DFRobotShop Rover User Guide Libre
Contents
1. SI DFRobotShop Rover HyperTerminal re Le i File Edit View Call Transfer Help Connect To DFRobot Shop Rover Enter details for the phone number that you want to dial Country region Canada 1 Area code 514 Phone number Connect using COM6 Disconnected Auto detect Auto detect Choose the correct COM port associated with the Rover or the XB BT board The name DFRobotShop Rover is not necessary you can name it whatever you want Specify the COM port USB that is connected to the DFRobotShop Rover If you are using XBee Bluetooth or RF select the COM port connected to the Bluetooth dongle XBee breakout RF Transmitter USB No configuration is needed for the DFRobot Bluetooth Module simply connect to it via your Bluetooth application and the module installed on the DFRobotShop Rover will be picked up assuming it is powered To use the XBee modules install one on the USB to XBee breakout board in the same orientation as indicated on the board and connect the board via USB to your computer The board should be picked up as a standard COM port Install the other XBee module on the XBee shield and install the shield on the board ensuring the Tx Rx pins of the shield line up with Rx Tx pins on the DFRobotShop Rover PCB More information about the XBee shield can be found on www arduino cc e SI DFRobotShop Rover HyperTerminal ee File Edit View Call Transfer Help Da ez 22. USER GUIDE Rev 2 4 This guide is only available in English Ce manuel est seulement disponible uniquement en Anglais The DFRobotShop Rover is intended to be a learning platform which provides users with the hardware to get started in programming mobile robots using Arduino The sample code available here can be used as reference to help you test the various platforms but users are expected to learn how to use the Arduino software Contents ACUI ME 5 NEMNE 5 PCB Mee SEe EE 6 PCB VI NN NN ME E 6 PCB VZ EE 8 Basic Kit V1 0 VS VI e 10 le ET 10 Important Notes serien a ee a a a em aes DERE RASER EEG 10 POWER ne 10 Ile Ce EE 11 Specifications Basic K vrvnnnvnnnvnnnenvnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns va knnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnkn TE sense 11 Bluetooth Xbee Kits V1 0 VIS 12 Assembly Guide REENEN REENEN 12 Important NOCES aa 12 Ne 12 le ot Le D 12 SDECITIGATIONS BASIC dg eet eee eee cee seen 13 Bluetooth Xbee Kits IWM3O rnnr sssntirrnnnsssnrrrn sere strestnne 14 Assembly Guide 14 IMPorant Note Se ee ee 14 POW EE MM 14 Ne EEE ESTER 15 SDECINIGCATIONS BASIC Kit NN 15 NZD ME EEE 16 Le ET EE 16 Important Notes sone 16 Ile Te 9 Pless pe be PE PEPE PEPE PEPE PEPE PEPE PEPE PEBER SBB PEPE PE PEPE PEPE EEE Ne Ea 17 V20 OmMNIWNEElKITS misisse aaa a a aaao aaa aA a EES 18 ASSEMDIN ET EE 18 ed TEE 19 Mu 20 AUTONOMOUS K E sa a a EE RR ERR EE NTE SKARE 21 Assembly ET t 21 e ee ee 21 let EE 21 SPE
3. Ensure the tracks are not overly tight so the motors can turn freely Q One of the LEDs arrived broken what can I do If it arrived broken RobotShop will exchange the PCB at our cost Please contact us for an RMA Q Is the DFRobotShop Rover edible This was not included in our testing Programming Q Where can I find additional sample code for the board The board is directly compatible with Arduino Software available for download via www Arduino cc Take note that four of the pins are used for the H bridge pins 5 6 7 8 Additional tutorials and sample code are available via www arduino cc Q Can I use other software to program the board Yes though you may need to change the bootloader this is done via the ICSP headers The most common alternative software is C CH Q Can I do a quick motor test Copy paste the following code into Arduino to run the motors continuously at full speed Copy and paste the code below into the Arduino software void setup void int i for i 5 i lt 8 i pinMode i OUTPUT Serial begin 9600 void loop void int leftspeed 255 255 is maximum speed int rightspeed 255 analogWrite 6 255 digitalWrite 8 LOW analogWrite 5 255 digitalWrite 7 LOW delay 100 Q Can I operate the 6x cool blue LEDs from the software Yes and no the six LEDs are all connected to one another and therefore cannot be operated independently This having been
4. LED and main LED jumper jumper on 6x LEDs powered at all times 38 Mini JST connector for 4xAA battery pack or 3 7V LiPo pack Xbee Headers The two XBee slots can be used with both series 1 and series 2 XBee modules Note that the basic rover does NOT include the headers which can be purchased separately they would need to be soldered to the board Headers were not included to allow the largest possible flat cargo area on the PCB to install a solderless breadboard for example Certain kits such as the Xbee and Bluetooth kits do include a pair of headers which must be soldered to the board When putting in the Xbee module in place ensure the XBee modules are oriented correctly before inserting with the antenna facing the REAR of the board toward the USB port Follow the numbers on the XBee module and those on the DFRobotShop Rover PCB they should line up When using ONE XBee use slot marked 426 above XBee2 to have access to the XBee switch 413 When programming the robot set the switch to xbee1 to free up the Tx and Rx lines After programming set the switch to xbee2 to connect the Tx and Rx lines to the XBee module When using TWO XBee modules we suggest one is connected to the prototyping area and then connected to the digital I O pins using soft serial When programming the robot you will likely need to remove the Xbee in position 14 to get access to the XBee switch Basic Kit V1 0 V1 5 V2 0 Assembly Guide The
5. The JST connector can power both the microcontroller and the motors We suggest using a 3 7V LiPo battery pack of at least 1000mAh or more The board microcontroller and motor controller will only turn on if you set the On Off switch to ON The batteries connect directly to the motors not regulated The mini JST can handle up to 12V but keep in mind that the voltage goes directly to whichever motors are connected Use EITHER the mini JST connector OR the barrel connector NOT BOTH a 4x AA Battery Pack The DFRobotShop Rover includes a 4xAA battery pack which can be connected directly to the white power input at the back of the board Both alkaline 1 5V and rechargeable 1 2 batteries can be used and the batteries power both the board and the motors Remove jumper 1 in figure 1 when using the AA battery pack b LiPo battery A LiPo pack with the correct mini JST connector can be used to power the DFRobotShop Rover This has the advantage of significantly reducing the weight of the rover and also takes advantage of the onboard LiPo charger You can use a 3 7V or 7 4V LiPo battery but note that the onboard charger can only provide 4 3V charge current so it won t charge a 7 AV LiPo 4 Vin pin An Arduino board can be powered using the Vin pin located to the left of the AO pin However this pin is not connected to a regulator and we do not suggest using it to power the DFRobotShop Rover Motion The DFRobotShop Rover Basic Kit
