Yujin Robot iCLEBO Kobuki User Manual Download Page 1 | Manualshive

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Kobuki User Guide

Version 1.1.0

2017/03/15

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Summary of Contents for iCLEBO Kobuki

Page 1: ...Kobuki User Guide Version 1 1 0 2017 03 15 1...

Page 2: ...tom Sensor Array Specifications Safety Guideline Functional Hardware Software Anatomy Top View Bottom View Control Panel Connectors Models Drawings Motors Gyro Power Adapter Batteries Serial Port Firm...

Page 3: ...3...

Page 4: ...laptops embedded boards portside cannons and do it all at a speed that makes his real world cousins seem like well turtles Use him for serving chi mek chasing your neighbour s kids or simply to make y...

Page 5: ...on and hold for 2 seconds 3 LED2 will start blinking and Kobuki wander around Tip this was introduced to the firmware in v1 1 0 In case your kobuki is not running this or a later version please refer...

Page 6: ...Kobuki comes with a 1 year warranty In case you bought Kobuki from another one of Yujin Robot s distributors please contact them otherwise email Yujin Sales Support Advanced Usage Replacing Batteries...

Page 7: ...have a udev rule installed it will show up as dev kobuki but if not you can typically find it under one of the ttyUSB ports e g dev ttyUSB0 If you are not sure type dmesg into a terminal unplug and re...

Page 8: ...kobuki_firmware_firmware latest hex dev ttyUSB0 stm32flash 0 4 http stm32flash googlecode com Using Parser Intel HEX Interface serial_posix 115200 8E1 Version 0x22 Option 1 0x00 Option 2 0x00 Device I...

Page 9: ...on the side 3 Switch from normal runtime mode to firmware download mode This simply changes the type of data that is sent back and forth along the usb connection You can do this by moving the switch...

Page 10: ...arget is identified Enter the Download from file your hex Success Rebooting 1 Turn off the robot power 2 Flick the firmware switch back to Operation mode 3 Turn on the robot power 4 I m happy you shou...

Page 11: ...ge level is 3 3V EX3 3 EX5 3 3V 1A and 5V 1A power supply DI0 3 4 x Digital input high 3 3 5V low 0V DO0 3 4 x Digital output open drain pull up resistor required AI0 3 4 x Analog input 12bit ADC 0 40...

Page 12: ...lding atop the kobuki c driver simply re configure the port string used for the application and everything should be ready to go If building an experimental driver from scratch e g android driver then...

Page 13: ...why We just went on with this as is not a common problem Different mounting frames are available for downloading and printing in our file server Horizontally mounted MaxBotix s LV Maxsonars Horizonta...

Page 14: ...rev 11 7 ticks mm Gyro factory calibrated 1 axis 110 deg s Bumpers left center right Cliff sensors left center right Wheel drop sensor left right Power connectors 5V 1A 12V 1 5A 12V 5A Expansion pins...

Page 15: ...Bottom View 15...

Page 16: ...ch page are representative of the series of connectors Each series usually has a variety of connectors with a different number of pins As a result the pictures on some of the pages below may seem as t...

Page 17: ...de both the base and parts for the Turtlebot 2 2D mechanical drawings DWG PDF 3D models IGS STEP The inserts in the kobuki plate are M4 threads metric 4mm If you wish to build standoffs compatible for...

Page 18: ...WM Gyro Specification 3 Axis Digital Gyroscope Manufacturer STMicroelectronics Part Name L3G4200D Measurement Range 250 deg s Yaw axis is factory calibrated within the range of 20 deg s to 100 deg s P...

Page 19: ...on the corner Number of turns of square path Angular Error deg 0 5 0 47 1 5 1 99 2 5 3 18 This table shows the calculated angular error when robot arrived at the diagonally opposite corner from the s...

Page 20: ...Data Sheet pdf Pinouts Red battery 9 6 V 16 8 V White NTC thermistor to ground 10 k 1 Black battery Ground Charging Profile This plot shows the voltages as measured by the robot s hardware Both the s...

Page 21: ...EX3 3 EX5 3 3V 1A and 5V 1A power supply DI0 3 4 x Digital input high 3 3 5V low 0V DO0 3 4 x Digital output open drain pull up resistor required AI0 3 4 x Analog input 12bit ADC 0 4095 0 3 3V GND Gro...

Page 22: ...surely breaks protocol compatibility In consequence if mayor version doesn t match the driver will show an error suggest the required update and shutdown m inor represents a new feature that could no...

Page 23: ...g up Kobuki Arduino Embedded Board Support Mode In this mode the serial port DB25 connector gives access to basic controls of Kobuki You can hook up the digital analog inputs outpus of your Arduino or...

Page 24: ...k fix 1 0 2 documentation link fix 1 0 4 updating the spec of serial communication 1 0 5 fixing battey connector link 1 0 6 updating link after Kobuki web site revision 1 1 0 reorganised and collapsed...

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