I started out using the Command Module that is available for the Create. After trying things and posting a lot of the source code here, I wanted something with more memory and power. Now I am using the Parallax Propeller chip to control the Create. I like the Propeller Proto Board because it is cheap and has lots of room to solder stuff on. I started with a "PRC" board purchased from http://www.wulfden.org/PRC/index.shtml which I still use on the side, it makes it a little easier to test stuff.
Check out my Propeller Step-by-Step Connectivity page to get started with a Parallax Propeller Proto Board and the Create.
This is a picture of our ServerBot all dressed-up. Great for serving drinks at parties or sending snacks to the kids in the other room. I am working on an Instructables page describing the construction and features.
My new Propeller Command Module for the Create...
Parallax Propeller Chip, 64K EEPROM, 5Mhz Crystal
9v Regulator, 5v Regulator, 3.3v Regulator
1 Radio Serial Interface, 2 additional serial interfaces
1 3.3v i2c bus, 2 5v i2c bus
6 general I/O connections
2 Microphone Inputs
IR LED connector with resistors onboard
Lowside Driver 2 connector
All resistors and microphone capacitors are surface-mount
5v and 3.3v headers
Here are the ExpressPCB files. Download the ExpressPCB applications (Free) to view/edit these. The pcb file is the one I ordered this board from. You can modify it if you like. Just install the software, run the ExpressPCB application, load the CreateModule.pcb, and choose "Order boards via Internet" from the Layout menu.
CreateModule.sch - ExpressPCB Schematic
CreateModule.pcb - ExpressPCB Circuit Board (Updated 12/13/07)
My new XBee Interface boards...
A very basic setup:
An LM317 (top left corner) regulator takes Create Battery Power down to 9v which then supplies the Proto Board which has it's own 3.3v and 5v regulators. The XBee (top right) is powered from the 3.3v regulator.
Connections allow the Proto Board to Sense the Creates Power status, toggle Create Power On/Off, Sense "Docked" status, allows Serial communications with Create for control and reception of Sensor Data, XBee Radio for remote control and debugging.
AN EXPERIMENT USING THE CMUCAM FOR COLOR TRACKING
+ 2 SONARS AND 2 SHARP IR RANGE SENSORS
CMUCamera.spin is available on the Right -->
Communication:
I am using Maxstream's XBee/Zigbee radio modules for communication between the Create and my laptop ($20 to $30 each). Wifi would be nice, but it's too power hungry and requires more processing then what I've got, so I've been avoiding it. All sensor data is available on the PIC to be sent out via XBee/Zigbee radios at 57600 baud to my remote computer so I have a pretty good real-time display of what it "sees".
Using a PRC board:
A 9v regulator is feeding the PRC board, which has a 5v and 3.3v regulator onboard. The 3.3v supplies the Propeller and the XBee Radio. From the Create DB25 connector I am using VPwr to the 9v regulator, TX, RX, Power Toggle, Charging Indicator, and the 5v Regulated Supply pin for Power Sensing. The Propeller runs CreateOI.spin to handle communications with the Create. The Main app runs independently of the CreateOI and can access sensor data and issue commands to the Create via the CreateOI object.
The Video/Keyboard/Mouse board is feeding Video to a C2000 Video Cube transmitter so I can use the TV Object on the Propeller to display data on any nearby TV.
This is my Delphi Application which talks to my Create with the CMUCamera attached. I can request an image at any time to be streamed to me from the camera. Otherwise the camera can be used for color-tracking to track an object.
Here is the COM Port to TCP Server application I use to allow me to connect to my XBee Radio to talk to the Robot from any network connection. CreateTCPConduit.exe This app is written in Delphi and by default opens COM1 and Listens for TCP connections on Port 5555. Anything sent or received by either connection is simply passed-through to the other connection. Allows multiple simultaneous TCP Client connections as well as monitoring the flow of data in both directions.