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Lausanne, 29 November 1999

K-Team S.A.

Khepera

¨

R

ADIO

B

ASE

U

SER

M

ANUAL

Version 1.0

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Summary of Contents for Radio Base

Page 1: ...Lausanne 29 November 1999 K Team S A Khepera RADIO BASE USER MANUAL Version 1 0...

Page 2: ...e Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Khepera K Team NOTICE The contents of this manual are subject to change without notice All efforts have been made to en...

Page 3: ...o Base Station 2 Overview 2 Introduction to the Khepera communication structure 3 Radio network and turret ID 4 Radio properties and correct data transmission 5 Connections 6 Using LabVIEW 8 Set up of...

Page 4: ...if you use the software LabVIEW The appendix can be referred to as necessary Chapter 1 gives you a general introduction Chapter 2 describes some important warnings Chapter 3 explains the contents of...

Page 5: ...se station equipped with an antenna A power supply 4 THE RADIO BASE STATION 4 1 Overview Figure 1 Overview of the turret layout Make an external inspection of the turret Note the location of the follo...

Page 6: ...e radio data data transfer from a radio turret to the base station TxHF Transmit radio data data transfer from the base station to a radio turret The communication between the radio base and the host...

Page 7: ...e details Figure 3 Communication channels in the Khepera BIOS structure If the radio turret is set as main communication channel all messages of the Ser Com protocol are sent and received on the radio...

Page 8: ...a has to be transmitted the state changes and the data is transmitted The state of the radio module is visualized on the RxHF radio receive and on the TxHF radio transmit LEDs The data transmitted on...

Page 9: ...s configuration allows the communication between the robot and a host compu ter through the radio link On the host computer side the link is made by a RS232 line and the radio base station On the Khep...

Page 10: ...to get the connection with robot with radio ID 1 Switch the Khepera robot ON batteries or power supply or if it is already connected reset the robot pressing on the reset button Your terminal should d...

Page 11: ...5 LabVIEW runs on your PC Macintosh or SUN worksta tions and can control the functionality of the Khepera robot using the SerCom serial communication protocol 6 1 Set up of the serial link Set your e...

Page 12: ...de by the Set_channel VI If you open it the panel illustrated in figure 8 should appear Figure 8 Set_channel panel for selection of the robot you want to communicate with Now select the robot you want...

Page 13: ...e sliders and their names Possible values are constrained only on the sliders between 20 and 20 so to take care of the mechanics To transmit your order to the robot just click once on the arrow You ca...

Page 14: ...ication channel to communicate with the Khepera equipped with the radio turret with ID ID_destination The radio turret ID has to be selected on the radio turret switches Every string sent to the RS232...

Page 15: ...12...

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