6. XBee breakout board 3 7V 1000mAH LiPo battery Seeedstudio LiPo shield V1 5 Board discontinued V1 0 board with following modifications Onboard LiPo battery charger RoHS compliance V1 5 Basic Kit discontinued Tamiya Twin Motor Gearbox Tamiya Tank Track Kit 2x Metal Brackets V1 0 Hardware Bag 4XAA battery holder V1 5 Bluetooth Kit discontinued V1 5 Basic Kit DFRobot Bluetooth Module USB Bluetooth Module 3 7V 1000mAH LiPo battery V1 5 XBee Kit discontinued V1 5 Basic Kit 2x XBee series 1 modules USB to XBee breakout board 3 7V 1000mAH LiPo battery V1 5 Speech Recognition Kit discontinued Basic V1 5 Kit 2x XBee series 1 modules USB to XBee breakout board 3 7V 1000mAH LiPo battery V2 0 Board V1 5 board with following modifications Arduino Uno design w ATMega8 USB to serial L298P Motor Controller amp redesign 2x XBee headers w switch amp Breakout pins Solder prototyping area previously cargo area Additional mounting holes Added additional front mounting slots V2 0 Basic Kit 1x V2 0 PCB 1x Hardware Bag 1x Tamiya Twin Motor Gearbox 1x Tamiya Tank Track Kit 2x Rover frame left and right 1x 4xAA battery holder V2 0 Bluetooth Kit 1x V2 0 Basic Kit 1x Bluetooth module 1x USB cable 1x 3 7V 1000mAH LiPo battery V2 0 XBee Kit 1x V2 0 Basic Kit 2x Xbee modules 1x USB to Xbee breakout 1x USB cable 1x 3 7V 1000mAH LiPo battery V2 0 Mecanum Kit V2 0 board 2x Hardware bags 2x Rover frame left and
7. assembly video guide can be found on RobotShop s Youtube page RobotShopTV at V1 0 and V1 5 http www youtube com watch v yXW 1yrmKiul V2 0 www youtube com watch v MWWoEul9Qsk Important Notes For the basic version tracks assemble the Tamiya Twin Motor Gearbox in the Type C configuration ONLY Note that Type A and Type B configurations will cause the track to be too tight Note that some parts will remain unused If you use the crimps the bare motors leads closest to the board can potentially contact the pins on the underside of the PCB We highly suggest covering the pins closest to the motor leads with a bit of electrical tape and also wrapping the bare leads of the motor with electrical tape not included with the kit Use EITHER the mini JST connector 15 or the Barrel connector 16 NOT BOTH Power 1 2 USB Connecting a USB cable sold separately will power the microcontroller not the motors If you have L1_SEL jumper in place it will also charge any LiPo battery connected to the white mini JST connector 15 Barrel The barrel connector powers both the microcontroller and the motors To power only the microcontroller you need a 3 to 12V adapter capable of 250mA To power the motors you need a 3V to 6V adapter capable of 1 5A Note that if your power supply cannot provide enough power to the motors they will not turn Use EITHER the mini JST connector OR the barrel connector NOT BOTH Mini JST
8. uses two tank tracks each connected to their own DC gear motor Rotating the tracks at the same time in the same direction produces forward motion Rotating the tracks at the same time in the opposite direction causes the robot to move in reverse Varying the speed of one of the tracks will cause the robot to move in a circle Rotating the tracks in opposite directions causes the robot to turn clockwise or counter clockwise on itself zero turning radius Specifications Basic Kit e Maximum speed using 4x AA NiMH batteries and motor config C 12 5cm sec no load e PCB Dimensions 57mm x 195mm 200mm for V2 0 e Overall dimensions 200mm long x 108mm wide x 58mm high Weight assembled kit not including batteries 250g Bluetooth Xbee Kits V1 0 V1 5 Assembly Guide The assembly video guide for the basic kit can be found on RobotShop s Youtube page RobotShopTV at V1 0 and V1 5 http www youtube com watch v yXW 1yrmKiul V2 0 www youtube com watch v MWWoEul9Qsk Important Notes e For the basic version tracks assemble the Tamiya Twin Motor Gearbox in the Type C configuration ONLY Note that Type A and Type B configurations will cause the track to be too tight Note that some parts will remain unused e If you use the crimps the bare motors leads closest to the board can potentially contact the pins on the underside of the PCB We highly suggest covering the pins closest to the motor leads with a bit of electrical tape an
9. 255 switch val Perform an action depending on the command case w Move Forward forward leftspeed rightspeed break case s Move Backwards reverse leftspeed rightspeed break case a Turn Left left leftspeed rightspeed break case d Turn Right right leftspeed rightspeed break case q Turn Right cow leftspeed rightspeed break case e Turn Right cw leftspeed rightspeed break default stop break void stop void Stop digitalWrite E1 LOW digitalWrite E2 LOW digitalWrite E3 LOW digitalWrite E4 LOW void forward char a char b analogWrite El a digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 LOW analogWrite E3 a digitalWrite M3 LOW analogWrite E4 b digitalWrite M4 LOW void reverse char a char b analogWrite EL ai digitalWrite M1 LOW analogWrite E2 b digitalWrite M2 HIGH analogWrite E3 a digitalWrite M3 HIGH analogWrite E4 b digitalWrite M4 HIGH void ccw char a char b analogWrite EL ai digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 HIGH analogWrite E3 a digitalWrite M3 HIGH analogWrite E4 b digitalWrite M4 LOW void cw char a char b analogWrite El a digitalWrite M1 LOW analogWrite E2 b digitalWrite M2 LOW analogWrite E3 a digitalWrite M3 LOW analogWrite E4 b dig
10. 8 Parity Stop bits Flow control Disconnected Auto detect Auto detect The Bits per second should correspond to the Serial communication Baud rate in the Arduino code In the sample code we selected 9600 Flow control Xon Xoff works best Make sure the On Off switch on the robot is set to ON closer to the power input Use the W A S D and X keys to move the robot Note that if you purchased the basic kit you will need to have the robot connected to the computer via USB for it to receive commands Special note for Bluetooth Kit Depending on the module the bluetooth module may be set to 9600 or 115200 baud 8 bits If the default is 115200 the baud rate in the code uploaded to the DFRobotShop Rover must be changed from 9600 to 115200 and correspondingly when using hyperterminal the baud rate must also be set to 115200 Troubleshooting V2 Before contacting RobotShop to report a problem with your DFRobotShop Rover please follow the troubleshooting guide below and pay close attention to each step This troubleshooting guide will evolve Remove everything from the board no batteries no frame no extra components Tum your computer on Run arduino exe Connect the USB cable not supplied from the robot to your computer Done Try a thicker USB cable Try a different USB port S Try a different computer ls the PWR light on Yes Install the n
11. CIFICATIONS BASIC Kit orne EENEG 21 Programming aiene es dE EENS EEN EE sak Flaa helg 22 Important tee 22 Basi KIEIV2 O EE EE NE NE TE EE EE NN TE FE EEN ER 23 AUTONOMOUS Kit V2 0 EE 23 lee lge AR UE 24 XBee E UE 25 Sample Code 26 Sketch 1 Basic Rover Full speed Iopward ENEE EEN 26 Sketch 2 Basic Rover W A S D Keyboard Control 27 Sketch 3 V2 0 Mecanum Basic Directons nenn 28 Sketch 4 Omni Wheel Rover Basic Directons nenn 30 Sketch 5 Basic Rover V1 0 and V1 5 Analog Sensors nenn 32 Sketch 6 Encoders Countinga uue seen een nn 32 Hyperterminal c nfiguration n eeee ee eege 33 Troubleshooting V2 rss aaa re 35 FAQ EE NE 43 le e 43 Motion Mechanical lssues nen snnsnnnnnn 43 Meet TEE 44 Versions amp Kits 46 Upgrades and Optional Parts 35 aa Ena Ea REE EEEE E 50 elle Edel 51 Universal Connection Point 51 ShielaCompatibilityv aasusss Bee 52 DeSean en E E ee ERE EET sec teens 52 Useful Links Products Software Support Arduino Arduino is an open source electronics prototyping platform based on flexible easy to use hardware and software It s intended for artists designers hobbyists and anyone interested in creating interactive objects or environments www arduino cc There are many ways to learn how to code in Arduino We suggest one or more of the following e www arduino cc gt Learning and Reference categories e Arduino related books http www r
