K-Team KILOBOT, Руководство пользователя

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3. DESCRIPTION
8 Kilobot User Manual
3.2 Kilobot Hardware
The hardware of the Kilobot is described thereafter.
The robot has a microcontroller ATmega 328p (8bit @ 8MHz) as CPU. It contains these
following types of memory:
○
32 KB Flash used for both user program and bootloader
○
1KB EEPROM for storing calibration values and other non-
volatile data and 2KB SRAM.
Its other features are described in detail below:
•
Battery : Rechargeable Li-Ion 3.7V, for a 3 months autonomy in
sleep mode. Each Kilobot has a built-in charger circuit,
which charges the onboard battery when +6 volts is applied
to any of the legs, and GND is applied to the charging tab.
•
Charging : Kilobot charger (optional)
•
Communication : Kilobots can communicate with neighbors up to 7 cm away
by reflecting infrared (IR) light off the ground surface.
•
Sensing :
○
When receiving a message, distance to the transmitting
Kilobot can be determined using received signal
strength. The distance depends on the surface used as
the light intensity is used to compute the value.
○
The brightness of the ambient light shining on a Kilobot
can be detected.
○
A Kilobot can sense its own battery voltage.
•
Movement : Each Kilobot has 2 vibration motors, which are
independently controllable, allowing for differential drive
of the robot. Each motor can be set to 255 different power
levels.