded rod

Now you’re ready to thread the four (4) plastic ball sockets onto each end of the 2-56 threaded rod.

Twist both ends on evenly until the rod length is about 3.4” long. If this is too difficult to do with your

hands, consider carefully holding the threaded rod with pliers. Use a small rag to prevent it from being

scratched.

Step 9: Drill a 1/16” hole in the servo horn

Each servo package includes an assortment of servo horns. We’ll use the widest servo horn in this step. If

you make a mistake it’s okay because there’s a second one in the other servo package.

Put on your safety goggles. Place the #55 drill bit in your handheld drill, drill press, or vise. Very carefully

enlarge the two outermost holes on the servo horn. If you are using a drill, run it very slowly to prevent it

from feeding into the hole too quickly. If you run it too fast the drill will plunge into the plastic and you’ll

crack the servo horn. Take your time and use a low drill speed. If you have secured the drill bit in a vise,

gently twist the servo horn onto the bit to enlarge the hole. Do not press down, and be careful not to

injure your hands.

Step 10: Connect the 1/16” ball links to the servo horn

Install the two 1/16” ball links on the servo horn. Tighten carefully but don’t deform the plastic.

Step 11: Attach the servo horn to the tilt servo

Press the assembled servo horn onto the tilt servo, positioning it cross-wise to the Penguin body. Do not

over-tighten the screw; you may need to take off the horn and re-center the servo if it gets moved

during the next step.

Step 12: Connect the tilt servo horn and feet with the threaded rods

Now you’re ready to snap the two threaded rods onto the front of the Penguin. The ball joints can be

snapped onto the feet by hand. Attaching them to the servo horn ball joints is a bit more difficult. For this

you can use a small pair of pliers. Place one jaw of the pliers behind the ball link’s post, and the other on

the outside of the plastic ball socket. Future adjustments can be made quite easily by disconnecting the

ball link socket from the feet only. To disconnect them, use a small screwdriver as a lever against the

foot. Cover the foot with a cloth to prevent scratching.

Bad Penguin Posture? You may have rotated the tilt servo off-center while attaching the linkages. If

the servos are centered, the Penguin will have its feet close together and will be standing straight up,

and the tilt servo horn will be horizontal. If the tilt servo is not horizontal, remove the screw and very

gently pull the horn off of the spline. Re-run Penguin-CenterServos.bpx, which should bring the feet

together. Replace the horn on the spline, and replace the screw.

Step 13: Attach BASIC Stamp 2px24 board to the Penguin body

The Penguin’s top board contains the BASIC Stamp 2px24 circuitry. It is mounted on the top of the

Penguin using (2) 2-56 1/4" button socket cap stainless steel screws and the 0.050” hex key. You’ll need

to fold the tilt servo’s wire over to tighten the board against the top of the Penguin.

Step 14: Attach Power Pack board to the Penguin body

The Penguin’s power pack board is installed using (4) 2-56 ¼” long flathead screws and the 0.050” hex

key. When you mount this board be sure that the servo wires are not preventing it from properly seating

into position.

Plug the servos back in. Connect the stride servo to J1 and the tilt servo to J2; make sure the white

leads are on the right, as shown in the photo.

Step 15: Install batteries and tidy servo wires

Install (2) CR123 batteries into the Penguin’s power pack. The batteries will be oriented in the same

direction; refer to the pictorial molded into the bottom of the battery holder’s plastic surface. Coil up the

servo wires behind the robot. It’s also possible to hide them in the Penguin’s body, but that requires

substantial attention to detail considering the lack of free space.

Step 16: Penguin is finished

Congratulations. Your Penguin is complete and ready for programming!

2.3. MECHANICAL TROUBLESHOOTING GUIDE

The Penguin is made from CNC-machined aluminum, molded plastic, screw-machine shoulder bolts, and

a variety of electronic components from different factories. There’s always the possibility that something

will go wrong and parts will bind or move with limited freedom – it’s nearly impossible to test every single

sub-assembly. For example, tolerances on the shoulder screws and plastic sockets can vary from batch to

batch or a shoulder screw bolt could have a slightly larger diameter shaft. It is imperative that your

Penguin operate smoothly and without friction to be an effective walker. Contact us if you have any

problems. Below are examples of common Penguin assembly difficulties and solutions to them.

