Construction manual - Robot kit NIBO
burger
08.09.2015
Applications:
•
Following lines
•
Controlled proceed tangent route
•
Contact-free detection of obstacles
•
Autonomous performance
•
Determination of different flooring
•
Colour detection
•
Barcode detection
•
Following walls
Features:
•
Main CPU with 16 kByte flash-memory
•
Programmable in C, C++ and Java (GNU gcc and nanoVM)
1.2 Motors
The robot is driven by two motors with 125:1 transmission (respectively 25:1
transmission). The motors are driven by a H-bridge with a 14,7 kHz PWM-
signal. The PWM-signal can be regulated by odometry-sensors, thus it is
possible to drive with constant speed.
1.2.1 Odometry
The direction of rotation and the speed of the wheels is measured by two
photo-transistors and two IR-LEDs on the red gearwheels of the transmission.
The speed is directly proportional to the frequency of the signal.
http://nibo.
nicai-systems.de
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