At this point, I am sure you are anxious to get started working with an actual robot. After all, it is not enough for us programmers to write code; we want to see the results of our efforts moving through space. The sample code in this chapter will work with Parallax’s Boe-Bot. (You can get more information about this robot through the following URL: http://www.parallax.com/detail.asp?product_id=21832.) The Parallax Web site offers a Boe-Bot kit that works with MSRS. This kit includes a Bluetooth wireless module and allows you to assemble your own Boe-Bot in a few hours using only basic hand tools.
The Boe-Bot is a small but sturdy robot (see Figure 3-9) that is expandable and easy to put together. It is very popular with students and hobbyists, and there are more than 90,000 Boe-Bots being used throughout the world. It is one of the robots supported by MSRS and provides an excellent opportunity for readers to get acquainted with how robots work.
The Boe-Bot kit comes with a manual that states it will take you 40 hours to complete the assembly. However, it should only take you two to three hours, and you do not need to read the entire manual or install all the sensors before returning to this chapter. At a bare minimum, you will need to read and complete the following sections (from the Boe-Bot manual) before attempting to work with the Boe-Bot:
Optionally, you can install the contact sensors that come with the Boe-Bot. This includes a set of whiskers and infrared (IR) detectors. To install these, you will need to review Chapter 5, Chapter 7, and Chapter 8 from the Boe-Bot manual. These sensors, which are used for object detection and distance measurement, will be referenced in the remaining sections of this chapter. If you prefer, you can install only one of the contact sensors, such as the whiskers and not the IR detectors. Alternatively, you can install both sets of contact sensors, which enables your Boe-Bot to operate more effectively when navigating its environment.
After you have assembled the Boe-Bot, you will need to configure it to work with MSRS. This will involve downloading a control program to the Boe-Bot, which acts as a middle layer between the Boe-Bot and MSRS. It will also involve configuring the Boe-Bot for Bluetooth capabilities. For more information about the steps needed to configure your Boe-Bot, refer to Appendix B, the section titled Configuring the Parallax Boe-Bot.