Table Of Contents - Quanser qbot User Manual

Quanser Qbot: User Manual

Table of Contents

1. Introduction..........................................................................................................................1
2. Prerequisites.........................................................................................................................2
3. References............................................................................................................................2
4. System Hardware Description.............................................................................................3
4.1. Qbot Ground Vehicle....................................................................................................3
4.1.1. The iRobot Create®.............................................................................................3
4.1.2. The Printed Circuit Board (PCB).........................................................................4
4.1.2.1. Digital Input/Output Pins (DIO #)................................................................5
4.1.2.2. Gumstix IR Serial Pins.................................................................................5
4.1.2.3. SW/nSW and INT/EXT Jumpers..................................................................6
4.2. Detailed Description of Qbot Components..................................................................6
4.2.1. Qbot DAC............................................................................................................6
4.2.2. USB Camera.........................................................................................................6
4.2.3. Gumstix................................................................................................................7
4.2.4. Battery..................................................................................................................7
4.2.5. Infrared Sensors....................................................................................................8
4.2.6. Sonar Sensors.......................................................................................................9
4.3. System Specifications and Model Parameters.............................................................9
5. System Setup........................................................................................................................9
5.1. Setting up the Qbot....................................................................................................10
5.2. Establishing Wireless Connection..............................................................................10
5.3. QUARC - Quanser Real-Time Control.....................................................................10
5.4. Using the on-board camera........................................................................................17
6. Troubleshooting Guide.....................................................................................................18
6.1. Qbot Drive or Direct Drive commands aren't responding or are causing the robot to
move incorrectly, or the Qbot bump sensor inputs are not functioning............................18
6.2. The model fails to build/connect or the QUARC console does not successfully open..
19
6.3. The Qbot sensors are not being read correctly or they are stuck at some constant
value..................................................................................................................................20
6.4. The Qbot magnetometer values drift while the Qbot is moving in a straight line.....20
6.5. The Simulink model appears to run slowly (i.e., the simulation time runs slower than
actual time), or the console displays the message "Sampling rate is too fast for base rate".
...........................................................................................................................................21
6.6. Trying to start the Qbot model results in the error "Unable to locate the dynamic link
library or shared object."...................................................................................................21
6.7. The LEDs QBOT POWER and GUMSTIX POWER do not illuminate when the
Qbot robot is powered on..................................................................................................22
Document Number: 830  Revision: 7  Page: i