Yujin Robot iCLEBO Kobuki, User Manual

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2.
Within in the first 3 seconds press and hold button BO(I) / B1 (II) for 2 seconds.
3.
If* you see LED2(I) / LED1(II) switching between red and green, your chosen mode is
activated.
Note ​ (*): These modes have been introduced to the firmware with version 1.1.0. In case your Kobuki is
not running this or a later version, please refer to the section about ​ updating the firmware.
Random Walker Mode
In the random walker mode Kobuki is driving around until it hits an object with the bumper or a cliff is
detected. In both cases, Kobuki will stop, turn by a random amount of degrees and continue driving .
Note ​ : In this mode Kobuki’s wheel drop sensors are not activated. So, be careful when lifting 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 other embedded boards and start writing simple
control programs.
Below is the special pin setting listed. Please refer to the
​
serial port description
​
for the name to pin
mapping.
●
DI0: Not used
●
DI1: Not used
●
DI2: Not used
●
DI3: Not used
●
DO0: Bumper left (pressed/released)
●
DO1: Bumper centre (pressed/released)
●
DO2: Bumper right (pressed/released)
●
DO3: Wheel drop sensors (at least one wheel is dropped / none is dropped)
●
AI0: Wheel speed right (0V - full speed backward, 3.3V - full speed forward)
●
AI1: Wheel speed left (0V - full speed backward, 3.3V - full speed forward)
●
AI2: Not used
●
AI3: Not used
All other pins (GND, RX, TX etc.) remain unchanged.
Note ​ : To enable the motors you need to press button B0.
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