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Quanser Qbot: User Manual

4.1.2.1. Digital Input/Output Pins (DIO #)

The DIO channels (0 to 6) are set as inputs by default. The DIO channels need to be con-
figured as either inputs (or outputs, but not both) using the HIL Initialize block. Also, if an
output needs to be in a known state on power up, it is recommended that a 10k resistor is
put from the I/O to 5V or GND as needed.
There is a final digital channel (7) that is a fixed output, and it is represented by an LED
labeled DIO7.

4.1.2.2. Gumstix IR Serial Pins

The Qbot provides a TTL serial connection to the Gumstix IR serial port (port number 2).
The serial port consists of ground (GND), receive (GUMSTIX IR RXD), transmit (GUM-
STIX IR TXD), and power (+3.3V or +5.0V) pins. The serial port is accessed through the
QUARC Stream blockset or Stream API. For more information on accessing serial data see

Document Number: 830

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Revision: 7



Page: 5

Figure 5: Qbot PCB showing available pins for the PWM output, Digital Input/Output
and Analog Input pins, serial pins, and jumpers for INT/EXT power

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Содержание qbot

Страница 1: ...Specialty Plants User Manual Quanser Qbot...

Страница 2: ...a 17 6 Troubleshooting Guide 18 6 1 Qbot Drive or Direct Drive commands aren t responding or are causing the robot to move incorrectly or the Qbot bump sensor inputs are not functioning 18 6 2 The mod...

Страница 3: ...a model fails with the error Not enough system resources are available to perform the operation The hard disk is full on the Gumstix computer 22 6 9 The Display Image block is not showing any image 22...

Страница 4: ...RC Quanser s real time control software and the Qbot data acquisition card DAC The interface to the QCM is MATLAB Simulink with QUARC The Qbot is accessible through three different block sets the Room...

Страница 5: ...prerequisites are i To be familiar with the components of the Qbot ii To have QUARC version 2 2 or later installed NOTE You must install the beta components by selecting them during installation sinc...

Страница 6: ...ws the Quanser standard for body frame axes where the x axis is in the forward direction the y axis is to the left and the z axis is up The diameter of the vehicle is 34 cm and its height without came...

Страница 7: ...necessary for Qbot purposes 4 1 2 The Printed Circuit Board PCB The printed circuit board PCB contains the wiring and circuitry for the Qbot It also acts as a cover for the DAC and Gumstix and mounts...

Страница 8: ...t is a fixed output and it is represented by an LED labeled DIO7 4 1 2 2 Gumstix IR Serial Pins The Qbot provides a TTL serial connection to the Gumstix IR serial port port number 2 The serial port co...

Страница 9: ...lways draw power even when the iRobot Create is off nSW 4 2 Detailed Description of Qbot Components 4 2 1 Qbot DAC The Qbot DAC is a data acquisition board capable of receiving analog inputs and other...

Страница 10: ...he Gumstix will be provided 4 2 4 Battery The Qbot is powered by the Advanced Power System APS Battery Figure 7 provided by iRobot The battery fits underneath the Qbot Figure 8 and can last continuous...

Страница 11: ...e five of these sensors included with the Qbot The sensors are connected to the analog input chan nels of the Qbot DAC which can then be read using the HIL Read Write block Section 5 3 Document Number...

Страница 12: ...k Section 5 3 4 3 System Specifications and Model Parameters Table 1 below lists the main parameters associated with the Quanser Qbot Symbol Description Value Unit d Diameter of the Qbot 0 34 m h Heig...

Страница 13: ...set their IP addresses by incrementing the last digit e g 182 168 1 11 then 182 168 1 12 etc 1 Windows should detect a network called GSAH an Unsecured Computer to Computer Network Connect to it 2 Ope...

Страница 14: ...nd pane Under the MEX file arguments type w d tmp uri u tcpip IP of Gumstix 17001 Include the single quotation marks Figure 11 Replace IP of Gumstix with the IP of your Gumstix e g tcpip 182 168 1 200...

Страница 15: ...ared sensor analog and sonar measurements from the vehicle The Qbot DAC also supports PWM write channels 0 3 8 For image processing using the on board camera use the blocks in QUARC Targets Beta Image...

Страница 16: ...k Description This block is required to establish a serial connection to a Qbot A Qbot is identified by a Universal Resource Identifier URI such as serial localhost 1baud 57600 word 8 parity none stop...

Страница 17: ...Quanser Qbot User Manual Document Number 830 Revision 7 Page 14 Figure 12 Interface Block Set...

Страница 18: ...Quanser Qbot User Manual Document Number 830 Revision 7 Page 15 Figure 13 Application Block Set Figure 14 Image Processing Block Set...

Страница 19: ...rs and sonar channels PWM channels are supported for write operations Channel Type Valid Channel Ranges Description IR Input Analog Read 0 4 Reads infrared sensor measurements Analog In put Read 0 6 S...

Страница 20: ...from the Qbot camera BGR8 to a format that can be displayed in MATLAB Note since displaying images on the host requires a large amount of bandwidth it is recommended that the Display Image block be ru...

Страница 21: ...ng to the QUARC menu and clicking on Con sole for all The console must be opened after the Qbot has booted and established a wifi connection If the console is opened successfully it establishes a conn...

Страница 22: ...the lower right of the Qbot lid When the Qbot powers up you will see an orange LED come on in the inner cargo bay of the robot After approximately 30 seconds a blue LED will flash to indicate the Qbo...

Страница 23: ...oss all sensors 2 Create a new Simulink model and add a HIL Initialize and HIL Write block Select the qbot board type in the HIL Initialize block Open the HIL Write block and select only di gital outp...

Страница 24: ...ound in the QUARC library Sources Time This block outputs the computation time of a function call subsystem measured using an independent high resolu tion time source Blocks can be placed inside a fun...

Страница 25: ...ll only free up the space used by the current model Clearing all models from the Gumstix hard disk must be done manually using PuTTY or any ssh cli ent Using PuTTY log into the Gumstix by connecting t...

Страница 26: ...during model execution the size of the external mode buffer is too large The Display Image block acts like a Scope and uploads its signal the image signal to the host for display through Simulink s ex...

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