12. ard LiPo charger connected to the USB If you are not using a LiPo battery connected to the mini JST connector then remove this jumper e Use EITHER the mini JST connector 15 or the Barrel connector 16 NOT BOTH The DFRobotShop Rover Mecanum Kit uses two opposite pairs of Mecanum wheels which need to be correctly installed on the robot in order to work properly You can either install them so the outer wheels form an X or alternatively so that all the wheels point away from one another Motion The image below gives you an idea of the range of motion possible when using Mecanum wheels Note that some directions are slower than others because of the forces involved To facilitate zero radius turning two images at bottom right below consider mounting the Tamiya Gear Motors in the opposite configuration with DC motor facing outward This moves the wheels closer to each other by 8cm when the motors are in configuration A or B V2 0 Omniwheel Kits The DFRobotShop Rover 2 0 Arduino Compatible Omniwheel Robots use four motors and four omniwheels to move around There are multiple variations of the robot one of which uses 6V DC gear motors with encoders compatible with three different types of omniwheels while the other uses continuous rotation servo motors Three sizes of omni wheels are available 40mm 48mm and 60mm All three wheels have adapters for the DFRobot 6V Gear Motor and for the Hitec 1425CR Continuous Rotation Servo The 40
13. bit of electrical tape and also wrapping the bare leads of the motor with electrical tape not included with the kit e Use EITHER the mini JST connector 15 or the Barrel connector 16 NOT BOTH e The pair of Xbee headers included in the kit need to be soldered to the board in Xbee slot 2 e Bluetoth pairing code is 1234 used to be 0000 Refer to the Bluetooth module datasheet to be certain Power The Bluetooth and Xbee kits include a 3 7V 1000mAh LiPo battery pack which was chosen because the standard Tamiya motors operate at 3V nominal The board microcontroller and motor controller will only turn on if you set the On Off switch to ON The batteries connect directly to the motors not regulated The mini JST can handle up to 12V but keep in mind that the voltage goes directly to whichever motors are connected Use EITHER the mini JST connector OR the barrel connector NOT BOTH The DFRobotShop Rover Bluetooth and Xbee kits still include a 4xAA battery pack which can be connected directly to the white power input at the back of the board instead of the LiPo Both alkaline 1 5V and rechargeable 1 2 batteries can be used and the batteries power both the board and the motors Remove jumper 1 in figure 1 when using the AA battery pack Motion The DFRobotShop Rover Basic Kit uses two tank tracks each connected to their own DC gear motor Rotating the tracks at the same time in the same direction produces forward motion Rota
14. d also wrapping the bare leads of the motor with electrical tape not included with the kit e Use EITHER the mini JST connector 15 or the Barrel connector 16 NOT BOTH Power The Bluetooth and Xbee kits include a 3 7V 1000mAh LiPo battery pack which was chosen because the standard Tamiya motors operate at 3V nominal The board microcontroller and motor controller will only turn on if you set the On Off switch to ON The batteries connect directly to the motors not regulated The mini JST can handle up to 12V but keep in mind that the voltage goes directly to whichever motors are connected Use EITHER the mini JST connector OR the barrel connector NOT BOTH The DFRobotShop Rover Bluetooth and Xbee kits still include a 4xAA battery pack which can be connected directly to the white power input at the back of the board instead of the LiPo Both alkaline 1 5V and rechargeable 1 2 batteries can be used and the batteries power both the board and the motors Remove jumper 1 in figure 1 when using the AA battery pack The DFRobotShop Rover V1 0 Bluetooth and XBee kits discontinued included a Seeedstudio charger and battery which replaced the 4xAA battery pack In order to use the LiPo battery with the shield use a spare piece of wire and connect pins Vin and 5V on the shield The battery itself should be connected to the JST plug closest to the 2x3 pin headers not the one next to the USB plug To charge the battery simply plug yo
15. d while the DFRobotShop Rover V2 0 is essentially a standard Arduino Uno board All code and examples found on www arduino cc can be used 2 Digital pins 5 to 8 are permanently connected to the onboard motor controller on all versions of the rover You can use these pins normally only if no motors are connected to the screw terminals Note that the motor controller will still be receiving signals 3 V1 0 and 1 5 Analog pins 0 and 1 are connected to the onboard light and temperature sensors but can be disconnected using the jumpers 17 and 18 4 V2 0 Analog pins 0 and 1 are connected to the optional encoder modules via jumpers 8 on either side of the board If you do not plan to use encoders ensure the jumpers are not in place freeing up AO and Al 5 V2 0 The board is based on the Arduino Uno the drivers do NOT install automatically Please follow the installation procedure here http arduino cc en Guide HomePage Basic Kit V2 0 The DFRobotShop Rover Basic Kit needs to be connected to the computer in order for an operator to control its motion The robot can also be programmed to move autonomously 1 4 Connect the USB cable to your computer and upload sample sketch 42 code section of this manual if Ensure you know which COM port is associated with the USB Bluetooth dongle on your computer For Windows users open Hyperterminal and follow Hyperterminal Configuration in this guide In the hyperterinal seria
16. e USB Bluetooth dongle on your computer For Windows users open Hyperterminal and follow Hyperterminal Configuration in this guide 10 In the serial window you can type W A S D and any other key to stop to move the rover 11 If the rover is turned off or loses power you may need to upload the code once again XBee kit V2 0 The new DFRobotShop Rover V2 Xbee kit no longer includes an Xbee shield since there are two Xbee slots provided on the board note that Xbee headers are sold separately 9 Follow the steps above for getting the basic rover operational via USB cable Install the Xbee module on the DFRobotShop Rover PCB in position XBEE2 Check the pin numbers Most modules will face the REAR of the board this is not intuitive Move the Xbee switch to XBee1 therefore NOT connected to the Bluetooth module Connect the USB cable to your computer and upload your sketch upload the WASD sketch in the code section of this manual if you are just starting Once the sketch has finished uploading disconnect the USB cable and move the Xbee switch to XBee2 therefore the Tx and Rx pins are connected to the Bluetooth module Turn the rover ON after connecting the LiPo battery of course Connect the other USB to the USB to Xbee breakout board and connect the USB cable to the breakout board The drivers should install automatically Ensure you know which COM port is associated with the USB to Xbee breakout board on y
