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Summary of Contents for Terasic Self-Balancing Robot
- Page 1 Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
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Page 2: Table Of Contents
CHARGING THE BATTERY CHAPTER 6 ......................21 RESTORE FACTORY SETTING CHAPTER 7 ....................23 7.1 ARM V ............................. 23 ERSION ESTORING 7.2 NIOS V ............................ 25 ERSION ESTORING ADDITIONAL INFORMATION ............................. 28 Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... -
Page 3: Chapter 1 Introduction
Based on the Terasic DE10-Nano SoC board platform, designed and manufactured independently by Terasic, the Self-Balancing Robot is a Multi-functional kit. It can implement advanced features like object following, obstacle avoidance and so on. It can also be remote controlled by an Android Smartphone’s APP and IR remote control. - Page 4 ③ Lithium Battery Charger ④ IR Remote Control ⑤ Mini USB Cable ⑥ Micro USB Cable ⑦ Quick Start Guide Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
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Page 5: Components And Functions
Figure 2-1 Self-Balancing Robot components ⑴ Ultrasonic module：implements obstacle avoidance. ⑵ Battery package：helps to protect the batteries and avoid bumping and damaging the battery. ⑶ Motors：drive the Self-Balancing robot wheels. ⑷ Wheels：implements the Self-Balancing robot’s movement. Self-Balancing Robot www.terasic.com... -
Page 6: Board
⑹ OTG port：implements Host or Device mode when users develop their own design on the Self-Balancing robot. ⑺ UART serial port ： implement the communication between the board and PC when users develop their own design on the Self-Balancing robot. Figure 2-3 Self-Balancing Robot components Self-Balancing Robot www.terasic.com... -
Page 7: Robot.
⑾ Motor driver board power jack：connects to the battery power supply port and provides power for the Self-Balancing robot. ⑿ Main power Switch：power on or power off the Self-Balancing robot. ⒀ Battery power output plug：connect to motor driver board power port. - Page 8 The Self-Balancing Robot control system consist two boards, Terasic DE10-Nano FPGA board and Motor Driver board (BAL board) as shown in Figure 2-5. The FPGA on the DE10-Nano is responsible for all the functions of the balance and control system. The motor driver board receives the control signal from the de10-nano to control the motor rotation.
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Page 9: Chapter 3 Setup Elements
Chapter 3 Setup Elements This chapter will introduce the switches and buttons that can be set on the Self-Balancing Robot. It explains the meaning and function of the setting. The Self-Balancing Robot equips a Cyclone SoC FPGA, which means that the ARM processor is embedded in the FPGA. -
Page 10: Operation Mode Switches
SW0 and SW1 on the DE10-Nano board, Table 3-1 describes the corresponding modes and functions when SW0 and SW1 are set to different positions. Figure 3-3 SW0 and SW1 on DE10-Nano board Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... -
Page 11: Leds On The Motor Driver Board
Normally it is used to debug the robot. Figure 3-4 shows the LED1 and LED2 on the motor driver board, Table 3-2 describes the functions of LED1 and LED2. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... -
Page 12: July
Indicates the motor driver board provides 5V power LED2 to the DE10-Nano board Figure 3-5 shows the 3.3V power LED, CONF_D LED and other LEDS on the DE10-Nano board, Table 3-3 describes the LEDs functions. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... -
Page 13: July
Robot is turning left LED1 Light On Robot is moving backward LED0 Light On Robot is moving forward Note: When LED3~0 are all lit indicates the robot is in DEMO mode. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... -
Page 14: Chapter 4 Basic Operations
Remove the red protective cap from the output plug of the battery power, as shown in Figure 4-1. Figure 4-1 Remove the protective cap Insert the output plug of battery power into the input port of the motor driver board, as shown in Figure 4-2. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... -
Page 15: Power On The Robot
Place the robot on the plane, keep it in a horizontal state, then set the power switch of the motor driver board to ON position, as shown in Figure 4-3. Figure 4-3 Set SW1 to ON position Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... -
Page 16: Keep A Balanced State
If an irregular object is placed on the robot, the robot body will maintain balance. Self-Balancing Robot www.terasic.com Getting Started Guide... -
Page 17: Advanced Features Demonstration
Chapter 5 Advanced Features Demonstration Based on the DE10-Nano SoC FPGA platform, Terasic’s Self-Balancing Robot can implement attitude algorithm, perform motion control, and execute movements autonomously, such as moving forward, turning right & left, power monitoring, object following and obstacle avoidance. Line following and obstacle avoidance are described below. -
Page 18: Obstacle Avoidance Demonstrate
Figure 5-2. Figure 5-2 Object following demonstrate The robot can be remote controlled by a Smartphone APP, this section describes how to control the Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... - Page 19 Figure 5-3 Download QR code of the APP Figure 5-4 Android APP icon ◼ Connect APP and Robot Power on the robot, set SW0~3 of the DE10-Nano to Down position, as shown in Figure 5-5. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
- Page 20 Run the robot APP, click the search icon on the upper right corner of the APP GUI, as shown in Figure 5-6 Figure 5-6 Click the search icon on the APP GUI Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
- Page 21 When the actual robot device name appears, select it as the device to connect, as shown in Figure 5-7. Figure 5-7 Connect to robot Bluetooth device After connecting to the robot successfully, it will display connection status "connected to Terasic Bal-Car 0XX" at the top left corner of the APP, as shown in Figure 5-8.
