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1. The password is koala With the X parameter you will be able to open remotely graphical programs To shutdown the robot from a terminal remote by ssh or serial or local use the command sudo shutdown h now Wait 15s then you can switch off the robot power switch Koala 2 5 User Manual Rev 1 1 31 5 3 Programming In the directory home user koala_library of the koala there is the library to gain access to the Koala hardware The library is a dynamic library and is already installed in usr local lib It is accessing the Koala micro controller through the serial port dev ttyS1 with the commands defined in the chapter Serial Communication Protocol Here is the description of the sub directories of the library build x86 contains the compiled library and its include files doc contains the API documentation auto generated Open in your favorite browser the file doc html index html examples contains examples using the library src contains the source code of the library itself template contains a template very basic example code for using the library You can start with the examples koala_example c source code for your program To recompile it cd home user koala library make examples If you modify any source code in src directory or after installing a new version you will have to recompile and install the library with the commands cd home user koala library make clean make all
2. _KOALA22 Wa User manual Revision 1 1 Revisions history Rev Date EUR Description 1 0 21 02 2014 Initial creation 1 1 15 04 2014 Add Magnetometer description Documentation Authors Julien Tharin Fr d ric Lambercy and Timoth e Carron K Team S A Z I Les Plans Praz 28 CH 1337 Vallorbe Switzerland E mail info Ok team com URL www k team com Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp Khepera K Team and LAMI Legal Notice e The content of this manual is subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual TABLE OF CONTENTS 1 INTRODUCTION et eta ere deiarazi de eag E eza ea eare EN da dakan E Aa a AAA kd ee ezean 1 1 1 HOW TO USE THIS HANDBOOK 2x 2228080 n0 nn EE nn 1 1 2 SAFETY PRECAUTIONS wicsacensncevcsccucdncsnancecsecuiuseccnusesndeudestaccncnsacteusiavucsnsndaudetetcsecnnandanaes 2 1 3 Gida da BLEA 2 2 UNPACKING AND INSPECTIO N oocococcconoconnccnnonnnnnnnnrnnnrrnnnannnrnnnnnnnnn nan eeen eee eeen 3 2 1 PACKAGE CONTENT ccun222 288888 an a888 BREN NN BN
3. ssh X user ROBOT IP Where ROBOT IP is the IP address of the Koala You can launch ddd or even eclipse as described in the chapter before through the ssh console 5 6 Microcontroller update You can reprogram the micro controller from the Koala Linux OS Into a Terminal go to home user koa2 5_bootloader folder and run koa2 5 bootloader f FIRMWARE hex where FIRMWARE hex is the micro controller firmware file to update with 5 7 Serial port By default the serial port on the top of the Koala gives access to the console If you need the serial port for connecting a device you need to stop the console mode with the command sudo stop ttyS0 You can start it again after having finished using it with sudo start ttyS0 You can access it with Minicom minicom Remark the ttyS1 is used to control directly the microcontroller The commands are defined in chapter SERIAL COMMUNICATION PROTOCOL Koala 2 5 User Manual Rev 1 1 35 5 8 Transferring files Establish a network connection between the computer and the Koala see chapter Configuration On the PC for transferring from the PC to the KOALA execute the following command scp FILE user KOALA_IP home user where FILE is the file to transfer KOALA IP is the Koala ip address For the Koala to the PC on the PC execute scp user KOALA IP home user FILE On Windows you can use WinSCP http www winscp net Koala 2 5 User Manual Rev 1 1
4. Speed Speed over ground value in knots Altitude Actual Altitude in meters Example Qu q 5 4124 8963N 08151 6838W 17 08 34 25 11 13 5 5 650 r R Read I2C external bus Command R I2C addr Reg Nb Read J Answer r Vali Val2 Valn r Function Reads n bytes on the 12C external bus terminal blocks or docking station Example R 118 0 10 r 10 56 250 255 128 127 1 5 78 98 r S Set the output value PWR and IO Command S PWR Value IOO IO1 102 IO3 Answer S r Function Sets the state of the four PWR outputs bit O PWRO bit 1 PWRi and four IO if set as output O GND 1 3 3V if set as PWM servo defines the position of the servo 0 Ims 255 2ms duty cycle Example S 6 0 125 1 14 s r T Read IO state Command T l Answer t IO State IN_State r Function Reads the four IO and the two Input states If the IO are defined as output will be the same value as set with S command if defined as PWM servo output will return the value of the PWM when the command is received Example TJ t 8 3 r Koala 2 5 User Manual Rev 1 1 43 U Read AD input Command UJ Answer u ADO Val AD1_Val r Function Reads the two AD value 0 1023 Example UJ u 580 465 Wr v Read the battery value Command N J Answer v Bat_Type Bat_Voltage Bat_Current Chrg_Current r Function Reads the different values of the battery Bat Type O Li ION 1 NIMH 2 Not Initialized
5. directly a desired PWM to the motor using the open loop command see L command details Default PID settings applied to the koala controller are Kp 10 Ki 3 Kp 1 These values will be used by the PID speed controller In position control the PID is the same as the position controller calculates a speed order then calls the speed controller to reach this order User can modify these values to improve behaviour to his particular use In addition to the speed controller a current limitation controller verifies that the current of each motor does not exceed the configured value default 1 0A In this case the controller will not try to reach the desired speed but will manage the PWM to keep the motor current below the limit current The state of the controller can be checked at any time by the application with the command Y This current limitation is not active when used with the open loop control mode When selecting a type of control this mode will be applied to both motors It s not possible to set the left motor in speed control and the right motor in another mode To put the motor in idle mode no more current drawn by the motors use the open loop command with parameters set to O In speed control even with a parameter of O the controller will struggle against any movement Koala 2 5 User Manual Rev 1 1 26 4 9 1 Speed control D command Both DC motors are controlled by a PID controller exec
