pitsco TETRIX PULSE Operating instructions

44301
TETRIX® PULSE™ Robotics Controller
Programming Guide

Content advising by Tammy Pankey, Paul Uttley, and Tim Lankford.
Build creation and SolidWorks® Composer™ and KeyShot® renderings by Tim Lankford, Brian Eckelberry, and Jason Redd.
Desktop publishing by Todd McGeorge.
©2017 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
8/17

Table of Contents
Preface......................................................................................................................................................................................................................2
TETRIX® PULSE™ Robotics Controller Introduction.................................................................................3
PULSE Controller Technology Overview..............................................................................................................4-6
PULSE Setup.................................................................................................................................................................................................7-8
Software Overview.................................................................................................................................................................................9
Software Setup....................................................................................................................................................................................10-23
Getting Started Activities...........................................................................................................................................................24
Activity 1: Hello World!.................................................................................................................................................................... 25-28
Activity 2: Moving Your DC Motors............................................................................................................................................ 29-32
Activity 3: Moving Your Servo Motors...................................................................................................................................... 33-36
Activity 4: Introduction to the Line Finder Sensor.............................................................................................................. 37-40
Activity 5: Introduction to the Ultrasonic Sensor ................................................................................................................ 41-44
Building and Coding the PULSE Codee Bot.......................................................................................................45
Hardware Overview ......................................................................................................................................................................... 46-68
Activity 6: Build the PULSE Codee Bot ..................................................................................................................................... 69-87
Activity 7: Drive Forward................................................................................................................................................................ 88-91
Activity 8: Drive in a Circle............................................................................................................................................................. 92-94
Activity 9: Drive in a Square.......................................................................................................................................................... 95-99
Activity 10: Simplify the Square............................................................................................................................................. 100-103
Activity 11: Drive to a Line and Stop.................................................................................................................................... 104-107
Activity 12: Follow a Line .......................................................................................................................................................... 108-111
Activity 13: Drive Toward a Wall and Stop......................................................................................................................... 112-115
Activity 14: Avoiding Obstacles ............................................................................................................................................. 116-118
Activity 15: Combining the Sensors..................................................................................................................................... 119-122
Build, Code, Test, Learn . . . Go! ........................................................................................................................................................ 123
Appendix
Scope and Sequence........................................................................................................................................................................... 124
Standards Addressed .......................................................................................................................................................................... 125
Glossary............................................................................................................................................................................................ 126-127
Getting Started Extension Activities.................................................................................................................................... 128-129
Careers Complete Listing................................................................................................................................................................... 130
TETRIX PULSE Robotics Controller Technical Specifications............................................................................................... 131
TETRIX PULSE Controller Sensor Port Pinout Diagrams............................................................................................... 132-133
TETRIX PULSE Arduino Library Functions Chart ............................................................................................................. 134-140
TETRIX PULSE Arduino Library Functions Cheat Sheet......................................................................................................... 141
Notes .......................................................................................................................................................................................................... 142

Preface
This programming guide has been developed to provide students with positive experiences in robotics engineering and
programming. With the assistance of this guide, students will learn to use the TETRIX® PRIME parts to construct different
robots while learning about programming with the PULSE controller. After using this guide, students should be able to use
the TETRIX PRIME parts to construct a robot of their own design.
Grade Level Appropriateness
The activities used in this guide are targeted toward middle school students. With some additional instruction, upper-
elementary students should be able to successfully complete the activities. Additionally, secondary teachers could use
these parts to provide an exploratory experience in engineering.
Using This Guide
The activities in this guide build upon each other. The activities should be completed in the order in which they are
presented. Concepts explored in one activity might not be repeated in later activities, but students could be required to
understand the concepts in order to be most successful.
Safety Information
Mechanical
• Keep fingers, hair, and loose articles of clothing clear of gears and moving parts.
• Never pick up the robot while it is moving or the servo motors are running.
Electrical
• Make sure the power is turned off when the robot is not in operation.
• Do not operate the robot in a wet environment.
• Always power down the robot before making any changes.
• Use caution when working with bare wires to avoid creating a short circuit situation.
• Route wires carefully, and secure them if necessary to avoid damage to the wire or its insulation.
• Mount the battery pack securely.
2Getting Started

Welcome to Coding with PULSE™
and Building with TETRIX PRIME!
My name is Codee!
I’ll follow your every
command.
PULSE Controller Introduction
Pitsco Education is pleased to bring you the TETRIX® PULSE™ Robotics Controller Programming Guide – an exciting and
progressive series of activities that teaches the essentials of learning to program your TETRIX PRIME creations using the
PULSE controller and the graphic-based TETRIX Ardublockly software.
This programming guide offers a valuable tool for teaching students and teachers how to use the PULSE controller (the
brain) and the TETRIX PRIME 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 Codee Bot, 10 complete Codee
Bot-oriented lessons, and extension activities. This is a great tool for exploring the functionality of the PULSE controller,
TETRIX hardware components, and software. Your students are offered a great foundation to build on.
By combining the plug-and-play PULSE controller with the intuitive PRIME building system and an easy-to-use, graphic-
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, PULSE 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 connections (concepts beyond the scope of this guide) that can be covered in each
lesson if you choose to do so. These connections 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 PULSE. We cannot wait to see the innovative projects
and robotic creations that result.
Getting Started 3

PULSE Controller Technology Overview
PULSE Robotics Controller:
A programmable device that is the brain of the TETRIX PRIME robot
Tip: For complete, detailed specifications, please refer to the TETRIX PULSE
Robotics Controller Specifications located in the appendix on page 131.
6 standard control servo ports
2 quadrature
encoder input ports
Battery connection port
2 DC motor control ports
Power
switch
Start
button
Stop/Reset
button
USB
programming
port
i2C port
3 digital
sensor ports
3 analog
sensor ports
4Getting Started

PULSE Controller Technology Overview
Getting Started 5

Ultrasonic Sensor:
Enables a robot to measure
distance to an object and
respond to movement
DC Motor:
Allows for speed and
torque
Standard Servo Motor:
Allows for exact
positioning within a
180-degree range of
motion
Line Finder Sensor:
Enables a robot to follow
a black line on a white
background or vice versa
Sensor:
A device that detects surrounding environmental factors for the controller
Motor:
A machine that produces motion or power for completing work
6Getting Started

Attaching the Sensors:
To connect a sensor to the PULSE, plug the
end of the sensor wire into ports labeled
D2-D4 for digital sensors, A1-A3 for analog
sensors, or I2C for I2C components.
Attaching the DC Motors:
To connect a DC motor to the PULSE, plug
the end of the DC motor wire into one of
the two DC motor ports.
Important: The black wire end must be
closest to the minus sign on the controller.
Attaching the Servo Motors:
To connect a standard servo motor to the
PULSE, plug the end of the servo motor wire
into one of the servo ports
Important: The black wire end must be
closest to the minus sign on the controller.
PULSE Setup
Getting Started 7

Warning: Do not attempt to use third-party battery packs with the PULSE
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 PULSE USB port is used for
communication between PULSE and a
Windows or Macintosh device.
The port enables users to download and
upload data from the computer to the PULSE
controller.
To upload a program to the PULSE, plug one
end of the USB cable into the controller’s USB
port and plug the other end into a USB port
on your device.
Attaching the Battery to the PULSE:
The PULSE controller is powered by a
TETRIX 6-Volt Rechargeable NiMH Battery
Pack.
To connect the battery pack to the PULSE,
plug the end of the battery wire into the
battery port located on the controller.
Important: The black wire end must be
closest to the minus sign on the controller.
8Getting Started