IKIMO Robot Controller (rev.2) User Manual
Contents
1. arbe STL STR Steering Value 0 100 teg Note 1 Increases and decreases the speed of left and right so that a balanced steering will occur 2 Steering speed global speed lt 255 and global speed steering speed gt 0 3 To use after FWD REV commands only Example ISTRO5O Response Steer RIGHTT 50 4 Robot Brake Stop START BYTE COMMAND VALUES 1 Byte 3 Bytes 3 Bytes EUM BRK STP Delay before Brake ms Note 1 BRK Brake STP Stop 2 Value should be time to break i e if the brake or stop is instant please use 000 as the value Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 Example IBRKOOO Response BRAKE O 5 Read Accelerometer data START BYTE COMMAND VALUES CR 1 Byte 3 Bytes 3 Bytes 1 Byte Note 1 Read X Read Y Read Z and Read all can be found for the valid arguments Example IACCRDX Response KXM52 X 1 39mg measurement in Milli G 6 Read Distance data START BYTE COMMAND VALUES CR 1 Byte 3 Bytes 3 Bytes 1 Byte Note 1 Read the distance to the nearest obstacle Example IDIS RD Response GP2Y distance 48mm measurement in Millimeters Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 7 Read Bend Sensor data START BYTE COMMAND VALUES CR 1 Byte 3 Bytes 3 Bytes 1 Byte Note 1 Read the bending of the sensor arm Example IBND R2. 3 Bytes 1 Byte CLW CCW STP BRK Note 1 1 2 3 4 denotes the Motors connected to the DC PORT 1 4 Example IDC1CLW Response DC MOTOR1 FWD 230 230 is the current speed 2 Servo Motor driving START BYTE COMMAND OPTIONS VALUES 1 Byte 2 Bytes 1 Byte 3 Bytes Angle 0 180 Note 1 1 2 3 4 denotes the Motors connected to the SERVO PORT 1 4 2 Values written to Angle should be of 3 characters For example 90 Degrees should be entered as 090 Example ISV1180 SV2090 Response SERVO MOTOR1 180 180 is the current angle Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 3 DCMotor Speed setting Rotational Speed START BYTE COMMAND OPTIONS VALUES CR 1 Byte 2 Bytes 1 Byte 3 Bytes 1 Byte G 1 2 3 4 R Speed 0 255 Note 1 G denotes Global speed 1 2 3 4 denotes individual motor speeds R denotes rotational speed 2 Values written to Speed should be of 3 characters For example 50 should be entered as 050 3 Values written to the Speed will remain in the program until a complete restart or power Shutdown Example ISPG100 SV2090 Response Global Speed 100 4 Analog Port reading START BYTE COMMAND OPTIONS VALUES 1 Byte 2 Bytes 1 Byte 3 Bytes 0 1 273 455 RD WR Note 1 Analog Write is currently unavailable 2 0 1 2 3 4 5 denotes the analog ports available in the board Example IANO RD Response
3. ANO 567 0 1023 Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 COMMAND SET API LEVEL 2 In API Level 2 We consider the board to be used with a robot platform and provides basic functionality such as move forward backward rotate etc You should not use the API Level 2 if you are not planning to build a robot using IKIMO Robot Controller board For a 2 wheel robot please use DC PORT 1 2 only Make sure to connect the Polarity of the DC motor correctly to the IKIMO Board 1 Robot Move commands Forward Backward START BYTE COMMAND VALUES CR 1 Byte 3 Bytes 3 Bytes 1 Byte eow speed o 255 Note 1 Works with 2 wheel and 4 wheel versions 2 FWD Forward and REV Reverse 3 n this command the Global Speed doesn t count Example IFWD150 REVO50 Response MOV FWD 150 MOV REV 50 2 Robot Rotate Left Right START BYTE COMMAND VALUES 1 Byte 3 Bytes 3 Bytes Note 1 Works with 2 wheel and 4 wheel versions 2 Angle is not so precise 3 RTL Rotate Left RTR Rotate Right 4 f value of the angle is gt 360 it will be a continuous rotation Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 5 Use SPR for changing the rotational speed Example IRTLO9O RTRAOO Response ROT LEFT 90 ROT CONT 3 Robot Steering Left Right START BYTE COMMAND VALUES 1 Byte 3 Bytes 3 Bytes
4. Control Signal Pin 1 of DC Motor 1 amp 3 DC motor controlling is paired DC1 3 CONTROL2 Control Signal Pin 2 of DC Motor 1 amp 3 DC motor controlling is paired DC2 4 CONTROL1 Control Signal Pin 1 of DC Motor 2 amp 4 DC motor controlling is paired DC2 4 CONTROL2 Control Signal Pin 2 of DC Motor 2 amp 4 DC motor controlling is paired ANO Analog Input Pin O AN1 Analog Input Pin 1 AN2 Analog Input Pin 2 AN3 Analog Input Pin 3 AN4 Analog Input Pin 4 AN5 Analog Input Pin 5 Written by Charith Fernando charith inmojo com i N MEJ Oo IKIMO API Manual rev 6 Function Definitions void BLUETOOTH SETUP char btName 11 unsigned long btCurrentBaudRate unsigned long btNewBaudRate Use this function to initialize the Bluetooth module for a specific baud rate Only one time requires and the settings will be saved in a non volatile memory Parameters btName Bluetooth friendly name 10 characters max btCurrentBaudRate Current Baud rate of the module 115200bps is the factory default btNewBaudRate expected new Baud Rate after changing void DC_MOTOR_CONTROL int motorID char status 4 int speed Use this function to drive DC motors individually Parameters motorlD Motor ID from the IKIMO Board 1 2 3 4 status CLW CCW STP BRK speed 0 255 void SERVO MOTOR CONTROL int motorID int angle Use this function to drive Servo motors individually Parameters motor