6. 36 6 SERIAL COMMUNICATION PROTOCOL This communication protocol allows complete control of the Koala s functions through the Pico ITX serial line The protocol is made of commands and answers all in standard ASCII codes A command is sent from the Pico ITX to the Koala it is starting with an upper case alpha character and is followed if necessary with numerical parameters separated with comma and terminated by a line feed The answer is sent by the robot to the Pico ITX it is starting with the same character that was initiating with the command but using lower case and followed if necessary with numerical parameters The Koala could also send automatically some information if enabled to provide an instantaneous update when new data sensor motor GPS etc are available This will avoid the Pico ITX to read many times the same data To enable this mode see A command in the list below Notation al stands for carriage return key Enter or Return key pressed Vr stands for ASCII character Ox0A line feed n stands for ASCII character OxOD carriage return Specification 115200bps 8 data bits 1 stop bit No parity Koala 2 5 User Manual Rev 1 1 37 A Configure the auto monitoring mode Command A Auto Mask Answer a r Function Configures the auto monitoring mode Enables a peripheral to return automatically its value when refreshed The values are returned with the same format as the protocol b
7. Default 10 Here s an example of speed profile with default parameters Acc_Inc 5 Acc_Div 1 Min_Speed 10 100 8 8 Speed unit 5 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 A speed profile order has been set to 45 After 200ms at constant speed a new speed order of 100 is set The motor keeps this speed during 100ms and finally decreases until reaching 0 Koala 2 5 User Manual Rev 1 1 28 This curve corresponds to the order sent to the PID speed controller The real speed of the motor will depend of the payload and the PID reactivity A higher Acc_Div parameter will increase the time between two steps to allow the PID to reach the speed order A value of O means that the effective motor speed will always be late on the order during the acceleration This type of control must be preferred to the simple speed profile in order to avoid high current peaks and preserve the mechanical parts The user needs to adapt the parameters Acc_Inc and Acc_Div to match the desired behavior high Acc_Inc for a reactive profile high Acc_Div for a smooth profile 4 9 3 Position control F command In this mode the Koala will calculate a speed order which will be processed by the PID to move the robot using an acceleration ramp a constant speed and finally a deceleration ramp Speed 0 0 0 5 1 0 15 2 0 Speed profile using in position control Position t s Position profile Koala 2 5 User Manual Rev 1 1
8. aa anan rn NN BA KANA KAKA KK NAAN ANAN rra nr KNA ANAKAN 37 7 MECHANICAL DRAWINGS 22 200222 0a na naaa nan R KG BRA KABAN AN BK AN BANANA EEN ERE 46 8 WARRANTY muzuaua nana aa aa aa nan GNG NA NN NN NN NN NANANA BANANA NAAN A NAN ANAN AA AA ANNA NANANA anna na ANAN AN ANAN AN ANAKAN NA AN ANAN AA NANA 48 1 INTRODUCTION Thank you for buying a Koala 2 5 robot The Koala 2 5 is a high end robot that will initiate your experience to the extraordinary world of mobile robotics Thanks to its wealth of sensors motors and its software openness you will be able to create complex behavior making you an expert of this promising technology 1 1 How to use this handbook This handbook introduces the Koala 2 5 robot and its various operating modes If this handbook does not answer one of the problems you are confronted with please consult the K Team web site www k team com and especially the Forum and the FAQs Three kinds of symbols are used in this document in order to keep you and your robot safe please respect them Ignoring the mentioned warning could lead to malfunction or reduced performance Ignoring the mentioned warning could lead to perpetual damage and would void the warranty Danger risk of electric shock Koala 2 5 User Manual Rev 1 1 1 1 2 Safety precautions Here are some recommendations on how to correctly use the robot e Keep the robot away from wet area Contact with water could cause malfunctio
9. application wants to calculate its own PID The range of this command is 2 940 where 2 940 correspond to 100 of PWM in forward direction and 2 940 in backward direction If the application wants to disable the motor to decrease current consumption the best way is to use this mode and set the PWM to O The motor will be in free wheel mode Koala 2 5 User Manual Rev 1 1 30 5 PROGRAMMING 5 1 Introduction The 64 bit Linux Ubuntu operating system OS is installed on the Pico ITX 5 2 Configuration The system should connect autonomously at start up to your wired network if an Ethernet cable is connected and you have a DHCP server without identification You can get the IP address on a Terminal with the command ifconfig eth0 If this is not the case with the icon in the figure 3 6 you can setup your network connection You should configure the network settings to have access to the Koala OS by WiFi or wired Ethernet Connect directly the robot see chapter Direct Connection Open the Network connection Figure 3 6 Ubuntu desktop If you have the optional USB WiFi key this key model WNA3100 from Netgear is recommend as the drivers are already installed edit the connection named WiFi meeting your network system configuration or add a new on under Wired tab if you don t have Wifi With Ethernet WiFi or wired you will be able to access from a computer through SSH the robot ssh X user ROBOT IP
10. menu Run In the lower part of the Eclipse window you will see the output of your program in the Console tab Koala 2 5 User Manual Rev 1 1 33 5 5 Debugging You can debug a program you made directly in console GUI or remotely 5 5 1 Direct debugging Your program must be cross compiled with the option g Edit your Makefile and replace the flag O2 by g You can use and run for debugging it gdb YOUR_PROGRAM or ddd YOUR_PROGRAM if you are logged with the GUI You can also use Eclipse for debugging If you already compiled you project as explained in the previous chapter Programming with Eclipse GUI choose Debug on the menu Run The basic commands ol gdb are r run sS next one step in the program enter in subroutines n one step in the program b line function break at line function delete break delete breakpoint number until line continue until line c continue I list code q quit gdb h help you can have all the commands here A common sequence of bd Za can be e to list the code with e set a breakpoint at the beginning of main with b main e run the program with r e execute a step with n e display a variable with p VAR NAME e execute next step with n e continue to the end with c e Quit with q Koala 2 5 User Manual Rev 1 1 34 5 5 2 Remote debugging If you have a wired or wireless Ethernet connection see chapter Configuration you can access the Koala robot for debugging
