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AlphaBot User Manual 

 

 

38 

 

share awesome hardware

 

Raspberry Pi example program 

Extract  the  AlphaBot.tar.gz,  and  place  it  under  the  directory  of  /home/pi  in  the 

raspbian. 

Before  using  this  extension  board,  we  should  install  a  python  library  to  the 

Raspberry Pi. For more information about the Raspberry Pi library installation and 

configuration, please refer to the document 

Install necessary libraries to Raspberry 

Pi

. 

In case that the example is unable to be performed after installing the library, you 

can  try  to  apply  the  command  chmod  +x  filename  to  grant  the  program  the 

executable permission. 

Infrared obstacle program 

Содержание AlphaBot

Страница 1: ...AlphaBot User Manual 1 share awesome hardware AlphaBot User Manual Feb 2017 V1 2...

Страница 2: ...rrupter Sensor speed measuring module 2pcs Infrared Proximity Sensor obstacle avoidance module 2pcs IR remote controller remotely control the robot SG90 servo Ultrasonic sensor ultrasonic obstacle avo...

Страница 3: ...actical experience of smart robot development Raspberry Pi tutorial http www waveshare com wiki Raspberry_Pi_Tutorial_Series Due to the electrical characteristic limitation user should be more robotef...

Страница 4: ...3 Contents 4 Product description 6 Introduction 6 Functions 6 Features 6 Audience 7 On board resource 9 Module functions 10 Main control module 10 Motor driver module 11 Power supply 13 AD sampling ch...

Страница 5: ...s control 26 Bluetooth control 28 ZigBee control 30 Wifi video monitoring 31 Example programs 32 Arduino example program 32 Raspberry Pi example program 38 Arduino and raspberry Pi combined control 50...

Страница 6: ...tart your robotic exploration line tracking obstacle avoidance video monitoring WiFi Bluetooth ZigBee Infrared remote control etc AlphaBot can perceive its environment and perform relative response It...

Страница 7: ...ded by Waveshare you can quickly study the smart robot including the structural framework the basic principle and the external modules In this document we will take the example of Waveshare AlphaBot s...

Страница 8: ...AlphaBot User Manual 8 share awesome hardware this paper If you have any question please don t hesitate to visit Waveshare site http www waveshare com and leave your message...

Страница 9: ...ower supply 10 Arduino expansion header for connecting Arduino shields 11 UART interface for connecting Bluetooth module to control the robot remotely via Bluetooth 12 SPI interface for connecting NRF...

Страница 10: ...dule The main control module is the key part of the smart robot AlphaBot provides Arduino and Raspberry Pi interfaces Configuration can be one of two options or both of them work together By taking fu...

Страница 11: ...l 11 share awesome hardware Motor driver module Moter driver module is one of the most important parts of the smart robot AlphaBot use the L298P driver chip from ST which is a high voltage big current...

Страница 12: ...When they are driven to High level the PWM pulse will be outputted from IN1 IN2 IN3 and IN4 so as to control the speed of the motor robot Control theory IN1 IN2 IN3 IN4 Descriptions 1 0 0 1 When the...

Страница 13: ...e input voltage will be deal with the LM2596 regulator and send out to Arduino Raspberry Pi and sensors For using external power supply the input voltage should not beyond 12V AD sampling chip Since t...

Страница 14: ...AlphaBot User Manual 14 share awesome hardware...

Страница 15: ...iconductor with a PN junction made of a special material as its core part As the intensity of the infrared light enhances more current can be generated and the analog signal increases LM393 comparator...

Страница 16: ...infrared light the sensor will output a high level voltage The high level voltage passes the inverting schmitt trigger and becomes a low level voltage At this point the relative indicator lights up Wh...

Страница 17: ...eceiver receives the infrared signal it will output the relative pulses to the main control chip Then the main control part decode the signal to the key code so as to control the corresponding motor I...

Страница 18: ...ix minus one complement of user ID Op code Radix minus one complement of op code Firstly a 9ms high level pulse is transmitted and a 4 5ms low level pulse is followed Later coming are a 8bit address c...

Страница 19: ...e VCC GND TRIG transmitting pin and ECHO receive pin Control theory Here is the principle of ultrasonic distance measurement When the ultrasonic wave meets a object it will be reflected back and recei...

Страница 20: ...ts 8 serial of 40kHz square wave automatically to check whether there is echo signal If there is the module outputs a high level voltage from the pin ECHO The time duration of the high level voltage i...

Страница 21: ...3V 2 2 mA 5V minimum detection distance Vcc 5V 2 3 cm 3 3V minimum detection distance Vcc 3 3V 2 3 cm 5V maximum detection distance Vcc 5V 400 450 600 cm 3 3V maximum detection distance Vcc 3 3V 350...

Страница 22: ...erence circuit which can generate the reference signal in the cycle of 20ms and the width of 1 5ms The generated DC bias current is compared with the voltage of the potentiometer and you get the volta...

Страница 23: ...esome hardware control as an example the relationship between the pulse and the rotation angle is showed as the table below Pulse width Rotation angle 0 5ms 0 degree 1 0ms 45 degree 1 5ms 90 degree 2...

Страница 24: ...back by the obstacle it will be received by the infrared receiver And the sensor will output the relative analog value The outputted data are affected by the distance and the color of the detected ob...

Страница 25: ...AlphaBot User Manual 25 share awesome hardware...