17. ects temperature sensor to analog pin 1 19 I2C connector 20 LM35 temperature sensor 21 Light sensor 22 4xAA battery holder holes 23 Universal connection point Important note jumper 1 in figure 1 should only be in place when using a LiPo battery connected to 15 otherwise remove 1 Surface mount ATMega328 chip from ATMEL http www atmel com dyn products product card asp PN ATmega328P ST L293B Four Channel H Bridge Driver DIP16 http www st com stonline products literature ds 1328 pdf 3FTDI 0947 B USB UART IC http www ftdichip com Products FT232R htm Light Sensor V1 0 and V1 5 http us 100y com tw pdf_file GL5528 pdf Temperature Sensor V1 0 and V1 5 http www national com mpf LM LM35 html Voltage regulation Voltage 3 5V min to 9V max via Vin pin PWRin 3 5mm jack or white connector The Tamiya motors run at 3 to 4 5V nominal 6V will work but reduce the motor s life 6V motors are available separately should you want to make your rover faster PCB V2 0 0000000000 J000000000 0000000000 7 5 0000000000 er 5 0000000000 m gt 0000000000 AR 0000009000 gt 00000 D000 0000000000 000000 0000 0000000000 0000000000 0000000000 R 0000000000 0000000000 0000000000 0000000000 0000000000 Rov DO ee DO ee oo Ke oo oo oo oo 0000000000 309000000000 9999899988 5 a DFRobot Pop Figure 2 DFRobotShop Rover V2 Features 1 Cool b
18. erse leftspeed rightspeed break case a Turn Left left leftspeed rightspeed break case d Turn Right right leftspeed rightspeed break case q rotate ccw ccw leftspeed rightspeed break case e rotate cw cw leftspeed rightspeed break case z move at 45 degrees fortyfive leftspeed rightspeed break case x move at 135 degrees onethirtyfive leftspeed rightspeed break to move at 225 and 315 use the 45 degree and 135 degree code but reverse motor direction default stop i break void stop void Stop digitalWrite E1 LOW digitalWrite E2 LOW digitalWrite E3 LOW digitalWrite E4 LOW void forward char a char b analogWrite El a digitalWrite M1 LOW analogWrite E2 b digitalWrite M2 HIGH analogWrite E3 a digitalWrite M3 LOW analogWrite E4 b digitalWrite M4 HIGH void reverse char a char b analogWrite El a digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 LOW analogWrite E3 a digitalWrite M3 HIGH analogWrite E4 b digitalWrite M4 LOW void ccw char a char b analogWrite El a digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 HIGH analogWrite E3 a digitalWrite M3 HIGH analogWrite E4 b digitalWrite M4 LOW void cw char a char b analogWrite El a digitalWrite M1 LOW analogWrite E2 b digitalW
19. ery lightweight and provide respectable capacity http www robotshop com lithium polymer battery packs 1 html Compatibility Universal Connection Point The universal connection point incorporates the standard servo horn hole pattern used on Lynxmotion servo erector set brackets These brackets are ideal for mounting a pan tilt system to the rover or a pan and tilt or just a tilt or for mounting your own custom hardware We suggest using Micro sized servo brackets to reduce weight though standard sized servo brackets can also be used Giant scale servos are not suggested simply due to weight imbalance The Lynxmotion Aluminum multi purpose sensor housing can be used to easily mount a Sharp infrared sensor or ultrasonic sensor to the front of the rover The Robotics Connection Sharp IR Turret allows you to mount RR three such sensors sw Sp To mount a gripper to the front of the robot we suggest the following products 1x RB Lyn 83 Lynxmotion Aluminum L Connector Bracket Pair or RB Lyn 106 1x RB Lyn 76 Lynxmotion Little Grip no servos 1x RB Lyn 118 Lynxmotion Little Grip Attachment Kit e 1x RB Hit 27 Hitec HS422 Servo Motor standard Note you will need to add weight to the rear of the robot to offset the weight of the gripper Shield Compatibility The configuration of the DFRobotShop Rover is the same as the Arduino Duemilanove except for the fact that pins 5 6 7 and 8 are used to control the motor driver I
20. eshooting guide V2 above as well as the step number For example you follow the guide below and reach step 17 Request RMA Please contact us via the RobotShop Support Center and indicate Subject DFRobotShop Rover Troubleshooting V2 Step 17 If you can provide any additional information about what happened or any steps you took which were not outlined in the guide please include them Be sure to contact RobotShop before the warranty runs out FAQ Power Issues Q The batteries fall out of the holder what can I do V1 0 and V1 5 If you do not plan to use the top of the PCB you can mount the battery holder to the top rather than the bottom of the board Another option is to use a low cost LiPo pack 10 Q The battery holder provides intermittent or no power what should I do V1 0 and V1 5 If you have an old AA battery holder you can rotate the batteries or push them in so they are tight Check to see if there is a small gap between the AA closest to the wires and if so put a small piece of conductive material such as aluminum foil Ensure the batteries are Q The board does not seem to be getting enough power or shuts off quickly what should I do Check that the batteries are charged Check the default code and ensure it works via USB Q One of the 6x blue LEDs around the board does not light up Contact RobotShop via the Support Center and we will issue an RMA to have the board exchanged at no charge to you a
21. ewest FTDI Does your drivers from computer recognize www ftdichip com the FTDI chip i Select the COM port associated with the Rover Tools gt Serial Port Select the correct board Tools gt Board gt Arduino Duemilanove wiATMega 328 Request RMA e Error Choose Blink LED File gt Examples gt 1 Basics gt Blink Upload the Blink LED program File gt Upload to UO board No error Does the LED L next to pin 13 blink on off Yes Ensure the AA batteries are charged Ensure the LiPo battery is charged Remove the jumper L1 SEL located Connect the LiPo battery to the PCB Will you use AA at the rear left of the board Unplug the USB Cable batteries Unplug the USB cable Set the On Off switch to ON Plug in the battery pack Set the On Off switch to ON 4 Ensure the tracks are i assembled in Sein dre don t know configuration C look at conii 3 the side of the gear box to see the letters charged Install the frame and motors If you are using AA Plug the USB cable to the board batteries remove them Upload sample sketch 1 found in the and put them back in DFRobotShop Rover user guide TT DFRobotShop Rover Software Troubleshooting Page 2 i v Once program is uploaded Unplug the USB cable Set the On Off switch to ON Done ls ihaspasd Yes The Rover works the same ae Neither motor works 24 No D You will need to adjus
22. expansion plate html Encoders Two analog encoders can be connected directly to the DFRobotShop Rover V2 0 PCB 4x Encoders are included and suggested for use with the V2 0 Mecanum version The encoders plug directly to the V2 0 PCB http www robotshop com encoder pair tamiya twin motor gearbox html 40mm Omniwheel Upgrade Kit This kit includes two omni brackets four DC gear motors four small omniwheels motor controller shield and more Convert your standard DFRobotShop Rover any version to omni directional motion http www robotshop com dfrobotshop omni 20 upgrade 40mm html 60mm Omniwheel Upgrade Kit This kit includes two omni brackets four DC gear motors four large omniwheels motor controller shield and more Convert your standard DFRobotShop Rover any version to omni directional motion http www robotshop com dfrobotshop omni 20 upgrade 60mm html Mecanum Upgrade Kit Upgrade your DFRobotShop Rover V2 to use Mecanum wheels Kit includes Tamiya motor Mecanum wheels 4x Encoders Motor I O Shield http www robotshop com productinfo aspx pc RB Rbo 130 6V motors The Tamiya Twin Motor Gearbox comes standard with 3 5V nominal motors These can be swapped for 6V nominal motors which run more efficiently http www robotshop com productinfo aspx pc RB Sbo 50 LiPo Battery A Lipo Battery is included with all but the Basic version of the DFRobotShop Rover eliminating the need for the 4xAA battery pack LiPo batteries are v