11. of 58 5 1 Figure 4 11 Motor block with wheels The encoder has a 100 pulse by turn resolution With the reduction ratio of 58 5 1 and an internal hardware 4x multiplier we have 23 400 pulses by wheel turn As the diameter of the wheel with the tire is 82 5mm no load this gives 90 3 pulses by millimeter Or 1 pulse is 0 01107mm 11 076um Reminder 1 revolution 259 18mm 23400 pulses im 90 284 pulses Be careful when placing a payload on the Koala the tires will crush and the diameter will be slightly modified For example with a payload of 3kg the effective diameter falls to 80 5mm changing the speed and position calculation The best solution when placing a payload on the koala is to perform a travel of 1m command F 90284 90284 and measure the real distance crossed by the Robot Both motors are controlled via Pulse Width Modulation PWM at 20kHz This technique switches the motor on and off at a given frequency and during a given time By this way the motor reacts to the average of the power supply which can be modified by changing the period the motor is switched on This means that only the ratio between on and off periods is modified as illustrated in the figure below Koala 2 5 User Manual Rev 1 1 25 basic period power Figure 4 12 Duty cycle with PWM The dsPIC calculates the PWM to apply to each motor in speed control and position control The user can override the PID and apply
12. other than a K TEAM authorized robot service facility This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself K TEAM EXPRESSLY DISCLAIMS ALL OTHER WARRANTIES THAN STATED HEREINBEFORE EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TO THE FULLEST EXTENT PERMITTED BY LAW Limitation of Liability IN NO EVENT SHALL EITHER PARTY BE LIABLE TO THE OTHER FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM PERFORMANCE OR FAILURE TO PERFORM UNDER THE CONTRACT OR FROM THE FURNISHING PERFORMANCE OR USE OF ANY GOODS OR SERVICE SOLD OR PROVIDED PURSUANT HERETO WHETHER DUE TO A BREACH OF CONTRACT BREACH OF WARRANTY NEGLIGENCE OR OTHERWISE SAVE THAT NOTHING HEREIN SHALL LIMIT EITHER PARTY S LIABILITY FOR DEATH OR PERSONAL INJURY ARISING FROM ITS NEGLIGENCE NEITHER PARTY SHALL HAVE ANY LIABILITY TO THE OTHER FOR INDIRECT OR PUNITIVE DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN Koala 2 5 User Manual Rev 1 1 49 Cream C K Team S A Z I Les Plans Praz 28 1337 Vallorbe Switzerland
13. robot Use only the provided adapter This will supply the whole Koala and charge in the meantime the battery Li Pol version only Input voltage is 15V max 18V Current drawn by the robot is 1A and battery charge is 2A so the external supply must be able to provide at least 3 54 3 3 6 Reset button This button resets the whole robot including the Pico ITX motherboard A simple pulse on this button is enough to restart the whole system 3 3 7 Ultrasonic sensors There are 9 ultrasonic sensors 1 on both sides 5 in the front of the robot and 2 at the back With these sensors the robot is able to see obstacles from approx 250 to approx 2500mm Please notice that it is not possible to measure distance of nearer obstacles due to the principle of operation of this kind of sensors 3 3 8 Contacts for docking station The Koala 2 5 has some apparent contacts below its body meaning that you could use a docking station to charge its battery or to communicate with it The signals that are provided are 15V DC input and I2C connection 3 3 9 Pico ITX The Koala 2 5 is provided with a Pico ITX computer module with Intel Atom processor N2800 and 4GB DDR3 SO DIMM A SSD hard drive of 40GB size can change due to evolution of available SSD is already installed with an Ubuntu OS This computer will be the main intelligence of the robot which means that the Robot only executes command sent by the Pico ITX through a serial port see Serial co
14. sudo make install You can also use the already installed Eclipse GUI See chapter below Koala 2 5 User Manual Rev 1 1 32 5 4 Programming with Eclipse GUI Eclipse is already installed L 2 10 Launch it from a Terminal execute eclipse 4 Go to file menu File gt NEW gt Project gt C C gt C Project Choose empty project and choose a Project Name ex test Push next button and then the Advanced Settings button On the C C Build Settings GCC C Linker Libraries add koala with the button under Libraries 1 Still Advanced Settings go to Run Debug Settings and push New button Push OK Under Project enter your project name and push OK This will create a Debug part of the project Push OK button then Finish Go to menu File gt New gt File and choose test c as filename Insert your C code copying home user koala_library template prog tremplate c or home user koala library examples koala example c Then compile the project with menu menu Project gt Build Al gt The output file will be in the subdirectory Debug or Release of the project home user workspace test Go to the menu Project Properties Run Debug Settings and edit the configuration you made under 6 Click Search Project and select the available binary Push OK and OK buttons You can run your program by the
15. with the equivalent product without charging any technical labor fee and repair parts cost to Customer on the condition that Customer brings such Product to K TEAM within the period mentioned before In case of repair or replacement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manufacturers in performing warranty repairs and replacement of the Product Even if K TEAM repairs or replaces the Product its original warranty term is not extended This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product This limited warranty covers only the hardware and software components contained in the Product It does not cover technical assistance for hardware or software usage and it does not cover any software products contained in the Product K TEAM excludes all warranties expressed or implied in respect of any additional software provided with Product and any such software is provided AS IS unless expressly provided for in any enclosed software limited warranty Please refer to the End User License Agreements included with the Product for your rights with regard to the licensor or supplier of the software parts of the Product and the parties respective obligations with respect to the software This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or refo