5. D Response FS22 Bend 1 07V measurement in Volts Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 IKIMO sensor connection guide Here is the pin out of sensor port Each port is provided with 5V and GND connections so that most analog sensors can be directly connected to the IKIMO board Examples Accelerometer KXM 52 Connection Map chart KXM52 IKiMOBoard Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 GP 2Y Distance sensor Here is a sample for connecting to Arduino Same as above use the conversion chart below to connect to IKIMO Connection Map chart GP2Y IKIMO Board 1 RED wire Vdd ANO Port Vdd 2 Black wire GND ANO Port GND 3 Yellow wire Signal ANO Port Signal Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 Bend Sensor FLEX I e A EDO _ l 4 JS Pau oL s fo 22b b 8E Em es Set Bend sensor changes it s resistance when it bends With that specification bending can be detected by attaching the bend sensor into a resistor voltage divider and by measuring the voltage Connect an external resistor as above Connection Map chart Hex Sensor IKIMO Board ANO Port Vdd 2 GND ANO Port GND 3 Arduino Analog ANO Port Signal Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 iles ic f I
6. IKIMO API Manual rev 6 IKIMO Robot Controller rev 2 User Manual Board layout and input output connectors Sensor Interface Bluetooth Servo Motor DC Motor Module Connectors Connectors c amp e ME Fet US WCS EMI ZG EA 70 D wota ocs oc2 oci Se RES etd i ON OFF Switch Battery SV 3 3V GNDIGND SPI 12C ISP ysp Power Port Port Connector Notes Read Carefully before use 1 Please connect Battery pack SV or more You can use 4 AA Alkaline Rechargeable batteries as well 2 Board is USB powered Sensors and Servo motors works when connected with USB cable No external power needed 3 DC motors will not operate until Battery power is supplied Written by Charith Fernando charith inmojo com i N MJ o IKIMO API Manual rev 6 4 When USB cable is connected Bluetooth receive functionality is disabled i e any data sent from the board to PC will function but you cannot send any data from PC to board 5 Do not supply reverse polarity to the power port of the board 6 Sensor interface and servo s are provided with a 5V VCC and GND bus IKIMO Library for use with Arduino Available pin mappings DC1 PWM DC Motor 1 PWM Pin DC2 PWM DC Motor 2 PWM Pin DC3 PWM DC Motor 3 PWM Pin DC4_ PWM DC Motor 4 PWM Pin SERVO1 PWM Servo Motor 1 PWM Pin SERVO2 PWM Servo Motor 2 PWM Pin SERVO3 PWM Servo Motor 3 PWM Pin SERVOA PWM Servo Motor 4 PWM Pin DC1 3 CONTROL1
7. KIMO Schemat edge lL Pe MENT D pe pepaat 32344 aie peed eur paqueussp dun ange q323J eque oua 721 aH gaig H we Seppe veu sop zd PLE gpumps dq pasoaldy opunea ups a parag Sy ERG ye EU AU U a t Ua ur dug SIT ox MEP ey UPE SUCRE Saad ap ep parag 2d emot INM amp JO Written by Charith Fernando charith inmojo com
8. lD Motor ID from the IKIMO Board 1 2 3 4 angle O0 180 Written by Charith Fernando charith inmojo com i N MEJ IKIMO API Manual rev 6 IKIMO API for use with Arduino IKIMO API provides a very high level command set so that users do not have to code that much when building robots It also very useful when connecting the IKIMO board with application software and controlling the robot through PC Command Syntax START BYTE COMMAND OPTIONS VALUES 1 Byte 2 Bytes 1 Byte 3 Bytes ail bd Start Byte is set to Exclamation character Example This command will turn the DC motor 1 ClockWise rotation Notes Each command will have a response from the IKIMO board Default Baud Rate for IKIMO API is 19200 If you want the IKIMO to Operate in a different BaudRate please configure the Bluetooth first using the following command more details please refer IKIMO Library Functions 4 Please make sure you send at least 7 bytes with Carriage Return CR in order to get the correct response from the board Anything less than 7 bytes the IKIMO Board will not respond If you send more than 7 charactors excess will be discarded 6 IKIMO will issue an error message if the command or the options are not correct Written by Charith Fernando charith inmojo com i N MEJ IKIMO API Manual rev 6 COMMAND SET API LEVEL 1 1 DC Motor driving START BYTE COMMAND OPTIONS VALUES CR 1 Byte 2 Bytes 1 Byte
Download Pdf Manuals
Related Search