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Table of Contents
Summary of Contents for qfix crash-bobby
- Page 1 www.qfix.de Instructions Document No. D0305005R3...
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Page 2: Table Of Contents
Contents 1 Introduction 1.1 Components supplied ......1.2 Additionally required components ..... . 1.3 Interesting extensions . -
Page 3: Contents
CONTENTS 4.2 Editing a program ......25 4.3 Compiling a program ......26 4.4 Downloading the program into the controller . -
Page 4: Introduction
In order to keep yourself informed about the latest developments or to obtain spare parts and extension sets or to exchange items with other qfix users, be sure to regularly visit the qfix homepage at www.qfix.de We wish you many hours of enjoyment with Crash Bobby! The qfix team... -
Page 5: Components Supplied
CHAPTER 1. INTRODUCTION 1.1 Components supplied Please check the contents of the pack. If, despite our comprehensive quality control checks, you find that individual parts are missing, please contact us immediately. The missing parts will, of course, be dispatched to you without delay. The Crash Bobby kit contains the following individual parts: Mechanics base plate, blue... -
Page 6: Additionally Required Components
For charging the battery, a standard battery charger can be used or, alternatively, the qfix plug-in battery charger (order No. RBAD000) is available. 1.3 Interesting extensions The following extensions to the Crash-Bobby kit bring even more fun into your robotics adventure: Line sensor set (No. QAAAB000) for moving along a line. -
Page 7: Building The Crash Bobby
Chapter 2 Building the Crash Bobby 2.1 Step 1 - Assembling the wheels For assembly of the wheels, the components shown in the following picture are required: First of all, the small setscrew should be screwed into the side of the wheel bush. Next, the wheel bushes should be pushed as far as possible into the wheels, so that the countersunk screw M4 can be inserted from the other side. -
Page 8: Step 2 - Assembling The Motors
CHAPTER 2. BUILDING THE CRASH BOBBY 2.2 Step 2 - Assembling the motors In order that the motors can subsequently be screwed on to the base plate, they must first of all be assembled on the motor mounts. The required components are shown in the next picture: The motors are located in the large recess of the motor mounts and tightened using the small screws M2x6. -
Page 9: Step 3 - Assembling The Support Wheel
CHAPTER 2. BUILDING THE CRASH BOBBY 2.3 Step 3 - Assembling the support wheel For assembly of the support wheel on the rectangular mounting plate, the components shown in the following picture are required: The washers are used as distance spacers and are simply placed on to the threaded pin. Afterwards, the threaded pin is then screwed firmly into the single threaded hole located in the rectangular plate. -
Page 10: Step 4 - Assembling The Sensors
CHAPTER 2. BUILDING THE CRASH BOBBY 2.4 Step 4 - Assembling the sensors In order that the sensors can subsequently be screwed on to the base plate, they must first of all be assembled on the sensor mounts. The necessary components are shown in the following picture: The three sensors are each screwed to the mounts using two screws. -
Page 11: Step 5 - Fitting The Controller Board Supports
CHAPTER 2. BUILDING THE CRASH BOBBY 2.5 Step 5 - Fitting the controller board supports The controller board supports are now screwed into the base plate. The base plate and four controller board supports are required: As shown in the following picture, two of the supports are screwed into the corner locations of the outermost row of threaded holes. -
Page 12: Step 6 - Mounting The Wheels
CHAPTER 2. BUILDING THE CRASH BOBBY 2.6 Step 6 - Mounting the wheels In this step, the pre-assembled wheels can be mounted on the base plate. The following components are required: The wheel supports are located directly next to the controller board supports and screwed from above with the screws M6x10. -
Page 13: Step 7 - Mounting The Support Wheel
CHAPTER 2. BUILDING THE CRASH BOBBY 2.7 Step 7 - Mounting the support wheel Two screws are also required for mounting the pre-assembled support wheel: The mounting plate is placed on the base plate from above and then screwed on from below using the screws M6x10. -
Page 14: Step 8 - Mounting The Sensors
CHAPTER 2. BUILDING THE CRASH BOBBY 2.8 Step 8 - Mounting the sensors Now, the square mounting plate is required, to which the middle distance sensor will sub- sequently be screwed. First, one of the three screws M6x10 is screwed firmly into the single threaded hole located in the plate. - Page 15 CHAPTER 2. BUILDING THE CRASH BOBBY The distance piece for the middle sensor is fitted on the screw which projects upwards in the square plate. The two further distance pieces are placed on the front right and left corner holes of the base plate and screwed on from below: The longer M6x20 screws are now required in order to screw the pre-assembled sensors on to the distance pieces: The sensors are screwed firmly on to the mounts with the connection facing downwards.
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Page 16: Step 9 - Attaching The Controller Board
CHAPTER 2. BUILDING THE CRASH BOBBY 2.9 Step 9 - Attaching the controller board For the attachment of the controller board, 4 screws M3x6 are required: With these, the controller board should be screwed on to the four supports so that the connections for the sensors are located at the front and, therefore, lie close to the sensors. -
Page 17: Step 10 - Connecting Motors And Sensors
CHAPTER 2. BUILDING THE CRASH BOBBY 2.10 Step 10 - Connecting motors and sensors As the last step, it now remains to connect the motors and sensors to the controller board. For this, the three sensor cables are required: The sensors are connected to the connections ;... - Page 18 CHAPTER 2. BUILDING THE CRASH BOBBY...
- Page 19 CHAPTER 2. BUILDING THE CRASH BOBBY In order to give Crash Bobby the finishing touch, its pennant must of course be attached. For this, the following parts are required: The holder for the steel wire is screwed on to the screw of the support wheel, which projects upwards.