23. f you are not using the motor driver all shields should be compatible with the rover The DFRobotShop Rover includes headers and connections for the DFRobot Bluetooth module and APC220 RF modules Be sure to install the module facing the FRONT of the PCB Note that unlike many other Bluetooth modules one pin is used for Tx and another pin for Rx Bluetooth allows you to communicate with and control the robot via computer or other Bluetooth enabled device Design Q Is the PCB open source The design is essentially an Arduino Duemilanove with several pins directly connected to the motor driver The schematics are available online under the Useful Links tab of the product description Q Are the brackets open source hardware If you want the design contact RobotShop you ll need a plasma cutter or CNC and a bending machine We would be hap Q Why not use the Arduino Uno design The main difference between the Arduino Uno and the Duemilanove is the USB to serial chip Both do the same thing and the FTDI chip is very reliable The V1 0 and 1 5 use the Duemilanove while the V2 uses the Uno Additional questions can be submitted to the RobotShop Forum http www robotshop com forum showthread php 702 DFRobotShop Rover Useful Links Products Manufacturer Websites www robotshop com www dfrobot com Software Arduino Software http arduino cc en Main Software Support DFRobotShop Rover on RobotShop Forum http www robot
24. for Lynxmotion brackets at the front of the board Note that the motors included with the Tamiya Twin Motor Gearbox kit operate at 3V to 4 5V 6V motors are available for purchase separately PCB V1 0 The V1 0 PCB is almost identical to V1 5 below except for items 1 and 2 The V1 0 board is not certified RoHS compliant PCB V1 5 1 2 Shop Rover uuu DFRobot co uuu RobotShop com DE ga DF Rot De NN 227 aa ye at 20 Ym1 Figure 1 DFRobotShop Rover V1 5 Features 1 3 7V LiPo battery charging jumper Important note jumper should only be in place when using a LiPo battery connected to 38 otherwise remove Do NOT use jumper if you are using the 4xAA pack 2 Charging circuit for 3 7V LiPo batteries 3 Mini USB connector programming and charging LiPo cannot power motors 4 Voltage regulation circuit roughly behind USB and barrel connector 5 FTDI USB to serial 6 Arduino stacking headers 7 ATMega328P microcontroller 8 Reset button 9 APC220 RF or DFRobot Bluetooth connector 10 In system programming ICSP headers 11 ST L293B Dual motor controller 12 Empty space for cargo solderless breadboard 13 LED jumper select 14 Motor On Off switch 15 Mini JST connector powers board and motors 16 Barrel connector powers board and motors 17 Light sensor jumper connects light sensor to analog pin 0 18 Temperature sensor jumper conn
25. ftspeed rightspeed break default stop break void stop void Stop digitalWrite E1 LOW digitalWrite E2 LOW void forward char a char b analogWrite El a digitalWrite M1 LOW analogWrite E2 b digitalWrite M2 LOW void reverse char a char b analogWrite El a digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 HIGH void left char a char b analogWrite El a digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 LOW void right char a char b analogWrite El a digitalWrite M1 LOW analogWrite E2 b digitalWrite M2 HIGH Sketch 3 V2 0 Mecanum Basic Directions To control the Rover copy and paste the code below into the Arduino software Ensure the motors are connected to the correct pins The code does not factor in encoders at this time Front motors int El 3 Ml Speed Control int E2 11 M2 Speed Control int Ml 12 M1 Direction Control int M2 13 M2 Direction Control Rear motors int E3 6 Ml Speed Control int E4 5 M2 Speed Control int M3 8 M1 Direction Control int M4 7 M2 Direction Control void setup void int Te for i 3 i lt 13 i pinMode i OUTPUT Serial begin 115200 void loop void while Serial available lt 1 Wait until a character is received char val Serial read int leftspeed 255 255 is maximum speed int rightspeed
26. htly so the robot goes straight Font size is reduced to allow easy copy pasting Sketch 1 Basic Rover Full speed forward Copy and paste the code below into the Arduino software int El 6 Ml Speed Control int E2 5 M2 Speed Control int Ml 8 Ml Direction Control int M2 7 M2 Direction Control void setup int i for i 5 i lt 8 i pinMode i OUTPUT Serial begin 9600 void loop int leftspeed 255 255 is maximum speed int rightspeed 255 analogWrite E1 255 digitalWrite M1 LOW analogWrite E2 255 digitalWrite M2 LOW delay 100 Sketch 2 Basic Rover W A S D Keyboard Control To control the rover Copy and paste the code below into the Arduino software int El 6 Ml Speed Control int E2 5 M2 Speed Control int Ml 8 M1 Direction Control int M2 7 M2 Direction Control void setup void int i for i 5 i lt 8 i pinMode i OUTPUT Serial begin 9600 void loop void while Serial available lt 1 Wait until a character is received char val Serial read int leftspeed 255 255 is maximum speed int rightspeed 255 switch val Perform an action depending on the command case w Move Forward forward leftspeed rightspeed break case s Move Backwards reverse leftspeed rightspeed break case a Turn Left left leftspeed rightspeed break case d Turn Right right le
27. italWrite M4 HIGH void left char a char b analogWrite EL ai digitalWrite M1 LOW analogWrite E2 b digitalWrite M2 LOW analogWrite E3 a digitalWrite M3 HIGH analogWrite E4 b digitalWrite M4 LOW void right char a char b analogWrite EL ai digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 HIGH analogWrite E3 a digitalWrite M3 LOW analogWrite E4 b digitalWrite M4 HIGH Sketch 4 Omni Wheel Rover Basic Directions To control the Rover copy and paste the code below into the Arduino software Ensure the motors are connected to the correct pins The code does not factor in encoders at this time Front motors int El 10 Ml Speed Control int E2 11 M2 Speed Control int Ml 12 M1 Direction Control int M2 13 M2 Direction Control Rear motors int E3 6 Ml Speed Control int E4 5 M2 Speed Control int M3 8 Ml Direction Control int M4 7 M2 Direction Control void setup void int i for i 3 i lt 13 i pinMode i OUTPUT Serial begin 115200 void loop void while Serial available lt 1 Wait until a character is received char val Serial read int leftspeed 255 255 is maximum speed int rightspeed 255 switch val Perform an action depending on the command case w Move Forward forward leftspeed rightspeed break case s Move Backwards rev
28. l window you can type W A S D and any other key to stop to move the rover Autonomous Kit V2 0 The DFRobotShop Rover Autonomous Kit includes a variety of sensors intended to allow users to experiment with autonomous control with feedback from the environment 1 2 Follow the steps above for getting the basic rover operational Sample code for using a servo motor can be found under Examples in the Arduino software Sample code for the IR Compound Eye for motion tracking and also use of the buzzer can be found under the Useful Links tab in the product description or at the following link Note that the adventure robot uses servo motors as opposed to DC gear motors and also includes additional IR sensors not present in the Autonomous Kit Should the Adventure Robot code be uploaded the motion and obstacle detection subroutines will not work without modification www robotshop com content ZIP dagu adventure robot sample code zip For the ultrasonic sensor sample code is also provided under the Useful links tab in the product description or at the following link www robotshop com content ZIP demo code sen136b5b zip Encoder sample code can be found in the code section of this manual Once you have understood and played with the motion code for example have tried different speeds experiment with each sensor one at a time but don t merge the code yet We then suggest sub kits such as the DFRobotShop Ro