Problem Explanation Picture

Ball link sockets

are tight or

binding.

The ball link sockets are molded parts and they

may vary in tolerance, though we’ve chosen a

supplier that offers a consistent product. The

socket and ball should move freely without any

friction when assembled. If you need to loosen

up tight-fitting ball links:

(a) Use an X-Acto knife to remove any plastic

burrs inside the plastic socket.

(b) Add a drop of oil into the socket.

friction.

Legs move too

much from left

to right.

Pressing the left and right legs together should

create no more than 1/8” to ¼” of movement (or

“slop” as it is called by a machinist). If a

particular leg seems to have too much side-to-

side play, you can fix this by tightening the

shoulder screw down another ¼ turn. If the

problem persists, you can gently chamfer the

threaded body panel with a drill to sink the

shoulder screw further into the body. Be careful

if you choose this option because you can

remove too much metal and the leg will tighten

against the body!

Ankles are too

tight within the

feet.

The ankles are the 1¼” long by ¼” diameter

round standoffs with two channels machined

between. The legs are pinned in these

channels. If the round ankle binds inside the

foot, slightly shorten the ankle by rubbing the

end of it on a piece of sandpaper. Insert the leg

assembly back into the foot and check the fit.

Legs are too

tight against the

body.

The correct adjustment for the legs depends on

the shoulder screws being tightened gently. If

the leg is binding against the body, back off the

shoulder screws so it can move. Use a dab of

Loc-Tite on the threads of the shoulder screw

so it stays screwed into position in the body

panel.

3.0 PROGRAMMING THE PENGUIN

3.1. PROGRAMMING CONCEPT

Programming the Penguin to walk is a matter of shifting its center of gravity from side to side with the tilt

servo, coordinated with moving the legs forward and backward with the stride servo. The BS2px24’s high

speed and expanded memory and RAM are useful for storing motion sequences and for performing the

computations needed in sensor-based autonomous navigation.

Close the Debug Terminal before downloading a new program, disconnecting the USB cable,

or switching off the power to your tethered Penguin! If you fail to close the Debug Terminal

before any of these actions, the port may hang up and the BASIC Stamp Editor may freeze when you

next try to program your Penguin. If this happens, close the Editor with the Task Manager. Be sure to

download the latest version of the BASIC Stamp Editor from www.parallax.com.

3.2. SERVO CALIBRATION

The Penguins servos must be calibrated before the Penguin can walk. This is a crucial step and the

Penguin will not walk without it.

1) Run Penguin-ServoCalibration.bpx.

2) Click in the white Transmit area at the top of the Debug Terminal.

3) Press Enter to enable the servos.

4) Press +and −to adjust the tilt servo until the Penguin can stand level.

5) Press the space bar to switch to the stride servo.

6) Press +and −to adjust the stride servo until the Penguin’s feet are in line with each other.

7) Press Sto save the new settings.

8) Listen for the long beep to ensure that the settings were saved.

Tip: Pressing 1 through 5 changes the coarseness of the adjustments

3.3. PENGUIN’S BASIC STAMP 2PX24 PINOUT

I/O Pin Description Direction

P0 Photoresistor – right Output

P1 Photoresistor – left Output

P2 Infrared emitter – right Output

P3 Infrared emitter – left Output

P4 Infrared receiver Input

P5 Front I/O expansion port Input/Output

P6 Servo stride Output

P7 Servo tilt Output

P8 7-segment LED clock Output

P9 7-segment LED data Output

P10 7-segment LED latch Output

P11 Rear I/O expansion port Input/Output

P12 Speaker Output

P13 Hitachi HM55B Compass – CLK (clock) Output

P14 Hitachi HM55B Compass – CS (chip select) Output

P15 Hitachi HM55B Compass – DIN/DOUT (data in/out) Input/Output

3.4. EXAMPLE PROGRAMS

Download the following test programs from the Penguin product page at www.parallax.com and test that

each Penguin subsystem is working properly. Complete code listings are also included in this document.