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Page 20: Preparing The Robot For Operation
CHAPTER 2. BUILDING THE CRASH BOBBY 2.11 Preparing the robot for operation In order to put the robot into operation, a rechargeable battery is required. The following picture shows the qfix rechargeable battery pack with its components: The Velcro strip is simply fixed to the base plate with adhesive; the velour strip is positioned on the underside of the battery pack. -
Page 21: Software Installation
Note: Instructions and software on this CD are updated regularly. Please check if you have the most recent version or if there is a new CD version on the website www.qfix.de (downloads). The version identifier of this CD can be found in the file README.txt... -
Page 22: Installation Of The Winavr Software
CHAPTER 3. SOFTWARE INSTALLATION 3.3 Installation of the WinAVR software Concealed behind “WinAVR” is the compiler for the Atmel controller that is used on the qfix boards. Please start the installation by double clicking on . First of all, you will be install.bat requested to select the desired language: Select e.g. - Page 23 CHAPTER 3. SOFTWARE INSTALLATION Please leave the suggested path unchanged (C: WinAVR). Caution: If the wrong path is selected, the supplied programs may not compile correctly! (However, WinAVR may be uninstalled again at any time and can then be installed cor- rectly.) Confirm your selection by clicking on Continue...
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Page 24: Installation Of The Qfix Sample Software
CHAPTER 3. SOFTWARE INSTALLATION Depending on the computer, this may take a few minutes. When the installation is com- plete, click on Continue . Finally, the last window opens which you can acknowledge with Finish In some cases, the program “Programmers Notepad” also opens, together with the last window, in order to display additional information for you to read, concerning WinAVR: You may simply close this program before or after reading the contents. -
Page 25: First Steps
Chapter 4 First steps This chapter will describe how to put the qfix controller into operation, how to edit and to compile a program and how to transfer it from the PC into the controller. 4.1 Putting the controller into operation In order to put the controller into operation, you simply need to connect the battery. -
Page 26: Compiling A Program
In order to compile the program for your board the correct controller must be selected. The qfix kits currently support the Atmel controllers mega32, mega128 and AT90CAN128. Crash-Bobby comes with the mega32 controller board, so please select qfix C++ mega32... - Page 27 CHAPTER 4. FIRST STEPS For compiling the program in the editor simply press F5. A new output window opens at the bottom of the editor window displaying the status of the compilation: As you can see in the topmost line of the output window the tool c: WinAVR compile-mega32.bat was called for compilation.
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Page 28: Downloading The Program Into The Controller
CHAPTER 4. FIRST STEPS 4.4 Downloading the program into the controller After successful compilation, press F6 to transfer the program to the controller board. Here, you also have to be sure that the correct controller is selected! The transfer takes several seconds. -
Page 29: A Controller Circuitry
Appendix A Controller circuitry Clock: 8MHz Pin assignment of the three-pole input / output plugs: The outer pin is the power output. It can be swithed on and off by the commands powerOn powerOff The middle pin is ground. The inner pin is the input signal pin. For analog input a voltage of between 0 and 5V can be impressed. -
Page 30: B Standard Programm
Appendix B Standard Programm #include "qfixBobbyBoard.h" BobbyBoard bobby; int main() /* Here go the commands */ The standard program can be used as a starting point for own programs. First, it includes the required library and then creates an object qfixBobbyBoard.h bobby This object can be used to invoke arbitrary commands. -
Page 31: C Command Overview
Appendix C Command Overview Each of the following tables describes one class with their methods. To call these methods, an object of this class must exist. Please refer to the sample programs on the CD. The column RValue in the class table describes the type of the return value for each method. -
Page 32: Class Bobbyboard
APPENDIX C. COMMAND OVERVIEW C.1 Class BobbyBoard Class: File: BobbyBoard qfixBobbyBoard.h RValue Method Description This constructor is called automatically BobbyBoard() when the object is created. It initializes the object as follows: The motors are set to 0, all LEDs are off, all power outputs are on. Puts on LED with index must be in void... -
Page 33: Class Lcd
APPENDIX C. COMMAND OVERVIEW C.2 Class LCD The class LCD supports the qfix LC-displays. The used display must be connecte via the I2C-bus to the controller board. Class: File: qfixLCD.h RValue Method Description LCD() The constructor initializes the connection to the display, clears the display and puts the cursor to (0,0). -
Page 34: D Demo Programs
Appendix D Demo programs This chapter describes tre sample programs delivered with the CD. analogTest This program outputs a value at the analog port 0 via the LEDs. At a voltage of 0V (internal value 0) no LEDs light up; at a voltage of 5V (internal value 255) all four LEDs light up. In between, the corresponding number of LEDs light up. - Page 35 APPENDIX D. DEMO PROGRAMS buttonTest With this program, pressing one of the buttons will cause the corresponding LED to light digitalTest This program tests all four digital inputs and when a voltage is applied it will cause the corresponding LED to light up. lcdTest This program demonstrates the usage of the qfix LC-display.
- Page 36 APPENDIX D. DEMO PROGRAMS myTest This program has no actual function and merely contains an empty base structure for your own programs. To use it for this purpose, the whole directory should be copied. powerOutTest This program corresponds to the program “ledTest”, but with the difference that instead of switching the LEDs, the power outputs are switched.
- Page 37 APPENDIX D. DEMO PROGRAMS Left motor: Mo0 Right motor: Mo1 KTB mechatronics GmbH Tel.: +49-7344-929330 Helfensteinerstrasse 26 Fax.: +49-7344-929331 89143 Blaubeuren Mail: info@qfix.de GERMANY powered by...