pitsco PRIZM Operating instructions

43212
TETRIX® PRIZM™ Robotics Controller
Programming Guide

Content advising by Paul Uttley, Pamela Scifers, Tim Lankford, Nevin Jones, and Bill Holden.
Build creation and SolidWorks® Composer™ and KeyShot® renderings by Tim Lankford, Brian Eckelberry, and Jason Redd.
Desktop publishing by Todd McGeorge.
©2016 Pitsco, Inc., 915 E. Jefferson, Pittsburg, KS 66762
All rights reserved. This product and related documentation are protected by copyright and are distributed under licenses
restricting their use, copying, and distribution. No part of this product or related documentation may be reproduced in any
form by any means without prior written authorization of Pitsco, Inc.
All other product names mentioned herein might be the trademarks of their respective owners.
Check TETRIXrobotics.com for PDF updates of this guide.
V1.0
10/16

Table of Contents
TETRIX® PRIZM™ Robotics Controller Introduction.................................................................................2
PRIZM Controller Technology Overview..................................................................................................................3
PRIZM Setup.....................................................................................................................................................................................................5
Software Overview.................................................................................................................................................................................8
Software Setup.............................................................................................................................................................................................9
Getting Started Activities
Activity 1: Hello World!...........................................................................................................................................................................15
Activity 2: Moving Your DC Motors...................................................................................................................................................19
Activity 3: Moving Your Servo Motors.............................................................................................................................................22
Activity 4: Introduction to the Line Finder Sensor.....................................................................................................................25
Activity 5: Introduction to the Ultrasonic Sensor .......................................................................................................................29
Building and Coding the PRIZM TaskBot
Hardware Overview ................................................................................................................................................................................36
Activity 6: Build the TaskBot ................................................................................................................................................................51
Activity 7: Drive Forward.......................................................................................................................................................................84
Activity 8: Drive in a Circle....................................................................................................................................................................87
Activity 9: Drive in a Square.................................................................................................................................................................90
Activity 10: Simplify the Square.........................................................................................................................................................93
Building Interlude: Make the TaskBot Smart!...............................................................................................................................96
Activity 11: Drive to a Line and Stop............................................................................................................................................. 102
Activity 12: Follow a Line ................................................................................................................................................................... 105
Activity 13: Drive Toward a Wall and Stop.................................................................................................................................. 108
Activity 14: Avoiding Obstacles ...................................................................................................................................................... 111
Building Interlude: Give the TaskBot Attitude! ......................................................................................................................... 114
Activity 15: Combining the Sensors.............................................................................................................................................. 120
Build, Code, Test, Learn . . . Go! ........................................................................................................................................................ 123
Appendix
TETRIX PRIZM Robotics Controller Technical Specifications............................................................................................... 124
PRIZM Controller Component Overview and Pinout Diagrams ....................................................................................... 126
TETRIX PRIZM Arduino Library Functions................................................................................................................................... 133
TETRIX PRIZM Arduino Library Functions Chart ...................................................................................................................... 146
TETRIX PRIZM Arduino Library Functions Cheat Sheet......................................................................................................... 153
TETRIX PRIZM Sample Code Library.............................................................................................................................................. 154

Welcome, Coders, Roboticists,
Engineers, Students, Teachers,
Mentors, and Coaches,
Happy coding,
building, problem
solving, engineering,
and collaborating!
Pitsco Education is pleased to bring you the TETRIX® PRIZM™ Robotics Controller Programming Guide –
an exciting and progressive series of activities that teaches the essentials of learning to program your
TETRIX MAX creations using the PRIZM controller and the Arduino Software (IDE).
This programming guide offers a valuable tool for teaching students and teachers how to use the
PRIZM controller (the brain) and the TETRIX MAX system to build and code smart, precise robots that
are as real-world as it gets. The guide comes with five getting started activities, step-by-step building
instructions for creating a TaskBot, 10 complete TaskBot-oriented lessons, and Hacking the Code
extension activities, making it a great tool for exploring the functionality of the PRIZM controller,
TETRIX hardware components, and Arduino Software (IDE) and offering students a great foundation to
build on.
By combining the plug-and-play PRIZM controller with the intuitive MAX building system and an easy-
to-use, text-based software environment, this solution offers a great entry into teaching and learning
through robotics. The progressive nature of the activities enables robotic creations to come to life
quickly and easily, meaning students can experience instant success and focus more classroom time
on problem solving and applying their STEM knowledge.
Plus, PRIZM is not just a great tool for teaching programming. It can bring to life lessons on sensors,
power, gear ratios, and more. Even the controller’s clear polycarbonate shield was designed to
maximize educational value – letting users see the inner architecture of the controller.
We have also included some STEM Extensions (concepts beyond the scope of this guide) that can
be covered in each lesson if you choose to do so. These extensions can be incorporated if you have
content knowledge of these concepts or if you can work with other teachers to integrate these
concepts.
We hope this guide offers a great jumping-off point to learning with PRIZM. We cannot wait to see the
innovative projects and robotic creations that result.
2Getting Started

