Yujin Robot iCLEBO Kobuki Скачать руководство пользователя страница 1 | Manualshive

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Yujin Robot iCLEBO Kobuki Скачать руководство пользователя страница 1

Kobuki User Guide

Version 1.1.0

2017/03/15

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Содержание iCLEBO Kobuki

Страница 1: ...Kobuki User Guide Version 1 1 0 2017 03 15 1...

Страница 2: ...tom Sensor Array Specifications Safety Guideline Functional Hardware Software Anatomy Top View Bottom View Control Panel Connectors Models Drawings Motors Gyro Power Adapter Batteries Serial Port Firm...

Страница 3: ...3...

Страница 4: ...laptops embedded boards portside cannons and do it all at a speed that makes his real world cousins seem like well turtles Use him for serving chi mek chasing your neighbour s kids or simply to make y...

Страница 5: ...on and hold for 2 seconds 3 LED2 will start blinking and Kobuki wander around Tip this was introduced to the firmware in v1 1 0 In case your kobuki is not running this or a later version please refer...

Страница 6: ...Kobuki comes with a 1 year warranty In case you bought Kobuki from another one of Yujin Robot s distributors please contact them otherwise email Yujin Sales Support Advanced Usage Replacing Batteries...

Страница 7: ...have a udev rule installed it will show up as dev kobuki but if not you can typically find it under one of the ttyUSB ports e g dev ttyUSB0 If you are not sure type dmesg into a terminal unplug and re...

Страница 8: ...kobuki_firmware_firmware latest hex dev ttyUSB0 stm32flash 0 4 http stm32flash googlecode com Using Parser Intel HEX Interface serial_posix 115200 8E1 Version 0x22 Option 1 0x00 Option 2 0x00 Device I...

Страница 9: ...on the side 3 Switch from normal runtime mode to firmware download mode This simply changes the type of data that is sent back and forth along the usb connection You can do this by moving the switch...

Страница 10: ...arget is identified Enter the Download from file your hex Success Rebooting 1 Turn off the robot power 2 Flick the firmware switch back to Operation mode 3 Turn on the robot power 4 I m happy you shou...

Страница 11: ...ge level is 3 3V EX3 3 EX5 3 3V 1A and 5V 1A power supply DI0 3 4 x Digital input high 3 3 5V low 0V DO0 3 4 x Digital output open drain pull up resistor required AI0 3 4 x Analog input 12bit ADC 0 40...

Страница 12: ...lding atop the kobuki c driver simply re configure the port string used for the application and everything should be ready to go If building an experimental driver from scratch e g android driver then...

Страница 13: ...why We just went on with this as is not a common problem Different mounting frames are available for downloading and printing in our file server Horizontally mounted MaxBotix s LV Maxsonars Horizonta...

Страница 14: ...rev 11 7 ticks mm Gyro factory calibrated 1 axis 110 deg s Bumpers left center right Cliff sensors left center right Wheel drop sensor left right Power connectors 5V 1A 12V 1 5A 12V 5A Expansion pins...

Страница 15: ...Bottom View 15...

Страница 16: ...ch page are representative of the series of connectors Each series usually has a variety of connectors with a different number of pins As a result the pictures on some of the pages below may seem as t...

Страница 17: ...de both the base and parts for the Turtlebot 2 2D mechanical drawings DWG PDF 3D models IGS STEP The inserts in the kobuki plate are M4 threads metric 4mm If you wish to build standoffs compatible for...

Страница 18: ...WM Gyro Specification 3 Axis Digital Gyroscope Manufacturer STMicroelectronics Part Name L3G4200D Measurement Range 250 deg s Yaw axis is factory calibrated within the range of 20 deg s to 100 deg s P...

Страница 19: ...on the corner Number of turns of square path Angular Error deg 0 5 0 47 1 5 1 99 2 5 3 18 This table shows the calculated angular error when robot arrived at the diagonally opposite corner from the s...

Страница 20: ...Data Sheet pdf Pinouts Red battery 9 6 V 16 8 V White NTC thermistor to ground 10 k 1 Black battery Ground Charging Profile This plot shows the voltages as measured by the robot s hardware Both the s...

Страница 21: ...EX3 3 EX5 3 3V 1A and 5V 1A power supply DI0 3 4 x Digital input high 3 3 5V low 0V DO0 3 4 x Digital output open drain pull up resistor required AI0 3 4 x Analog input 12bit ADC 0 4095 0 3 3V GND Gro...

Страница 22: ...surely breaks protocol compatibility In consequence if mayor version doesn t match the driver will show an error suggest the required update and shutdown m inor represents a new feature that could no...

Страница 23: ...g 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...

Страница 24: ...k fix 1 0 2 documentation link fix 1 0 4 updating the spec of serial communication 1 0 5 fixing battey connector link 1 0 6 updating link after Kobuki web site revision 1 1 0 reorganised and collapsed...

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