29. ll provide a count of 16 per 360 degree rotation It is up to you to integrate it with your code int rawsensorValue 0 variable to store the value coming from the sensor int sensorcountO 0 int sensorcount1 0 long count 0 void setup int i for i 5 i lt 8 i pinMode i OUTPUT Serial begin 9600 int leftspeed 255 255 is maximum speed int rightspeed 255 void loop analogWrite 10 255 digitalWrite 12 LOW analogWrite 11 255 digitalWrite 13 LOW delay 20 rawsensorValue analogRead 0 if rawsensorValue lt 600 Min value is 400 and max value is 800 so state chance can be done at 600 sensorcount1 1 else sensorcount1 0 if sensorcount1 sensorcountO count sensorcountO sensorcount1 Serial println count Hyperterminal configuration To access Hyperterminal in Windows XP 2000 Start gt All Programs gt Accessories gt Communications gt HyperTerminal Windows 7 does not come with Hyperterminal as a standard feature so you must find an alternative Note that hypertrm exe is available online and emulates Hyperterminal E New Connection HyperTerminal else File Edit View Call Transfer Help D 85 om New Connection Enter a name and choose an icon for the connection Name Icon Disconnected Auto detect Auto detect SCROLL APS NUM Capture Print echo Hyperterminal screen in Windows
30. lue LED 2 3 7V LiPo battery charging circuit Important note jumper should only be in place when using a LiPo battery connected to 38 otherwise remove Do NOT use jumper if you are using the 4xAA pack 3 USB connector 4 FTDI Chip USB to serial shown but replaced with ATMega8 for USB to serial 5 Reset headers normally unused 6 LEDs associated with pin 13 Tx Rx activity Power indicator 7 Arduino stacking headers 8 Encoder analog select use jumper to connect the encoder to A1 9 Encoder input one on each side 10 Motor 2 input terminals 11 Cool blue LED 12 L298P Dual Motor driver 13 XBee select switch see XBee headers section below 14 XBee 1 slot see XBee headers section below 15 XBee 1 pinout see XBee headers section below 16 5V row 17 GND row 18 Solder prototyping area 19 Cool blue LED 20 Universal connection point 21 2x slots for additional mounting of sensors 22 Cool blue LED 23 Mounting holes for 2 motor Mecanum and 4WD versions 24 5V row 25 GND row 26 XBee 2 slot XBee faces the front of the board towards 20 27 XBee 2 pinout for possible use with the prototyping area 28 Cool blue LED 29 Motor 1 screw terminals 30 DFRobot Bluetooth APC220 RF input 31 ICSP headers 32 Reset button 33 ATMega329 microchip 34 Voltage regulator circuit 35 Barrel connector 36 On Off switch On towards the center of the board 37 Cool blue
31. mm wheel is the least expensive of the three but also the slowest The brackets can be mounted with the motors above or below the PCB Assembly Guide The assembly video guide for the DFRobotShop Rover 2 0 Omniwheel Kit can be found on RobotShop s Youtube page RobotShopTV at http www youtube com watch v 5dP 0V6 ayY Important Notes e There must be sufficient space between the bracket and the PCB ensure none of the pins on the bottom of the board contact the metal bracket and if so use additional spacers e The cables included with the encoder kit DO NOT WORK with the DFRobotShop Rover Motor Controller Shield directly you must swap the red and black wires on one end for it to work If you are not comfortable doing this we suggest purchasing 4x RB Lyn 164 e The omni wheel brackets were designed to be mounted to the holes at the far ends of the board so as to be backward compatible with older versions of the board They are also compatible with the future AWD and swerve drive versions of the DFRobotShop Rover e The type of surface the robot travels on will play a very important factor in the robot s speed only the 48mm omni wheels use rubber outer wheels whereas the 40mm and 60mm omni wheels use plastic wheels Power The yellow 6V DC gear motor from DFRobot operates at a nominal 6V but can easily be powered from 4 8V to 7 AV The higher the voltage the faster the motor will turn We suggest using the 7 4V 2200mAh LiP
32. o battery though it s important to note that the DFRobotShop Rover s onboard LiPo charger can only charge 3 7V LiPo batteries Alternatively you can use the 4xAA battery pack with 4x reachargeable or 4x Alkaline batteries The 3 7V LiPo works but the robot is quite slow Continuous Rotation Servo The Hitec 1425CR is a standard continuous rotation servo meant to be powered at between 4 8V to 6V LiPo batteries are therefore NOT suggested You can use a voltage regulator circuit to reduce the voltage from 7 4V to 6V though such a product is not included in any of the kits and must be purchased separately A xx fa u x Autonomous Kit The DFRobotShop Rover Autonomous Kit is intended to help you get started with autonomous control of a mobile robot which uses sensor feedback The kit includes the popular IR compound eye mounted atop a simple servo based pan tilt system The eye allows for simple motion tarcking and distance measurement for example maze solving and obstacle detection The kit also includes a buzzer which can produce simple tones and auditory feedback as well as encoders An IO shield makes for easy connection and the LiPo battery means you don t need to invest in AA batteries Assembly Guide e To assemble the DFRobotShop Rover base please refer to the assembly video above for the Basic Kit To assemble the IR compound eye and pan tilt kit please use the printed instructions included in the
33. obotshop com books html Overview This guide contains all information related to the DFRobotShop Rover Series Rather than releasing multiple user guides for different versions of the DFRobotShop Rover this guide distinguishes between versions whenever necessary The DFRobotShop Rover is a versatile mobile robot tank based on the popular Arduino microcontroller The basic Rover uses the Tamiya twin motor gearbox but can also be purchased in a variety of kits and configurations The DFRobotShop Rover PCB incorporates a standard Arduino surface mount ATMega328 dual motor driver connected to digital pins 5 to 8 onboard voltage regulator and prototyping area The PCB itself is partially used in the mechanical structural of the robot The voltage regulator allows the entire board to be powered using as little as 3 7V up to 9V Versions 1 5 and up incorporate an onboard 3 7V LiPo charger In order to make assembly as easy as possible wire crimps have been included to give the option of crimping the wires to the motors soldering is always preferable if it s an option The DFRobotShop Rover is compatible with a variety of shields when used at the same time as the motor driver and is compatible with all shields if the motors are not connected Additional features common to all versions include pinout for the DFRobot Bluetooth and DFRobot APC220 RF modules 6x cool blue LEDs jumper selectable placed around the board and a universal mounting point