yPenguin-CenterServos.bpx, page 6

yPenguin-SpeakerTest.bpx, page 20

yPenguin-IRTest.bpx, page 21

yPenguin-7SegmentLEDTest-v1.3.bpx, page 21

yPenguin-PhotoresistorTest.bpx, page 20

yPenguin-CompassTest.bpx, page 22

Once you are familiar with the I/O capabilities of the Penguin, the following programs can be used to

demonstrate all of the Penguin’s abilities. Download from the Penguin product page at www.parallax.com.

yPenguin-AutonomousNavigation.bpx

yPenguin-MigrateNorth.bpx

3.5. OPTIONAL COMPASS CALIBRATION

To improve the accuracy of the compass, the calibration routines for the Hitachi HM55B Compass Module

have been ported to the Penguin. With the calibrated compass routines added to the Penguin's control

code, extra RAM and code space is required. Separate versions of the following programs have been

created to allow for either more available resources or a more accurate compass.

Original Code Code Incorporating a Calibrated Compass

Penguin-CompassTest.bpx Penguin-CalibratedCompassTest.bpx

Penguin-AutonomousNavigation.bpx Penguin-AutonomousNavigation-CalibratedCompass.bpx

Penguin-MigrateNorth.bpx Penguin-MigrateNorth-CalibratedCompass.bpx

Before the calibrated compass routines can be used, Penguin-CompassCalibration.bpx must be run to

record the compass calibration data. For more information about compass calibration, please read the

product documentation and the associated code available from the #29123 product page at

www.parallax.com.

3.6. OTHER HELPFUL DOCUMENTATION

The following materials are helpful documents for programming the Penguin; each can be downloaded

from its associated product page:

yBASIC Stamp PBASIC Syntax Guide (on-line version of help file installed with the BASIC Stamp

Windows Editor)

yHM55B Compass Documentation (#29123)

yHM55B Graphical Viewer for the HM55B (#29123)

ySmart Sensors and Applications (a Stamps in Class Text) (#28029)

yIR Remote for the Boe-Bot Text (a Stamps in Class Text) (#70016)

yPing))) Ultrasonic Sensor Documentation (#28014)

3.7. TEST CODE LISTINGS

' Parallax Penguin Robot

' Penguin-SpeakerTest.bpx

' {$STAMP BS2px}

' {$PBASIC 2.5}

Speaker PIN 12

i VAR Byte

Freq VAR Word

'Inverse of 12th root of 2 multiplied by 65536

'Used to divide by one semitone in a 12 note octave

Scale CON 61858

Freq = 659 ' Frequency of an E5

FOR i = 1 TO 12 ' 12 semitones = 1 octave

FREQOUT Speaker, 600, Freq ' Play the frequency

Freq = Freq ** Scale ' lower frequency by 1 octave

' Parallax Penguin Robot

' Penguin-PhotoresistorTest.bpx

' {$STAMP BS2px}

' {$PBASIC 2.5}

RLDRPin PIN 0

LLDRPin PIN 1

LeftLDR VAR Word

RightLDR VAR Word

DEBUG CLS ' Prepare debug screen

DEBUG "Photoresistor sensor status:", CR,

"Left:", CRSRXY, 15, 1,"Right:"

GOSUB READLDR ' Update debug screen with

DEBUG CRSRXY, 6, 1, DEC LeftLDR, " " ' status of photoresistors

DEBUG CRSRXY, 22, 1, DEC RightLDR, " "

PAUSE 150

LOOP

ReadLDR:

RCTIME LLDRPin, 1, LeftLDR ' Read R/C time for each

HIGH RLDRPin ' photoresitor then recharge

' their capacitors

RCTIME RLDRPin, 1, RightLDR

HIGH LLDRPin

RETURN

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