About the Course

Description

This course teaches students the basics of programming, sensors, motors, and control using a Romi robot. Students will also build a basic breadboard circuit and use real sensor data to navigate. The course lecture format will include instructional slides and teaching at the beginning of each lecture, followed by a brief lecture on how what we do in class connects to "real-world" robotics. This is followed by supervised programming time, where the instructors will answer questions and advise students working on labs.

There is a $10 lab fee. If your financial situation makes this fee an obstacle to your participation in the class, please talk to the instructors.

Objectives

• Formulate an Arduino program that controls their robot in response to inputs when given a simple task.
• Construct a circuit to connect a resistive sensor to a robot, and explain why a sensor circuit allows their robot to read a sensor.
• Utilize existing parts to create an assembly that completes a given task.
• Explain the purpose of each aspect of a PID control and write a basic PID control algorithm so the robot can complete a task effectively and efficiently.
• Combine aspects of programming, sensing, control, and actuation to create a robot that autonomously completes a complex task.
• Describe different areas of robotics and how they are used to create functional robots.

Materials

We provide you with robot kits and starter code. We encourage you to work on your robots outside of class, but please remember to bring them to class each week. We will provide a box to store your robot and hardware, but you will need to store this box on your own and bring it back and forth to class (don't worry, the robot and box are relatively light and small). You do not need to bring your own computer to class, though you can if you want to. We will provide all the necessary software and tools for programming the robots in class.

Labs

• Square Lab: have your robot drive in a square
• Photovore Lab: have your robot drive from a specific spot toward a light source
• Control Lab: have your robot follow a looped black line twice under a given time period
• Servo Lab: have your robot make art
• Pathfinder Lab: have your robot autonomously navigate an obstacle course

See schedule for slides and starter code.

History

FWR is the longest continuous running student-taught course at Carnegie Mellon University, having been offered for over 20 years. Over the years, it has evolved with new labs, hardware, and tooling while keeping a beginner-friendly approach. See the original paper behind this course here (you do need to login).