PRIZM Controller Technology Overview
PRIZM Robotics Controller:
A programmable device that is the brain of a TETRIX MAX robot.
6 standard control servo ports
2 quadrature
encoder input ports
Battery connection port
2 DC motor
control
ports
Start
button
Stop/Reset
button
1 motor controller
expansion port
USB
programming
port
1 I2C port
4 digital sensor ports
3 analog
sensor ports
2 continuous
rotation
servo ports
For complete, detailed specifications, please refer to the TETRIX PRIZM Robotics
Controller Technical Specifications located in the appendix on page 124.
Getting Started 3

Ultrasonic Sensor:
Enables a robot to measure
distance to an object and
respond to movement
DC Motor:
12-volt DC motor that
features 152 rpm and
320 oz-in. of torque
Standard Servo Motor:
Allows for exact
positioning within a
180-degree range of
motion
Motor Shaft Encoder:
Allows you to program the DC motors using both rotation
and degrees. Please note: The TETRIX Motor Shaft Encoder
Pack does not come as part of the robotics set and requires an
additional purchase.
Line Finder Sensor:
Enables a robot to follow
a black line on a white
background or vice versa
Powerpole Motor Cable:
Connects the DC Motor to
the power source
Continuous Rotation
Servo Motor:
Allows for continuous
direction of movement,
both forward and backward
Sensor:
A device that detects and responds to surrounding environmental factors
Motor:
A machine that produces motion or power for completing work
Encoder:
A sensing device that converts motion to an electrical signal that is read by the PRIZM controller to determine position,
count, speed, or direction of the TETRIX DC Motors
4Getting Started

Attaching the Sensors:
To connect a sensor to the PRIZM, plug one
end of the sensor adapter wire into the
sensor. Plug the other end into ports labeled
D2-D5 or A1-A3.
Attaching the DC Motors:
To connect a DC motor to the PRIZM, attach
the white end of the Powerpole connector
to the motor and plug the mating colored
connectors into one of the two motor
ports. Connectors should be plugged in
RED to RED and BLACK to BLACK for proper
operation.
Attaching the Servo Motors:
To connect a standard servo motor to the
PRIZM, plug one end of the servo wire into
servo ports 1-6. To connect a continuous
rotation servo motor to the PRIZM, plug one
end of the servo wire into servo ports labeled
CR1 or CR2.
PRIZM™ Setup
Getting Started 5

Warning: Do not attempt to use third-party battery packs with the PRIZM
controller. The TETRIX battery packs are equipped with a safety fuse and are
the only packs approved for use with the system. Damage to the product as a
result of doing so will void your warranty.
Downloading and Uploading:
The PRIZM USB port is used for
communication between PRIZM and a
Windows, Mac, or Linux device.
The port enables users to download and
upload data from the computer to the PRIZM
controller.
To upload a program to the PRIZM, plug
the B Connector of the USB cable into the
controller’s USB labeled port and plug the A
Connector into your device.
Powering the PRIZM:
The PRIZM controller is powered by a
TETRIX 12-Volt Rechargeable NiMH Battery
Pack.
Included with the PRIZM controller is an
on/off power switch assembly designed to
connect the battery pack connector to the
PRIZM-style Powerpole battery connection
port.
Instructions for assembling the battery and
on/off kit are included in the Building the
TaskBot activity in this guide.
6Getting Started

Attaching the Battery to the PRIZM:
To connect the battery pack to the PRIZM,
plug the colored battery connectors into
one of the two battery ports located on the
controller. Connectors should be plugged
RED to RED and BLACK to BLACK for proper
operation. Do not connect in reverse polarity.
The battery pack can be plugged into either
the top or bottom row of the port.
Warning: Do not attempt to connect two battery packs to one PRIZM
controller. Damage and failure will occur if this is attempted. Use only one
battery pack to power the PRIZM system and any extra daisy-chained
expansion controllers.
Getting Started 7

Software Overview
The Arduino Integrated Development Environment (IDE) is open-source software
that compiles code and sends it to the hardware. As a text-based and developer-
friendly software with a huge existing user base, the Arduino Software (IDE) is
supported for a variety of Windows, Macintosh, and Linux devices. This makes the
Arduino Software (IDE) flexible, classroom friendly, and competition ready and offers
all users, even the hobbyist, a low entry and high ceiling. All these factors make it
perfect for beginner and veteran coders alike.
The Arduino Software (IDE) uses a C-based programming language to communicate
with the PRIZM. Within the Arduino Software (IDE) an individual program is referred
to as a sketch. Each of the activities in this guide will involve creating a sketch that
gives instructions to the robot.
For the purposes of this guide, we will focus on the basics of using the Arduino
Software (IDE) as it applies to the PRIZM controller. Working through examples and
hands-on application of code using a small TaskBot constructed with the TETRIX
MAX robotics building system will show you how easy it is to use Arduino with
PRIZM.
Note: This is not meant
to be a complete tutorial
on programming with the
Arduino C-based language.
There are many excellent
resources available on the
web to learn more about
advanced programming
skills. If you are interested
in such resources, a good
place to start would be the
Arduino website at
www.arduino.cc.
8Getting Started