- Page 22 Figure 5-8 Connected to the robot successfully ◼ Control the Robot Now users can click the yellow direction keys, STOP key and DEMO key to control the robot, Figure 5-9 shows the direction keys functions. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
- Page 23 DEMO mode automatically and keep balance where it is; if you click Forward/Backward/Left/Right button during the DEMO mode, the robot will exit the DEMO mode immediately, and perform the action according to the button Self-Balancing Robot www.terasic.com Getting Started Guide...
- Page 24 5-10, then install the app: Figure 5-10 iOS APP icon ◼ Connect APP and Robot Turn on phone Bluetooth switch then run the APP, the initial APP GUI is shown as Figure 5-11. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
- Page 25 Figure 5-12 The robot is shown in the APP GUI Click the Bluetooth device (BAL_CAR_XX), the APP will connect to the robot and shows the interactive interface for robot control, as shown in Figure 5-13. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
- Page 26 ◼ Control the Robot Now users can click the yellow direction keys, STOP key to control the robot (The latest iOS version APP hasn’t DEMO key temporary), Figure 5-14 shows all the keys functions. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
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Page 27: Ir Remote Control
8 is used to move the robot backward, key 4 is used to turn the robot to the left, and key 6 is used to turn the robot to the right, Key A is used to perform the scheduled action. Table 5-1 shows the functions of each key number on the controls. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... - Page 28 Figure 5-15 Robot remote control Table 5-1 Remote control function keys Key numbers Function Forward Stop Backward Turn left Turn right DEMO Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
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Page 29: Charging The Battery
Power off the robot, pull out the power cable, and take the battery out of the robot’s onboard battery storage space, as shown in Figure 6-1. Figure 6-1 Robot battery As shown in Figure 6-2, connect the charger to battery connector. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... - Page 30 6-3, plug the charger into the AC 220V or 110V power outlets, after the power is fully charged, the LED on the charger will light up green, then unplug the charger. Figure 6-3 Charge the battery Self-Balancing Robot www.terasic.com Getting Started Guide...
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Page 31: Restore Factory Setting
Chapter 7 Restore Factory Setting This chapter will introduce the switches and buttons that can be set on the Self-Balancing Robot. It explains the meaning and function of the setting. There are two versions of factory code: ARM and NIOS CPU-controlled version. So that, the following will describe the two methods of restoring. - Page 32 7-2, insert the Micro SD card into the robot. And set the mode switch(SW10) MSEL[4:0] to "01010", as shown in Figure 7-3. Figure 7-2 Insert the Micro SD card into the robot ◼ Power on the robot then start using it. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
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Page 33: Nios
Nios version robot, it’s located CD\Demonstration\factory\nios\ ◼ Steps: ◼ As shown in Figure 7-4, Connect a USB cable to the USB Blaster II connector on the robot and the PC. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018... - Page 34 .jic file to EPCS device. ◼ After the configuration is completed, remove the USB cable. Power on the robot and verify if the code is written right. Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
- Page 35 Figure 7-6 Command shell for write .jic file into EPCS device Self-Balancing Robot www.terasic.com Getting Started Guide July 12, 2018...
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Page 36: Additional Information
Additional Information Here is the contact information where you can get help if you encounter problems: ⚫ Terasic Technologies 9F, No.176, Sec.2, Gongdao 5th Rd, East Dist, Hsinchu City, Taiwan 300-70 Email : support@terasic.com Web : www.terasic.com Date Version Changes 2018.03.16...
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