• Zero2Arduino.ino
• Zeaker2+Zero2_ArduinoCommands.txt
• Doc_Commands.h
• movement.ino
• hmi.ino
• sense.ino
• show.ino
• core.ino
• IRin.ino
• utilities.ino

Everything else about Zero2

IGR

Zero2 Microrobot

Quick Guide to using Zero2

Using an original Zero2 PSU
Zero2 total current 870mA @ 9.75v
Zero2 electronics only, 130mA @ 12.9v

Programming
Setup Zero2 as in the photograph and connect to a computer Serial port through a suitable interface, see the interface diagrams.
Zero2 responds to character codes sent at 4800 baud, no parity, and 2 stop bits.
Each time a motor code is sent the motors will step to their next position, if codes are sent out of sequence then the motors will just judder.
When driving the motors a small delay must be inserted after each character to give time for the motor to turn. When Zero2 was conceived time delays generally were not necessary because the computers were not too fast. If a delay can't be inserted then sending the same character several times will have the same effect. In fact the QL software supplied with Zero2 did just that.

Sending the codes  5, 0,10,15  makes Zero2 go forwards four 0.5mm steps
Sending the codes  5, 0,10,15  again makes Zero2 go forwards another four steps
Sending the codes  5, 0,       will make Zero2 go forwards another two steps
Sending the codes       10,15  will make Zero2 go forwards another two steps

Sending the codes 10, 0, 5,15  makes Zero2 go backwards four 0.5mm steps
Sending the codes 10, 0, 5,15  again makes Zero2 go backwards another four steps
Sending the codes 10, 0        will make Zero2 go backwards another two steps
Sending the codes        5,15  will make Zero2 go backwards another two steps

similarly
Sending the codes  6, 0, 9,15  makes Zero2 turn right four 1 degree steps
Sending the codes  9, 0, 6,15  makes Zero2 turn left four 1 degree steps
and
Sending the codes  7, 3,11,15  makes Zero2 turn right two degrees
				 only the left wheel moves four 0.5 degree steps
Sending the codes 13,12,14,15  makes Zero2 turn left two degrees
				 only the right wheel moves four 0.5 degree steps

You will note that all the sequences have been arranged to end on 15 so no matter what the next sequence is that is sent it will continue on without missing any steps.
By sending individual codes in the correct sequence Zero2 can be made to move in 0.5mm steps
and turn through 0.5 degree (only one wheel is moved).

for detailed information see the Manual Chapter 4 - Writing to Zero2

Programming Model

Spectrum/BBC interface

Spectrum interface
The D9male on the Spectrum interface can be plugged into a standard PC D9 serial connector using a female/female gender changer.
However direct control of Zero2 from a Windows PC program will be poor because of Window's Serial Buffers.

D9 serial interface	12v power 3.5mm jack-socket, tip +ve

Spectrum/QL/PC-serial interface circuit

PC-serial interface 2006

Parts:
6-way W-polarisation socket
3.5mm jack socket for standard Zero2 12v 1A 12.6VA PSU (14v off load)
5v 1A 7805 regulator
1A In4001 diode
2x 0u1 disc ceramic
100u 6v
green LED
220R resistor
9pin D R/A socket
The Four way header [1:0v][2:--][3:Tx][4:Rx] in the bottom right is to connect the interface to to a Parallax Stamp board, [1:0v][2:--][3:Rx][4:Tx]
and the three way header is my standard serial header [1:Rx][2:0v][3:Tx].

Motor Wiring

Motor and Speaker Cables - PCB v3

Add-Ons