16. 00 Nr Koala 2 5 User Manual Rev 1 1 41 M Get Accelerometer value Command M J Answer m xi y1 z1 x2 X10 y10 z10 r Function Reads the last 10 values of the XYZ acceleration X1 is the latest value and x10 the oldest Example MJ m 0 0 1000 0 0 1003 10 0 990 5 0 995 6 3 980 0 0 1000 0 0 1010 21 12 965 0 20 988 0 23 980Yr N Get Gyroscope value Command N J Answer n X1 y1 z1 x2 X10 y10 z10 r Function Reads the last 10 values of the XYZ gyroscope value X1 is the latest value and x10 the oldest Example NJ n 0 0 550 0 0 553 0 0 552 0 0 551 0 0 554 0 0 556 0 0 557 0 0 558 0 0 540 0 0 551 r O Read the Motor current Command OJ Answer o MotL Current MotR Current r Function Reads the actual Motor current unit is 0 1 A Example Ou o 150 100 r P Get Encoder value Command PJ Answer p MotL_Pos MotR_Pos r Function Reads the actual value of the position encoder Example PJ p 5520 4500 r Koala 2 5 User Manual Rev 1 1 42 Q Get GPS Data Command Qu Answer q Valid_Sat Nb_Sat Latitude Longitude UTC Time UTC_Date Speed Altitude Yr Function Reads the last GPS data received by the koala Valid Sat Valid data flag V Warning A Valid ND Sat Number of satellites used Latitude Latitude of the actual position Longitude Longitude of the actual pos UTC Time UTC time of the latest fix UTC Date UTC date of the latest fix
17. 29 This example shows a travel of 370mm 33 405 pulses using the default parameters The position control mode uses the same parameter as the speed profile control to calculate the acceleration ramp The Min Speed parameter is used only at the starting When reaching the position target the speed is not limited to improve precision In addition to these three parameters the travel speed can be configured through Speed Order parameter see command J default 200 Finally the Pos Margin parameter defines the threshold when the position controller stops completely the motor set O to the speed controller A low margin will increase the precision but will add an instability to the control It is not recommended to set this parameter below the default value 10 To calculate the real distance travelled by the motor use the formula below Wheel diameter 82 5mm Revolution resolution 23 400 pulses T 2 P ulses Position mm ed Hati Hire daa Nb 23400 90 2843 pulses The position is stored in a signed 32 bits data which means that the maximum position order is 2 pulses 23 785m When performing straight travel same distance on each wheel the best solution is to reset the position encoder before sending the Target position command 4 9 4 Open loop L command This control mode disables the PID controller and sets directly the PWM to the two motors This can be useful if the
18. 5V Communication with the outside is done via I C external bus level is O to 3 3V same as the one available on the terminal blocks Use level adapter if needed Figure 4 4 Contact pads viewed from bottom Never apply more than 18 0VDC between the VIN 8 GND contacts Koala 2 5 User Manual Rev 1 1 17 4 4 Terminal blocks GPIO 8 supply Two terminal blocks located at the rear of the robot provide different IO and power supply The terminal blocks support wire from AWG 26 0 2mm to AWG 16 1 3MM 15V Vbat PW Output Input 5V 3V3 12C ADC GPIO Figure 4 5 Terminal blocks connection Direct connection of the External power supply voltage and VIN from the docking station This supply output is protected by a 1 85A polyfuse Two connections of the battery voltage Each output is protected by a 3A polyfuse When an external power supply is connected these two outputs will have the same voltage as the external supply Power output connection These four open drain outputs could drive any charge up to 30V 3A The protection will be made by the polyfuse of the selected voltage Vbat 5V or 3 3V Two digital inputs which can be read by the dsPIC 3 3V level 5V power supply which can provide up to 1 85A protected by a polyfuse 3 3V power supply protected by a 1 85A polyfuse 12C external bus to connect additional devices The level of the bus must be 3 3V Two A
19. AddrN Function Scans the external I2c bus Example Pad 1 4 10 25 85 121 r 8 Get Magnetometer value Command E Answer X Y Z Function Read the XYZ Magnetometer value Example SJ 721 1074 2393 r Koala 2 5 User Manual Rev 1 1 45 7 Mechanical drawings Unit is mm 325 Figure 6 1 Top view Koala 2 5 User Manual Rev 1 1 46 uie dle O BEZ Ob a Figure 6 3 Front view Koala 2 5 User Manual Rev 1 1 47 8 WARRANTY K TEAM warrants that the Product is free from defects in materials and workmanship and in conformity with the respective specifications of the product for the minimum legal duration respectively two years from the date of delivery Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product during the aforementioned period Customer must request help on K TEAM Internet forum on www k team Ka by detailing The type of Product used package version e The expansion modules e The programming environment of the Product standard version OS e The standard use of Product before the appearance of the problem e The description of the problem If no answers have been received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference of its order and Product serial number K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it
20. BR eneee eee eee eee eee eee eneee eee eneee een 3 3 THE ROBOT AND ITS ACCESSORIES tezte etek EEEa E eat eee eek aaa edate denak KA eek 4 3 1 GLOBAL MIE aaa 4 3 2 a LABAN AA AA aan 7 3 2 1 HOBEO EO KAO APA AA PA AAP aea eie e e A agata aaa 7 3 2 2 Direct CONNECTION EAEN 8 3 3 KOALA 2 5 ROBOT scscsccccencencennscecccecncenssenscnecwseuannteeeueeesseendentcnaecesevenncescnenscecsdendenncws 10 3 3 1 Wheels and gear GN a EEEa AO AAA a E EE Ea Ea aek 10 3 3 2 JON OFF switch io Era d Eate b OT E netan AA iat iatea 10 3 3 3 PowerLED areaz zatak Errate erakar E Ai aii AAA cabinets AS PA AA 10 3 3 4 Charge BSR AEE 10 3 3 5 PoWers5Uupply JACK iii A a aea aaa eia pd PAG han Eate 11 3 30 RESeEDUECON AAA 11 B 3 7 UIEFASONICG SCNSOMS in etaa daaa ai E 11 3 3 8 Contacts for docking station 2 2 ia DE KAG 11 Bi dO Gea BA NEA 11 3 3110 MicrocOntrO IGOE gerta ruarena dart ANG DD DA ALINA SD DAN 12 3 32 11 GE alee AAA 12 3 3 12 Accelerometer Aaaa alea 12 4 IN DEPTH IODO Kta E eetzabk etea Eter ea ek ek EEEa eke eb eeeEeek ezk babe eterkie ek erkaketa gereka Ea 13 4 1 ULTRASONIC SENSORS scsiccntcttesctcovicncsiccucsnescceuovsocdeucvacetenechcestenetuesiehesteciueatcnciuccsccasse 13 4 2 BATTERY ORANO 15 4 2 1 Male Ea gal 15 4 2 2 Li Pol laga 16 4 2 3 CEFPolExternal charger aiii ranita AGAD NG PNG NG AD 16 4 3 DOCKING STATION CONNECTION PADS cuzzz 2x 222528888880808 E EE eee eee eee AN KAKANAN ANAKAN NANANA AA 17 4 4 TERMINAL BLOCK
21. Bat Voltage Voltage of the battery unit is 0 1V Bat Current Current of the battery unit is 0 1A Chrg Current Charge Current unit is 10mA Example VJ v 0 115 450 56 0 r WwW Write on the I2C external bus Command W I2C addr Reg Data 1 Data_2 Data_n J Answer w ME Function Writes n Bytes on the external I2C bus All data must be sent as decimal Example W 89 10 1 3 187 243 w r x Send GPS command Command X GPS_Command Answer x Function Prints a complete message directly on the GPS serial port Used to configure special GPS function All data after the X will be sent to the GPS See NMEA_manual_for_Fastrax_IT500 Series GPS receivers pdf document for available command Example X PMTK314 1 1 1 1 1 5 1 1 1 1 1 1 0 1 1 1 1 1 1 2C J x r Koala 2 5 User Manual Rev 1 1 44 Y Get Motor control status Command Y Answer Y MotL CTRL MotR CTRL MotL OnTrg MotR_OnTrg Function Reads the actual status of the motor control Motx_CTRL Type of actual control 0 Idle 1 Speed 2 Speed with Acceleration 3 Position 4 Open Loop 5 Current limitation 6 Error Motx OnTrg Define if the target is reached position control Example YJ y 1 3 1 0 r Z Reset microcontroller Command ZJ Answer z Function Resets the microcontroller used to started bootloader Example ZI z r Scan I2C external bus Command 24 Answer LNE Device Addri Addr2