34. our computer For Windows users open Hyperterminal and follow Hyperterminal Configuration in this guide 10 In the serial window you can type W A S D and any other key to stop to move the rover 11 If the rover is turned off or loses power you may need to upload the code once again Sample Code The DFRobotShop Rover is not intended to be a complete product which explains all the steps needed to achieve a specific objective Instead the Rover is a platform which provides you with the basic hardware and basic software to get started in programming mobile robots and Arduino The code below is not optimized but is intended to get you started Sketch 1 operates both motors at full speed Sketch 2 allows serial commands to be sent to the DFRobotShop Rover by either a wired USB or wireless Bluetooth XBee connection The keyboard commands are w a s and d for driving forward turning left turning right and reversing The rover will execute the command until it is told to stop by pressing any other character The basic kit requires that the USB cable be connected to the robot while the Xbee and Bluetooth kits allow for wireless control Ensure you select the correct COM port and 9600 baud rate The Baud rate for the Bluetooth module can be 9600 or 115200 depending on the module check the manual to be certain Note that it is likely the two motors are not identical and you will need to adjust the speed slig
35. package To mount the encoders to the motors refer to the encoder assembly video e We suggest mounting the buzzer to the upper left or right corner of the tilt bracket using the hardware provided leaving only two mounting points for the compound eye e The double sided tape is suggested to fix the base rotate servo to the PCB though the DFRobotShop Rover Expansion Plate sold separately is suggested e Asis shown in the main image it is possible to mount the sensor bracket on top of the base rotate servo followed by the tilt bracket Only two out of the four screws can be used Be careful of the wiring e The ribbon cable provided is to connect the IR compound eye as well as the Ultrasonic sensor to the IO shield The wires are intended to be separated Power The Autonomous kit includes a rechargeable 3 7V 1000mAh LiPo battery To charge the battery ensure the Li_Sel jumper located in position 2 on the DFRobotShop Rover PCB is in place and connect a USB cable from your computer to the board Alternatively you can use the included 4xAA battery pack though the jumper needs to be removed Motion The DFRobotShop Rover Basic Kit uses two tank tracks each connected to their own DC gear motor Rotating the tracks at the same time in the same direction produces forward motion Rotating the tracks at the same time in the opposite direction causes the robot to move in reverse Varying the speed of one of the tracks will cause the robot
36. right 2x Tamiya Twin Motor Gearboxes 1x Mecanum Wheel set 1x DFRobotShop Rover Motor Controller Shield 4x Encoders for Tamiya Twin Motor Gearbox 1x 4xAA battery holder V2 0 Omniwheel Kit 40mm V2 0 DFRobotShop Rover PCB 2x Hardware bags 2x Rover frame left and right 2x Omniwheel Brackets 4x 40mm Omniwheels 1x DFRobotShop Rover Motor Controller Shield 4x 6V 180rpm DC gear motors 2x Encoder pairs for DC gear motors 1x 4xAA battery holder V2 0 Omniwheel Kit 60mm V2 0 DFRobotShop Rover PCB 2x Hardware bags 2x Rover frame left and right 2x Omniwheel Brackets 4x 60mm Omniwheels 1z DFRobotShop Rover Motor Controller Shield 4x 6V 180rpm DC gear motors 2x Encoder pairs for DC gear motors 1x 4xAA battery holder V2 0 Autonomous Kit 1x V2 0 Basic Kit 1x USB cable 1x 3 7V 1000mAH LiPo battery 2x Encoders for Tamiya Twin Motor Gearbox 1x I O Expansion Shield 1x Compound IR sensor 1x Mini pan tilt kit 1x Buzzer module 1x Jumper Wires 1x Ultrasonic Sensor 1x Sensor Mount V2 0 Ultimate Developer Kit V2 0 WiFi Kit not yet released V2 0 Speech Recognition Kit not yet released V2 0 4WD Kit not yet released V2 0 Swerve Drive Kit not yet released Upgrades and Optional Parts DFRobotShop Rover Expansion Deck The DFRobotShop Rover Expansion Deck allows you to more easily attach additional mechanical and electrical components as well as servo motors to the board http www robotshop com dfrobotshop rover
37. rite M2 LOW analogWrite E3 a digitalWrite M3 LOW analogWrite E4 b digitalWrite M4 HIGH void left char a char b analogWrite El a digitalWrite M1 HIGH analogWrite E2 b digitalWrite M2 HIGH analogWrite E3 a digitalWrite M3 LOW analogWrite E4 b digitalWrite M4 LOW void right char a char b analogWrite El a digitalWrite M1 LOW analogWrite E2 b digitalWrite M2 LOW analogWrite E3 a digitalWrite M3 HIGH analogWrite E4 b digitalWrite M4 HIGH void fortyfive char a char b analogWrite El a digitalWrite M1 LOW analogWrite E3 a digitalWrite M3 LOW void onethirtyfive char a char b analogWrite E2 b digitalWrite M2 HIGH analogWrite E4 b digitalWrite M4 HIGH Sketch 5 Basic Rover V1 0 and V1 5 Analog Sensors To read the onboard light and temperature sensors run the code below then open the serial window at 9600 baud Ensure the two jumpers are in place int LightValue 0 int TemperatureValue 0 void setup Serial begin 9600 void loop LightValue analogRead AO TemperatureValue analogRead A1 Serial print Light Serial print LightValue Serial print Temperature Serial printIn TemperatureValue delay 100 Sketch 6 Encoders Counting The code below simply counts the number of changes so a disc with 8x white sections and 8x cutouts wi
38. said a digital pin can be connected to jumper 13 figure 1 and the other pin header to GND on the Arduino Ensure you have the right orientation Q Is there sample code for the 2 0 Mecanum or 2 0 Omni using all four encoders Not at this time Q Is there sample code for the Autonomous kit using all sensors at once Sort of The Autonomous kit uses the Compound Eye which is also used in the Adventure Robot from Dagu There is sample code for the Adventure Robot but it needs to be modified slightly since the DFRobotShop Rover uses DC gear motors rather than servo motors for propulstion and an ultrasonic sensor rather than IR sensors for obstacle avoidance Versions amp Kits Several versions of the DFRobotShop Rover have been released V1 0 Board discontinued Arduino Duemilanove Design w FTDI USB to Serial LEDs connected to pin 13 Tx Rx and PWR Temperature and Light sensors connected to AO and A1 via jumpers DFRobot BT APC220 Interface Onboard voltage regulator On Off switch L298 motor Controller 2x Screw terminals for motors Blank area for cargo V1 0 Basic Kit discontinued V1 0 Board Tamiya Twin Motor Gearbox Tamiya Tank Track Kit 2x Metal Brackets V1 0 Hardware Bag 4xAA battery holder V1 0 Bluetooth Kit discontinued V1 0 Basic Kit DFRobot Bluetooth Module USB Bluetooth Module 3 7V 1000mAH LiPo battery Seeedstudio LiPo shield V1 0 XBee Kit discontinued Basic V1 0 Kit 2x XBee series 1 modules USB to
39. shop com forum forumdisplay php 46 DFRobotShop Rover DFRobotShop Rover Category http www robotshop com ca dfrobotshop rover arduino robot construction kits html Order specific support RMAs etc http robotshop helpserve com index php m tickets amp a submit VO 8 16 04 2010 V1 4 14 12 2010 V1 7 06 05 2011 V1 8 02 09 2011 V2 0 29 11 2011 V2 1 16 01 2012 V2 2 10 02 2012 V2 3 20 04 2012 V2 4 13 02 2013 We are grateful to Arduino for making their platform and software open source Should you find any erroneous information in the guide please contact RobotShop via the Support Center
40. ssuming it is under warranty Motion Mechanical Issues Q The robot moves in an arc when I give both motors the same speed value how can I correct this The motors are likely not identical To get the robot to move as straight as possible progressively lower one of the speed values for the faster motor until it goes in a straight line It is also important to check that the motor shafts and sprockets are equally spaced after assembly you can use the frame as visual reference and that the set screws are properly tightened Encoder modules will soon be available for the rover which allow you to count how many steps each motor has rotated Knowing how each step translates to linear displacement you can ensure the robot moves in straight lines and the movements are repeatable Q The motors are noisy how can I make them quieter Use the grease included with the Tamiya dual gearbox and add capacitors to the motors http www robotshop com PDF motor noise reduction pdf You can also cover the top and bottom of the gear box with tape Q The drive wheels fall off the motor shaft what can I do Rough up the shaft with some sandpaper and add a dab of glue inside the sprocket bore hole before pressing it onto the shaft Q Are there any other configurations for the tracks or motor We have not tested any other configurations shorter track length use different hubs sprockets in different locations etc though you are free to try
