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Parallax QuadRover Manual Download Page 16

Copyright © Parallax Inc.  

Propeller QUADROVER Robot (#28195) 

v1.3  7/8/2008  Page 16 of 16 

5.4. Control Sequence 

The following control sequences are used by the control board to drive the QUADROVER: 

 

Direction of Travel 

Control Sequence 

Driving forward 

Increase gas engine throttle proportional to the desired speed. 

Driving in reverse 

1.  Decrease gas throttle servo to idle. 
2.  Wait for the QUADROVER to come to a full stop. 
3.  Engage both flow-reverse valves. 
4.  Increase gas throttle servo proportional to the desired speed.  
5.  Do not disengage the flow-reverse valves while driving in reverse. 

Returning to forward 

6.  Decrease gas throttle servo to idle. 
7.  Wait for the QUADROVER to come to a full stop. 
8.  Disengage both flow-reverse valves. 
9.  Increase gas throttle servo proportional to the desired speed. 

Turning in place 

1.  Decrease gas throttle servo to idle. 
2.  Wait for the QUADROVER to come to a full stop. 
3.  Engage the reversing solenoid on the side of the QUADROVER that it will 

be turning toward. 

4.  Increase gas throttle servo proportional to desired speed. 

Turning while 
driving 

1.  Engage the cutoff solenoid on the side of the QUADROVER that it will be 

turning toward. 

2. Gradually engage the brake, located on the same side of the 

QUADROVER, proportional to the desired turn rate. 

 

 
Please see the example code available for download from the Propeller QUADROVER product page at 

www.parallax.com. 

6.0 DOCUMENT REVISION HISTORY 

6.1. Changes for Version 1.1 

Section 1.0 Safety Precautions: Introductory paragraph modified; additional bullet item regarding material 

safety data sheets added. Section temp 6.0 Document Revision History added. 

6.2. Changes for Version 1.2 

Change to section 1.2 Technical Specifications: dimensions corrected. Additions to Section 1.4 Packing 

List: R/C radio controller system; four 14-inch servo extension cables. Former Section 4.0 split into 

sections 4.0 Setup Instructions and 5.0 Operating Instructions. Section 4.1 Supplies Needed list has 

changed; please review. Additions to 5.1 Maintenance Instructions: item 6 regarding tire pressure 

adjustment; item 7 regarding storage. Addition to 5.2 Additional Instructions: item 3 regarding the roll-

cage. 

6.3. Changes for Version 1.3 

Introduction and Disclaimer of Liability updated. Warranty added. Section 1.0 Safety Precautions 

updated. Section 1.1 Description updated. Section 1.4 Packing List: added Prop Plug and USB cable. 

Changes in section 4.2 Preparation: Order of steps has changed (gas is added later in the procedure). 

Instructions updated to reflect replacement of hydraulic reservoir’s plug with pressure relief valve. 

Instructions added for the installation of the roll-cage and connection of the fuel line. Section 5.2 

Additional Instructions: added new instructions regarding the pressure relief valve. Minor editorial 
changes throughout. 

Summary of Contents for QuadRover

Page 1: ...3 axis accelerometer sensors sold separately The QuadRover is a heavy duty robotics test bed that is presently intended for research and development including custom user written programs and control systems Disclaimer of liability Except as is expressly stated in the language herein pertaining to the Limited Warranty applicable to the QUADROVER Parallax Inc is not responsible for special incident...

Page 2: ...ty repairs have been made THIS LIMITED WARRANTY IS IN LIEU OF ALL OTHER EXPRESS WARRANTIES ANY IMPLIED WARRANTY OF FITNESS FOR A PARTICULAR PURPOSE MERCHANTABILITY OR OTHERWISE APPLICABLE TO THIS PRODUCT SHALL BE LIMITED IN DURATION TO THE DURATION OF THIS LIMITED WARRANTY PARALLAX INCORPORATED SHALL NOT BE LIABLE FOR ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES SOME STATES DO NOT ALLOW LIMITAT...

Page 3: ...ided The tether must be attached to the ring on the pull string for use as an emergency cut off in the event of an unintended loss of control y It is the responsibility of the customer and any designated operator to know and comply with all state and local laws and regulations applicable to the operation of gas engine equipment including but not limited to requirements for spark arrestors and any ...