22. S GPIO amp SUPPLY 22220202 020208082828 2828 NN ANAN UN ANNA NAAN AN ANA NA NANANA KAKA KAKA AA KANA 18 4 5 ACCELEROMETER sasecccvtsnccccsncaccnccdconcsnstncnusiceartnsvtctascscensadonachecnccnctstssoaceacductsevtentestene 19 MO GEO SEO d Ede EEA AA EEE ea AAP 20 AT GPS MODULE sii ade 22 4 8 PICO ITX GRANO 23 4 9 A Deu 500g AAN 25 4 9 1 Speed control D command ici lA 27 4 9 2 Speed profile control K aala ala 28 4 9 3 Position control da gd command NA 29 4 9 4 Openloop CE command niari raa a GG DADANG 30 5 PROGRAMMING iria NANA ANNA MANA RAAT NYAN 31 5 1 INTRODUCTION wveviedcccevievecunvecdsucncsscsvenccousccducssshushseudcunstsetssnsdectsevcboatstctteudsusstectenesus 31 5 2 CONFIGURATION isnscnaneccdecctvcnduccncatecdssndacnecnevensceudundedatessucdctncecnecenscndsusbancnceusdundstusues 31 5 3 PROGRAMMING wcccscssccecscccsneccenccnneseescnecnenccuccnensanaecencseetseessneeuencceevwanesnensensceeseewsensees 32 5 4 PROGRAMMING WITH ECLIPSE GUI suser EEN ER 33 5 5 4 AO ngana bi wILEN kz E EEEREN EEN EEE EN Ei EE ei Ee E ea Ete EEE edeki E AKOO 34 5 5 4 Direct C DUGQGING siii RA 34 5 22 aala aea ala 35 5 6 MICROCONTROLLER UPDATE cococoncocononnnonnnnnnccnnn anna nan NN KANAN eee NN ANAN NAAN eee eneee 35 EK de ZT ZA OO POR NAA AA DNA AA AA 35 5 8 TRANSFERRING FILES cczu222e 288080828888888 2888 8n an N8 NS BREN ANE NANA NNNNNANAN NN eee eee eee eneee 36 6 SERIAL COMMUNICATION PROTOCOL 2 22 2002 20 a naa
23. d 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 Koala 2 5 User Manual Rev 1 1 10 3 3 5 Power supply jack This is the 2 5mm center positive jack used to charge the battery of the
24. elow The Auto_Mask value must be sent in decimal value but will be processed as a binary value If set as 0 the auto mode will be disabled default Bit O US sensor Bit 1 Motor Speed Bit 2 Motor Position Bit 3 Motor Current Bit 4 Accelerometer value Bit 5 Gyroscope value Bit 6 GPS data Bit 7 GPS NEMA Data will return all GPS raw data Bit 8 Magnetometer value Example A 6 a r B Read Firmware Version Command B J Answer b Version Revision r Function Reads the version and revision of the Koala firmware Example BJ b A 02 r C Configuration Command C US Mask IO_Dir J Answer c r Function Configures Koala parameters US Mask US sensor active Bit O LEFT Rear Bit 1 LEFT FRONT etc Default 511 all US active JO Dir Direction of the four IO 0 3 Each IO is configure with two bits 100 bit0 amp 1 101 bit2 amp 3 00 output 01 input 10 PWM servo 50HZz Default O all output Example C 28 204 c r Koala 2 5 User Manual Rev 1 1 38 D Set Motor speed Command D MotL_Speed MotR Speed Answer d r Function Sets the motor speed The PID controller will manage the speed in closed loop The unit is the pulses 10ms which means an order of 100 will drive the motor to a speed of 110mm s II Be careful when using this command as a too high order could cause a very high motor current which can affect the on board computer can create a reset Adap
25. er with these settings 115200 baud 8N1 Open your serial software on your computer and use settings above For Windows you can use Teraterm http ttssh2 sourceforge jp On Linux minicom Open a terminal console and type example below based on Linux minicom s Go the Serial port setup menu and configure as described in figure 3 4 Serial Device dev ttyUBSO Lockfile Location var lock Callin Program Callout Program Bps Par Bits 115200 8N1 Hardware Flow Control No Software Flow Control No GO EZI E GI OO D y Change which setting Figure 3 4 Minicom serial parameters Save the settings with the command Save setup as dfl of the menu configuration Switch on the robot power and wait for the login you may need to push the ENTER key KOA2 login Koala 2 5 User Manual Rev 1 1 7 Enter the username user and password koala Then execute the test program home user koala library examples koala test If the result is good figure 3 5 you can see at the beginning the version of the Koala microcontroller software otherwise an error message is printed Koala V2 5 robot test program C K Team S A Koala version A revision 2 PID set to default values P 10 I 3 D 1 Figure 3 5 koala_test output You can quit with the keys q and return To shutdown the robot from the terminal use the command sudo shutdown h now Wait 15s then you can switch off the r
26. f all sensors are disabled and the auto mode is still active no message will appear For more details about the ultrasonic sensor please have a look at the 400PT12B datasheet from Prowave Koala 2 5 User Manual Rev 1 1 13 Figure 4 1 Ultrasonic sensors viewed from top Danger High voltage There is about 85Vpp on the PCB in the area of the ultrasonic sensors never touch it Turn the ultrasonic sensors off while recording sound Koala 2 5 User Manual Rev 1 1 14 4 2 Battery The Koala 2 5 is provided with a removable battery There are two types of available batteries for the Koala a NiMH and a Li POL See the pictures below to determine the type of your battery NiMH Battery Li Pol Battery There s another way to determine the type of battery When the robot is turned on and the external supply is connected the Koala can detect the type of battery see the serial command protocol command V This command reads also the current and the voltage of the battery which can be used to calculate the remaining capacity based on the standard discharge curve of the battery technology 4 2 1 NiMH battery The NiMH battery can be charged only using the dedicated external charger If the battery is inserted in the Koala and the external power supply is connected the battery won t be charged The internal charger of the Koala will be automatically disabled to prevent any damage to the battery This allows the user to chan