41. t the speed in the code The Rover works Ensure ma One motor motor is connected works properly Do both motors turn forward Check that motors are properly connected Neither motor works Request RMA Bluetooth BT and XBee troubleshooting Connect the Rover to the computer via USB Open the Arduino software Copy upload sample sketch 2 found in the user guide Disconnect the Rover plug in battery pack 1 Turn the Rover Off Does the BT computer detects the Xbee Connect the Xbee module to the Rover antenna should be at the front of the board BI USER Connect the second Xbee module and breakout board to the computer BT Connect the DFRobot Bluetooth module to the Rover overhangs the prototyping area No Connect the Bluetooth USB module to the computer 82 3 AR 6s Request RMA J Turn the Rover ON Follow Hyperterminal Configuration in user Does the computer detects the board Install the newest FTDI drivers from No www ftdichip com Yes Yes guide Done Sill no 7 KR Contact VV Go through W A S D keys Still no Troubleshooting No cause the Rover Yes The Rover works RobotShop on page 1 to move When you come to a step indicating contact RobotShop or request RMA please indicate the version of the Troubl
42. ting the tracks at the same time in the opposite direction causes the robot to move in reverse Varying the speed of one of the tracks will cause the robot to move in a circle Rotating the tracks in opposite directions causes the robot to turn clockwise or counter clockwise on itself zero turning radius Specifications Basic Kit Maximum speed using 4x AA NiMH batteries and motor config C 12 5cm sec no load PCB Dimensions 57mm x 195mm 200mm for V2 0 Overall dimensions 200mm long x 108mm wide x 58mm high Weight assembled kit not including batteries 250g V2 0 Mecanum Kit Assembly Guide The assembly video guide for the DFRobotShop Rover 2 0 Mecanum Kit can be found on RobotShop s Youtube page RobotShopTV at http www youtube com watch v UEIFHebyM5s Important Notes e Unlike the basic kit you can assemble the Tamiya Gearbox in ANY of the three configurations Configuration C is still suggested based on overall dimensions and gear ratio in order to provide the highest traction We suggest reducing the speed significantly via the motor controller to minimize slip e The frame is mounted under the PCB but still facing the top to act as a spacer between the motors and the solder points under the board e The spacers between the motors and frame are still required to prevent the motor gears from contacting the barrel connector at the back of the PCB e The DFRobotShop Rover V1 5 and V2 0 boards include an onbo
43. to move in a circle Rotating the tracks in opposite directions causes the robot to turn clockwise or counter clockwise on itself zero turning radius The kit includes a mini pan tilt kit which can be used to mount the compound eye the ultrasonic sensor the sensor bracket and the buzzer individually or all together The base rotate servo can be stuck to the PCB using the double sided tape or usin the expansion plate sold separately Specifications Basic Kit e Maximum speed using 4x AA NiMH batteries and motor config C 12 5cm sec no load e PCB Dimensions 57mm x 195mm 200mm for V2 0 e Overall dimensions 200mm long x 108mm wide x 58mm high e Weight assembled kit not including batteries 250g Programming www arduino cc The Arduino software is a relatively easy to use text based programming language which is ideal for programming Arduino compatible boards This guide is not meant to teach you how to program Arduino Please visit the Arduino website for tutorials or purchase one of many Arduino related books An alternative to Arduino is Modkit www modk it Modkit is an Arduino compatible graphical software interface which allows you to use graphical blocks to create easy to understand code without all the hassle of syntax This guide does not include sample code for Modkit Please visit the ModKit website for tutorials Important notes 1 The DFRobotShop Rover V1 5 is essentially a standard Arduino Duemilanove boar
44. ur USB cable into the USB port of the shield Motion The DFRobotShop Rover Basic Kit uses two tank tracks each connected to their own DC gear motor Rotating the tracks at the same time in the same direction produces forward motion Rotating the tracks at the same time in the opposite direction causes the robot to move in reverse Varying the speed of one of the tracks will cause the robot to move in a circle Rotating the tracks in opposite directions causes the robot to turn clockwise or counter clockwise on itself zero turning radius Specifications Basic Kit e Maximum speed using 4x AA NiMH batteries and motor config C 12 5cm sec no load e PCB Dimensions 57mm x 195mm 200mm for V2 0 e Overall dimensions 200mm long x 108mm wide x 58mm high Weight assembled kit not including batteries 250g Bluetooth Xbee Kits V2 0 Assembly Guide The assembly video guide for the basic kit can be found on RobotShop s Youtube page RobotShopTV at V2 0 www youtube com watch v MWWoEul9Qsk Important Notes e For the basic version tracks assemble the Tamiya Twin Motor Gearbox in the Type C configuration ONLY Note that Type A and Type B configurations will cause the track to be too tight Note that some parts will remain unused e If you use the crimps the bare motors leads closest to the board can potentially contact the pins on the underside of the PCB We highly suggest covering the pins closest to the motor leads with a
45. ver with the ultrasonic sensor for obstacle avoidance or the DFRobotShop Rover with the encoders for accurate motion There is no specific objective of the kit though it is possible to create code which uses the encoders IR compound eye pan tilt buzzer and LEDs for motion tracking obstacle detection feedback and mapping Bluetooth Kit V2 0 The new DFRobotShop Rover Bluetooth kit no longer includes a USB Bluetoth dongle and assumes your computer or smartphone already has Bluetooth If your computer does not have Bluetooth you can purchase a USB Bluetooth module for under 10 8 9 Follow the steps above for getting the basic rover operational via USB cable Install the Bluetooth module on the DFRobotShop Rover PCB in position XBEE2 Check the pin numbers Most modules will face the REAR of the board this is not intuitive Move the Xbee switch to XBee1 so the serial lines are NOT connected to the Bluetooth module Connect the USB cable to your computer and upload your sketch upload the WASD sketch in the code section of this manual if you are just starting Once the sketch has finished uploading disconnect the USB cable and move the Xbee switch to XBee2 therefore the Tx and Rx pins are connected to the Bluetooth module Turn the rover ON after connecting the LiPo battery of course Open your Bluetooth software for example BlueuSoleil and pair with the module Ensure you know which COM port is associated with th
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