Page 4: ...lications for the QUADROVER include y GPS based autonomous navigation y Semi autonomous R C control for task oriented projects y Municipal law enforcement bomb removal etc y Hobby projects y Entertainment and sporting events y Unmanned transportation 1 4 Packing List The following items should be included in your QUADROVER packing crate If any are missing please contact Parallax via email or telep...

Page 5: ...e motors While the rating of the hydraulic system is 2 800 PSI continuous and the pump is capable of developing pressure to 2 300 PSI this is generally not possible with the engine supplied in the QUADROVER During tests maximum pressure achieved was between 900 to 1 000 PSI at 100 F Temporary surge pressures up to 4 000 PSI are possible but unlikely Surge pressures can be caused by a forward movem...

Page 6: ...om and carefully read through and follow the included documentation It is especially important that proper calibration is performed and all safety guidelines are followed The Propeller Control Board includes the following features y Propeller P8X32A Q44 Microcontroller y 64 KB EEPROM 32 KB used for program storage y Tachometer input y 8 N Channel MOSFET driven output ports 4 used by the QUADROVER ...

Page 7: ...eter input that can be connected to the magneto of an engine to determine its rotation speed To be functional the tachometer input requires the Propeller Control Board s electrical ground to be connected to the QUADROVER chassis ground See the precautions in section 3 3 before connecting the tachometer 3 5 Propeller Control Board Connection Diagram ...

Page 8: ...Copyright Parallax Inc Propeller QUADROVER Robot 28195 v1 3 7 8 2008 Page 8 of 16 3 6 Terminal Block Connection Diagram 3 7 QUADROVER Layout ...

Page 9: ...Copyright Parallax Inc Propeller QUADROVER Robot 28195 v1 3 7 8 2008 Page 9 of 16 3 8 Propeller Control Board Schematic ...

Page 10: ...nd it does not vibrate loose y Personal computer running Windows 2K XP Vista with an available USB port and an Internet connection for obtaining the Propeller Tool software from www parallax com 4 2 Preparation The following steps must be performed to prepare the QUADROVER for operation 1 Check for loose or missing screws frayed cables or wires frayed kill switch cord or loose knots and loose conn...

Page 11: ...he hydraulic lines a The QUADROVER must still be mounted on a stable raised platform such that the wheels do not contact anything b Using an 11 16th wrench remove the pressure relief valve indicated below from the top of the hydraulic reservoir c Insert a clean dry funnel into the fill hole d Locate the hydraulic pump under the hydraulic reservoir e While continuously hand rotating the engine clut...

Page 12: ...mp no longer need to be manually rotated j Using a 3 32nd inch hex key remove the screw and o ring at the side of the reservoir as indicated by the arrow below k Fill the reservoir to the bottom of the screw hole as indicated by the line below DO NOT OVERFILL THE HYDRAULIC RESERVOIR If the reservoir is filled above the height of the screw hole the QUADROVER will not function properly and serious h...

Page 13: ...ting screws and nylon washers in the arrangement shown screw the right front and back sides of the roll cage into the QuadRover chassis d Attach the metal washer and locking nuts to the right front and back sides of the roll cage as shown e Once the roll cage has been mounted it should match the following image when viewed from below ...

Page 14: ...lic oil level periodically every 10 to 20 hours of operation 3 Refer to the Honda Engine manual for engine maintenance instructions including the required frequency of engine oil changes There is a low oil sensor on the engine if the oil level drops too low the engine will shut off and will not start 4 Before each use check engine oil levels and check for hydraulic oil leaks Restore fluids to requ...

Page 15: ...ven disk brakes can be individually applied to either side of the QUADROVER Much like an automobile brakes may be applied at anytime during operation The flow reverse valves in the hydraulic system are analogous to the reverse gear in a traditional automobile Care should be taken to shift into reverse only when it is appropriate Always follow these precautions while controlling the QUADROVER 1 Do ...

Page 16: ... available for download from the Propeller QUADROVER product page at www parallax com 6 0 DOCUMENT REVISION HISTORY 6 1 Changes for Version 1 1 Section 1 0 Safety Precautions Introductory paragraph modified additional bullet item regarding material safety data sheets added Section temp 6 0 Document Revision History added 6 2 Changes for Version 1 2 Change to section 1 2 Technical Specifications di...

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