27. ge the battery with another one fully charged without stopping the application plug the external supply then exchange the battery Nominal voltage 12V Charging voltage 14V Nominal capacity 3800mAh Max discharge current 7600MA 2C Charging current 1000mA Time for a complete charge about 6 to 7 hours NiMH Battery specification With this kind of battery the koala is able to run completely autonomously during more than 2 hours with the motor on and 3 hours with motors off running with a basic configuration There s no specific power management on the Koala the user must verify that the voltage does not drop below 10V to avoid damaging the cells Koala 2 5 User Manual Rev 1 1 15 4 2 2 Li Pol battery The Li Pol battery can be charged either on the Koala itself using the external power supply or externally with the external charger When charged on the Koala the indication of the charge Charge LED is only available when the Robot is powered on The LED is red when the charge is in progress and it turns to green when the charge is complete Nominal voltage 11 1V Charging voltage 12 6V Cut off voltage 9V Nominal capacity 5000mAh Max discharge current 25000mA 5C Charging current 2000mA Time for a complete charge about 4 to 5 hours Li Pol Battery specification With this kind of battery the koala is able to run completely autonomously during more than 2 5 hours with the motors on and 4 hours w
28. herboard based on an Intel Atom Processor N2800 The main specifications of the Pico ITX are listed below Processor Intel Atom processor N2800 1 86GHz Memory 4GB DDR3 SO DIMM Chipset Intel NM10 Express Chipset VGA interface Intel integrated extreme GMA 3650 technology Serial AT SATAII interface with 300MB s transfer rate Audio Realtek ALC888 Audio LAN interface Intel 82583V Giga LAN Power DC 5V input Hard drive 40GB SSD Operating System Ubuntu Linux The motherboard and the SSD are located just below the mounting plate as shown in picture below Figure 4 9 Pico ITX location SSD Harddrive Ethernet connector Pico ITX motherboard Serial connector to communicate with the Robot Pico ITX power supply 5V 3A Power amp reset button connection VGA connector pd GO JU b WN b Koala 2 5 User Manual Rev 1 1 23 The main connectors are directly accessible on the TOP of the Koala as shown below O SERIAL PORT O E 90000 0000 ETHERNET DISFLAY Figure 4 10 Pico ITX front panel Serial port RS232 Male connector Can be accessible through dev ttySO 2x USB 2 0 connector Gigabit Ethernet connector MIC In Headset Out VGA display connector DUB WN b Koala 2 5 User Manual Rev 1 1 24 4 10 Motors The Koala 2 5 has got 2 DC motors in order to drive its six wheels The motors have 6W nominal power The gearbox has a reduction ratio
29. ide a complete solution to make outdoor positioning and path finding The max payload of the robot is 3 5kg Operating temperature range of the robot is O to 55 C Battery charging temperature range is O to 35 C Never attempt to charge it by higher temperature Koala 2 5 User Manual Rev 1 1 12 4 IN DEPTH LOOK 4 1 Ultrasonic sensors Nine sensors are placed around the robot and are positioned and numbered as shown in figure below These sensors are transceivers meaning that they can emit and receive pulses The ultrasonic sensors are powered by a 85 Vpp source The nominal frequency of these transducers is 40kHz 1kHz The returned value is the distance to the object in centimeters with a tolerance of 2cm Measuring range is from 25 to 250cm If the obstacle distance is smaller than 25cm the Koala will return a value of 0 If no obstacle is seen in the 250cm range then the value will be set to 1000 Finally when disabled the sensor will always return 2000 Each sensor can be disabled in order to get higher refresh rate for a particular one or group One sensor measure takes 20ms All 9 sensors need 180ms to be read If the auto mode is enabled for the US sensor every time all enabled sensor are refreshed the dsPIC will print the value on the Pico ITX serial port every 180ms if all enabled every 20ms if only one sensor enabled This can be useful for application using the US sensors for obstacle avoidance I
30. ith motors off running with a basic configuration There s no specific power management on the Koala the battery will automatically cut off when the voltage drops below 9V 4 2 3 Li Pol External charger The Li Pol External charger embeds the same charging system as the Koala The charge duration will be exactly the same as with on board charging The only difference will be the LED On the external charger there s only one red LED which turns ON when the battery is in current regulation mode When switching to voltage regulation the LED turns off This means the battery is approximately at 90 of full charge To complete a full charge keep the charger connected around 1h after the red LED turns off The polarity of the charger is defined by its two polarizing slots Figure 4 3 Li Pol External charger Do not connect this charger to a NiMH Koala battery Koala 2 5 User Manual Rev 1 1 16 4 3 Docking station connection pads Five contact pads are situated below the robot and can be used to connect the Robot to a docking station The pads are placed symmetrically to ensure a correct connection even if the Robot goes backwards on the docking station The main purpose of these contacts is to charge the embedded battery works only with Li Pol Battery Apply 15V between VIN and GND max 18 0V to perform the charge The VIN signal is the same as the external power supply connector and will be available on the terminal blocks 1
31. l is not very stable with default PID parameters User can modify the PID to try to improve the behavior for this kind of very low speed The maximum speed order is approximately 500 553mm s It s still possible to move the robot faster if the control mode is set to open loop In this case the maximum speed will vary with the battery voltage and the payload Koala 2 5 User Manual Rev 1 1 27 4 9 2 Speed profile control K command This type of control uses the same PID as standard speed controller but adds an acceleration ramp to travel from the actual speed to the new speed order The ramp used in this mode can be configured with the speed profile command J command Three parameters define the ramp Acc_Inc value of increment to add or subtract every Acc_Div 1 control loop value from 1 to 255 Default 5 Acc_Div defines the number of control loops where no increment is added to the speed order For example a value of O means that at every control loop the speed will be increased by Acc_Inc A value of 4 means that every 5 control loops 50ms the speed will be modified value from O to 255 Default 1 Min_Speed this parameter defines the minimum speed used by the controller This value avoids setting a speed too low where the controller is not efficient If the order value is smaller than this parameter the controller will automatically limits the speed to Min_Speed Do not set a value lower than 1
