K-Team Koala 2.5, Руководство пользователя

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Koala 2.5 User Manual Rev 1.1 10
3.3 Koala 2.5 Robot
3.3.1 Wheels and gear box
The Koala is driven by two DC motors, one for the three left wheels
and one for the three right wheels. The motors are coupled with the
wheels through a 58.5:1 reduction gear. Each motor is equipped with
an incremental encoder which delivers 100 pulses per revolution of
the motor (increased to 400 pulses with the internal hardware).
This allows a resolution of 23’400 pulses per resolution of the wheel.
As the diameter of the wheel is approximately 82.5mm (could
decrease to 80.5mm with a 3kg payload), the resolution is 90.3
pulses per mm.
3.3.2 On/Off switch
This switch will have an action on the internal regulators of the robot
and not on the battery, meaning that you can charge it even if it is off
(only for the Li-Pol version, the NiMH battery can be charged only by
the external charger). To turn the robot on, put the switch low. To
turn it off, put the switch high.
When turned on, the onboard Pico-ITX will automatically start the
installed OS.
Please be careful when turning off the system to first stop all
applications on the Pico-ITX and halt the system (to avoid any loss of
data).
3.3.3 Power LED
This green LED indicates when the power supply is enabled (switch
ON and battery or external supply plugged).
3.3.4 Charge LED
This bicolor LED indicates the charge of the battery (only available
with a Li-Pol battery). During the charge the LED is red and it turns to
green when the charge is finished. This indication is only available if
the Robot is turned on. If the robot is off, the LED will remain off, but
the charge will be active. To know the state of the charge, turn on the
robot.