Страница 26: ...only 9mA and the working current of its receiver is only 12 3mA The NRF24L01 module also provides low power working modes such as power down mode and idle mode When using SPI interface to configure t...

Страница 27: ...address Receive channel receive the address of data the address from channel 0 to channel 5 CRC checking NRF24L01 can generate CRC code and perform decoding Working frequency configurable between 2 4...

Страница 28: ...luetooth module is controlled via serial port user do not need to know much about the Bluetooth protocol When connected with the Bluetooth module you can control your smart robot via your mobile phone...

Страница 29: ...AlphaBot User Manual 29 share awesome hardware interface is not provide in our application kit...

Страница 30: ...ee control AlphaBot can connect with the Core2530 B module via Accessory Shield to perform ZigBee control In this configuration the PC should be connected to the CC2530 Eval Kit B via a USB cable Here...

Страница 31: ...ra Webiopi a web framework orient to Internet of Things IoT can control the GPIOs of raspberry Pi This project is hosted in Google its source code can be downloaded form the website sourceforg Webiopi...

Страница 32: ...vo If there are the library has been exported successfully Extract the Raspberry Pi program from the package and place it under the directory of home pi in the Raspbian Arduino example program Smart r...

Страница 33: ...by potentiometer When the left sensor detects the obstacle the smart robot will turn to right When the right sensor detects the obstacle the smart robot will turn to left Infrared tracking program Cl...

Страница 34: ...d remote controller You can modify the program as required Ultrasonic distance measurement program Click File Example AlphaBot E05_Ultrasonic_Ranging to open the project Compile and download the progr...

Страница 35: ...ent board Install the servo and Ultrasonic module to the smart robot Connect the jumpers TRIG ECHO of Ultrasonic unit in D area to the pins D11 and D12 on the Arduino Connect the jumpers S1 and S2C of...

Страница 36: ...obot tracking line scenario The dark background color will reduce the capability of the smart robot on the tracking line Turn on the power adapter and hold the robot in the middle of the black line an...

Страница 37: ...ote control program Click File Example AlphaBot E10_Zigbee_Control to open the project Compile and download the program to the Arduino development board Install the Accessory Shield module to the smar...

Страница 38: ...d install a python library to the Raspberry Pi For more information about the Raspberry Pi library installation and configuration please refer to the document Install necessary libraries to Raspberry...

Страница 39: ...n to right When the right sensor detects the obstacle the smart robot will turn to left Infrared tracking program Install the Infrared Proximity Sensors to the left side and the right side of the smar...

Страница 40: ...ifferent Infrared remote controller You can modify the program as required Infrared tracking line program Connect the jumpers of the motor in A area to the Raspberry Pi and the pins CLK ADDR DOUT and...

Страница 41: ...d Ultrasonic module to the smart robot Connect the jumpers TRIG ECHO of Ultrasonic unit in D area to the pins P17 and P5 on the Raspberry Pi Connect the jumpers S1 and S2C of servo in C area to the pi...

Страница 42: ...t demonstrates how to remote control the robot via webiopi and real time display the image captured by the camera with the software mjpg streamer For some browser may be unable to display the image co...

Страница 43: ...lphaBot User Manual 43 share awesome hardware Check the installation run the command webiopi h When the library is installed successfully you can see the following information as the figure shown belo...

Страница 44: ...ctual condition To login the website you should enter your account and password The default account name is webiopi and the original password is raspberry When finished the steps above if you can ente...

Страница 45: ...stored in this file and find out the device video0 under the directory of dev Please take a notice that the letter l in the command bcm2835 v4l2 is the lower case of L d Install dependent libraries s...

Страница 46: ...wser and enter the IP address of RPi and the port number 8080 into the address bar Notices the port number here is 8080 other than 8000 what we used before The website will show the information about...

Страница 47: ...dware Under the terminal pressing the keys Ctrl C can end the program However it should be kept running since we still need it in the following operations Step 3 Run the robot program Open another ter...

Страница 48: ...168 1 16 8080 action stream In here src is followed by the IP address of RPi 192 168 1 16 and the port number 8080 This port is used for transmitting stream Start up the cambot program cd AlphaBot mjp...

Страница 49: ...owser or the Firefox browser Furthermore please make sure the current directory of Raspberry Pi is AlphaBot mjpg AlphaBot mjpg AlphaBot and there should be a file index html under this directory And t...

Страница 50: ...ines and you must make sure the exit 0 line is the last statement Then save and exit cd home pi AlphaBot mjpg AlphaBot mjpg streamer sudo start sh Connect the Motor jumpers IN1 IN2 ENA ENB IN3 IN4 in...

Страница 51: ...o cp config etc webiopi config Select AdvancedOptions Serial No to disable the serial port debugging function Open the file boot config txt and find out the following configuration line to enable the...

Страница 52: ...AlphaBot User Manual 52 share awesome hardware the browser bar to control the smart robot In assembling Arduino and Raspberry Pi should not touch each other...

Страница 53: ...ly with input voltage of 7 4V When working with Arduino and Raspberry Pi at a same time the external power supply should be applied Any external power supply has to obey to the regulations and standar...

Страница 54: ...of any operations AlphaBot should not touch any heat source to make sure reliability service under normal room temperature environment Protect the printed circuit board and the components on it from...

Страница 55: ...Mouser Electronics Authorized Distributor Click to View Pricing Inventory Delivery Lifecycle Information Seeed Studio 110090141 110090142 110090144 110090145 110090143...

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