32. mmunication for more details The main connectors of the computer are available on the TOP of the robot Pico ITX front panel VGA Display connector Serial port connector dev ttyS0 2x USB 2 0 connector LAN interface Audio IN MIC and OUT headset Koala 2 5 User Manual Rev 1 1 11 3 3 10 Microcontroller The Koala 2 5 has a dsPIC33FJ64GS608 microcontroller which is dedicated to the sensors amp motors management This microcontroller cannot be programmed by the end user but answers to a list of serial commands sent by the Pico ITX through dev ttyS1 COM port See chapter Microcontroller update 3 3 11 GPS module The Koala 2 5 is equipped with a GPS module UC530 from U blox As soon as the robot is turned ON the GPS module will search for valid satellites The robot must be placed outdoor in order to find enough GPS to get its position The dsPIC of the Koala will automatically retrieve main data from the GPS position speed date hour etc But the user can also directly send NEMA command to the module to obtain more specific information see WMEA manual for Fastrax IT500 Series GPS receivers pdf documentation 3 3 12 Accelerometer Gyroscope 8 Magnetometer sensor The Koala 2 5 is equipped with a LSM9DSO iNEMO inertial module from ST This module is a system in package featuring a 3D accelerometer a 3D angular rate sensor and a 3D magnetometer Coupled with the onboard GPS this will prov
33. n and or breakdown e Store your robot in a stable position This will avoid the risk of falls which could break it or cause damage to a person e Use only the official charger or the cable which is delivered with the robot Do not try to use another charger this can cause irreversible damage to the battery and or the electronics e Do not attach any connector while the robot is powered To avoid any damage make all connections when the robot power is off e Never leave the robot powered when it is unused When you have finished working with the robot turn it off It will save the battery life e Do not manually force any mechanical movement Avoid to force by any mechanical way the movement of the wheels or any other part e Never open the case Only qualified technicians are allowed to do so 1 3 Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance mandatory to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator This battery which contains Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through recycling programs you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your robot at the end of its life cycle for ins
34. nalog to digital converter 10bits inputs The measured voltage must be between OV and 3 3V 3 3V 1023 Four GPIOs which can be configured as input output or PWM output used to drive servo motor The level of these GPIOs is 3 3V When configured as PWM the frequency will be fixed at 50Hz and the ON time duty cycle can be configured between 1ms and 2ms Koala 2 5 User Manual Rev 1 1 18 4 5 Accelerometer The accelerometer mounted on the Koala 2 5 is a LSM9DSO from ST This device includes in one package a 3D accelerometer a 3D gyroscope and a 3D magnetometer The position of the device on the Koala is indicated below The device is exactly at the middle of the wheels but not exactly on the rotation center 28 5mm in front The device is located on the bottom of the main PCB Figure 4 6 Position of the LS5M9DSO The accelerometer is oriented with the pin 1 to the front right this returns a positive value for X axis when going forward The Y axis is positive on the right and finally Z axis is positive with the gravity Figure 4 7 Direction of detectable accelerations TOP view The accelerometer returns 16 bits data with a range of 2g This means a value of 1g will return a value of 167384 The data rate is configured to 100Hz as the dsPIC of the Koala refreshes 10 values at a time the output on the Pico ITX serial port will be 10 values of each axis sent every 100ms if auto mode activated Koala 2 5 U
35. obot power switch 3 2 2 Direct Connection Connect a USB mouse and keyboard and a screen on the top of the Koala robot 4 Pico ITX front panel of figure 3 1 Switch on the robot power and wait for the login window The user is user and password koala Koala 2 5 User Manual Rev 1 1 8 Ubuntu Desktop E a 4d 11 49AM L user 2 Proarams menus File manager Network manager Shutdown Terminal console quick access Figure 3 6 Ubuntu desktop Then open a Terminal and execute the following command figure 3 6 Execute the test program home user koala library examples koala test If the result is good figure 3 7 you can see at the beginning the version of the Koala microcontroller software otherwise an error message is printed Koala V2 5 robot test program C K Team S A Koala version A revision 2 PID set to default values P 10 I 3 D 1 Figure 3 7 koala_test output You can quit with the keys q and return To shutdown the robot from use the Shutdown menu see Figure 3 6 Wait 15s then you can switch off the robot power switch Koala 2 5 User Manual Rev 1 1 9 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 increase
36. on Resets the position encoder value of the motor If set during a position control move the motors will be stopped to avoid an incorrect behaviour Example I1 0 10000 i r Koala 2 5 User Manual Rev 1 1 40 J Configure the speed profile parameters Command J Acc Inc Acc Div Min Speed Speed Order Pos Margin Max Current Answer j r Function Configure the parameters used for the position control Acc_Inc Increment of the speed added every Acc_Div 1 control loop Acc_Div Number of control loop before adding the Acc_Inc to the speed order Min_Speed Minimum speed order used during the position control Speed_Order Travel speed used during the position control Pos_Margin Margin of the position control to detect when the robot reach its target Max_Current Maximum current for each motor If above this value the controller will limit the motor command unit is 0 1 A 0 disable max 30 3A default 10 1A Example J 10 0 5 150 10 0 j r K Set Motor Speed with acceleration ramp Command K MotL_Speed MotR Speed Answer k Ar Function Sets a speed order to reach with acceleration ramp The parameters used during this mode are the same as for the position control Example K 100 100 k r L Set open loop Command L MotL PWM MotR_PWM Answer IME Function Sets a PWM value for each motor Value can be from 2940 100 in backward direction to 2940 100 forward Example L 500 10
37. rmatted in the course of the service and K TEAM will not be responsible Koala 2 5 User Manual Rev 1 1 48 for any damage to or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any indirect or consequential damages resulting therefore IF DURING THE REPAIR OF THE PRODUCT THE CONTENTS OF THE FLASH MEMORY ARE ALTERED DELETED OR IN ANY WAY MODIFIED K TEAM IS NOT RESPONSIBLE WHATEVER CUSTOMER S PRODUCT WILL BE RETURNED TO CUSTOMER CONFIGURED AS ORIGINALLY PURCHASED SUBJECT TO AVAILABILITY OF SOFTWARE Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM is not responsible for any loss or damage to these items This warranty is limited as set out herein and does not cover any consumable items such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party
38. ser Manual Rev 1 1 19 4 6 Gyroscope The gyroscope of the Koala is included in the same package as the accelerometer The directions of detectable angular rates are defined around the accelerometer axis vo ng Figure 4 8 Direction of detectable angular rates TOP view NA The data format is on 16 bits too the full range is configured at 2 000dps 360dps 5 898 and the data rate is configured at 95Hz The gyroscope data are read by packet of 10 values at a time which means the output date rate on the serial port will be 10 values of each axis every 105ms if auto mode enabled Koala 2 5 User Manual Rev 1 1 20 4 7 Magnetometer The magnetometer is a part of the LSM9DSO The direction of detectable magnetic fields are shown below X wd Z y Figure 4 9 Direction of detectable magnetic fields TOP view The data format is on 16 bits the full range is configured at 2 gauss The magnetometer data is read one by one at the same time than the accelerometer This means a new data is available every 100ms If the auto mode is activated a packet of 3 data X Y Z will be sent at a frequency of 10Hz The Magnetometer needs to be calibrated by the user to detect the middle point of each axis It can be done easily for X and Y axis Place the Koala on a flat surface set a constant speed to turn the robot on itself i e D 10 10 and retrieve all the data enable the auto mode Store
39. t the PID if needed or use the K command Example D 100 100 d r E Read Motor speed Command EJ Answer e MotL_Speed MotR_Speed r Function Reads actual motor speed The unit is the same as defined in D command Example El e 100 100 r F Set Target position Command 5 F MotL Pos MotD_Pos Answer f r Function Sets a target position to be reached The move will be performed with three phases an acceleration to reach the maximum speed a constant speed and a deceleration phase before the target position The unit is the pulse which means a position of 1000 will correspond to 11mm Example F 50000 50000 f r Koala 2 5 User Manual Rev 1 1 39 G Read the Ultrasonic sensor Command Ga Answer g Left Left_Front Front_Left Front Front_Right Right Front Right Rear Right Rear Left r Function Reads the Ultrasonic sensor value The returned value corresponds to the distance of the first obstacle seen by the sensor unit cm Each sensor can be disabled if not necessary Here are the possible values Q Obstacle lt 25cm 25 250 Obstacle distance 1000 No obstacle detected 2000 Sensor disabled Example Gu g 50 60 180 250 200 1000 2000 0 0 r H Configure PID controller Command H Kp Ki Kd Answer h r Function Configures the PID controller value used for the speed control Example H 10 5 1 1 hr I Set the position encoder value Command I MotL_Pos MotR_Pos Answer i r Functi
40. tance sending back the robot to the manufacturer or to your local dealer Thank you for your contribution to a cleaner environment Made in C Switzerland Koala 2 5 User Manual Rev 1 1 2 2 UNPACKING AND INSPECTION 2 1 Package Content e Koala robot e Battery e Battery charger e Power supply adapter Koala 2 5 User Manual Rev 1 1 3 THE ROBOT AND ITS ACCESSORIES 3 1 Global View Figure 3 1 Top view Wheels Ultrasonic sensor 9x Mounting plate Pico ITX Front Panel IO and power supply terminal blocks Battery DUB WN b Koala 2 5 User Manual Rev 1 1 4 Ba Eu al ER Fr IT EZ y TH a E ZU Ge 8 8 Figure 3 2 Rear view 7 Reset button 8 Charge LED 9 Power LED 10 On Off switch 11 Battery 12 External power supply connector Koala 2 5 User Manual Rev 1 1 5 Figure 3 3 Bottom view 13 Gear Box 14 Docking station connection Koala 2 5 User Manual Rev 1 1 3 2 First start up It is required before to use the robot for the first time to let the battery charge completely In order to do that remove the battery from the Koala and connect the battery to the dedicated charger Please consider a time of 5 hours for the initial charge You can test the Koala either with a serial cable to have console access or directly to the Koala itself via USB 3 2 1 Console access Connect a crossed Null Modem serial cable on the top of the Koala to a comput
41. the maximum and minimum value for each axis The maximum value will indicate the North the minimum the South Koala 2 5 User Manual Rev 1 1 21 4 8 GPS module A GPS module UC530 from U blox is mounted on the Koala This module is placed at the rear of the Robot just above the battery housing between the US sensors 8 84 9 To keep a good reception do not place metallic parts near the GPS antenna The module supports NMEA 0183 rev 3 01 communication protocol and is configured at 115200bps The dsPIC of the Koala autonomously manages the main data acquisition number of satellites latitude and longitude position date and hour speed and altitude If you need more specific data you can directly configure the GPS module using the X command see NMEA_manual_for_Fastrax_ IT500_Series_GPS_receivers pdf documentation for available commands and enable the transparent mode to get all the NEMA commands sent by the GPS module set auto mode bit 7 A 128 command The module is configured to return new data every second If the user enables the auto monitoring mode for the GPS A 64 new data will be printed every second Be careful do not change baud rate of the GPS module as the dsPIC will then be unable to retrieve data of the module Do not change user parameters too as the number of writes is limited to 8 Koala 2 5 User Manual Rev 1 1 22 4 9 Pico ITX The Pico ITX mounted in the Koala 2 5 is a LP 172N mot
42. uted every 10ms in an interrupt routine of the dsPIC Every term of this controller Proportional Integral Derivative is associated to a constant setting the weight of the corresponding term Kp for the proportional Ki for the integral Kd for the derivative The controller has as input the speed value of the wheels and controls the motor to keep this wheel speed The speed modification is made as quick as possible in an abrupt way No limitation in acceleration is considered in this mode Be careful when using this mode avoid a big difference of speed order as the current drawn by the motor could reset the Pico ITX battery voltage drops due to high current For example do not change the direction of the two motors at once The solution is to use the speed control with acceleration ramp or use a weaker PID decrease the Proportional part The speed unit corresponds to the difference measured in position between the two controllers routine 10ms Here s the formula to convert the speed unit to metric unit Refresh time 10ms Wheel diameter 82 5MM Revolution resolution 23 400 pulses pulses o Puneet TZ ee V pulses e 82 59 7 1 107618 y F Speed mm s TAT 23400 pulses Ip fresh N b pulses Formula to calculate real speed from the measured value Note this formula must be adapted if a payload is placed on the Koala The minimum speed order to ensure a correct control is 10 11mm s Under this value the contro

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