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K-Team Koala 2.5 User Manual

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KOALA 2.5
User manual
Revision 1.2

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Summary of Contents for K-Team Koala 2.5

  • Page 1 KOALA 2.5 User manual Revision 1.2...
  • Page 2 • 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. • The above notwithstanding, K-Team can assume no responsibility for any error in this manual.

  • Page 3: Table Of Contents

    TABLE OF CONTENTS INTRODUCTION ......................1 ..................1 OW TO USE THIS HANDBOOK ....................2 AFETY PRECAUTIONS ......................2 ECYCLING UNPACKING AND INSPECTION ..................3 ....................3 ACKAGE ONTENT THE ROBOT AND ITS ACCESSORIES ................4 ......................4 LOBAL ....................... 7 IRST START 3.2.1 Console access ....................

  • Page 4: Introduction

    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.

  • Page 5: Safety Precautions

    Thank you for your contribution to a cleaner environment! Made in Switzerland Koala 2.5 User Manual Rev 1.1...

  • Page 6: Unpacking And Inspection

    UNPACKING AND INSPECTION Package Content • Koala robot • Battery • Battery charger • Power supply adapter Koala 2.5 User Manual Rev 1.1...

  • Page 7: The Robot And Its Accessories

    THE ROBOT AND ITS ACCESSORIES Global View Figure 3.1 : Top view Wheels Ultrasonic sensor (9x) Mounting plate Pico-ITX Front Panel IO and power supply terminal blocks Battery Koala 2.5 User Manual Rev 1.1...
  • Page 8 Figure 3.2 : Rear view Reset button Charge LED Power LED On/Off switch Battery External power supply connector Koala 2.5 User Manual Rev 1.1...
  • Page 9 Figure 3.3 : Bottom view Gear Box Docking station connection Koala 2.5 User Manual Rev 1.1...

  • Page 10: First Start-Up

    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...

  • Page 11: 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...
  • Page 12 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...

  • Page 13: Koala 2.5 Robot

    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...

  • Page 14: Power Supply Jack

    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.

  • Page 15: 3.3.10 Microcontroller

    “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.

  • Page 16: In Depth Look

    If 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...
  • Page 17 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...

  • Page 18: Battery

    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.

  • Page 19: Li-Pol Battery

    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...

  • Page 20: Docking Station Connection Pads

    0 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 & GND contacts. Koala 2.5 User Manual Rev 1.1...

  • Page 21: Terminal Blocks (Gpio & Supply)

    (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...

  • Page 22: Accelerometer

    Accelerometer The accelerometer mounted on the Koala 2.5 is a LSM9DS0 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).

  • Page 23: Gyroscope

    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...
  • Page 24 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 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...

  • Page 25: Gps Module

    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...

  • Page 26: Pico-Itx

    Pico-ITX The Pico-ITX mounted in the Koala 2.5 is a LP-172N motherboard 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®...
  • Page 27 The main connectors are directly accessible on the TOP of the Koala as shown below: Figure 4.10: Pico-ITX front panel Serial port (RS232 Male) connector. Can be accessible through /dev/ttyS0 2x USB 2.0 connector Gigabit Ethernet connector MIC In Headset Out VGA display connector Koala 2.5 User Manual Rev 1.1...

  • Page 28: 4.10 Motors

    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 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...
  • Page 29 To put the motor in idle mode (no more current drawn by the motors), use the open loop command with parameters set to 0. In speed control, even with a parameter of 0, the controller will struggle against any movement. Koala 2.5 User Manual Rev 1.1...

  • Page 30: Speed Control ("D" Command)

    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...

  • Page 31: Speed Profile Control ("K" Command)

    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...

  • Page 32: 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 profile using in position control Position profile Koala 2.5 User Manual Rev 1.1...

  • Page 33: Open Loop ("L" Command)

    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 0. The motor will be in free wheel mode. Koala 2.5 User Manual Rev 1.1...

  • Page 34: Programming

    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...

  • Page 35: Programming

    /home/user/koala_library make clean make all sudo make install You can also use the already installed Eclipse GUI. See chapter below. Koala 2.5 User Manual Rev 1.1...

  • Page 36: Programming With Eclipse Gui

    Push OK and OK buttons. 10. You can run your program by the 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...

  • Page 37: Debugging

    • execute a step with n • display a variable with p VAR_NAME • execute next step with n • continue to the end with c • Quit with q. Koala 2.5 User Manual Rev 1.1...

  • Page 38: Remote Debugging

    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. commands defined chapter «SERIAL COMMUNICATION PROTOCOL ». Koala 2.5 User Manual Rev 1.1...

  • Page 39: Transferring Files

    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...

  • Page 40: Serial Communication Protocol

    (Enter or Return key pressed) stands for ASCII character 0x0A (line feed) stands for ASCII character 0x0D (carriage return) Specification: 115200bps 8 data bits 1 stop bit No parity Koala 2.5 User Manual Rev 1.1...
  • Page 41 IO_Dir: Direction of the four IO (0..3). Each IO is configure with two bits (IO0 = bit0 & 1, IO1 = bit2&3,…). 00 = output, 01 = input, 10 = PWM servo (50Hz). Default: 0 = all output Example: C,28,204↵ Koala 2.5 User Manual Rev 1.1...
  • Page 42 The unit is the pulse, which means a position of 1000 will correspond to 11mm. Example: F,50000,50000↵ Koala 2.5 User Manual Rev 1.1...
  • Page 43 I,MotL_Pos, MotR_Pos↵ ↵ ↵ ↵ Command: Answer: i \r Function: 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: I,0,10000↵ Koala 2.5 User Manual Rev 1.1...
  • Page 44 L, MotL_PWM, MotR_PWM ↵ ↵ ↵ ↵ Command: Answer: l \r Function: Sets a PWM value for each motor. Value can be from -2940 (100% in backward direction) to +2940 (100% forward) Example: L,500,-1000↵ Koala 2.5 User Manual Rev 1.1...
  • Page 45 Reads the actual Motor current (unit is 0.1[A]) Example: O↵ o, 150,-100 \r Get Encoder value P ↵ ↵ ↵ ↵ Command: Answer: p, MotL_Pos, MotR_Pos \r Function: Reads the actual value of the position encoder. Example: P↵ p,5520, -4500 \r Koala 2.5 User Manual Rev 1.1...
  • Page 46 S command, if defined as PWM servo output, will return the value of the PWM when the command is received. Example: T↵ t,8,3 \r Koala 2.5 User Manual Rev 1.1...
  • Page 47 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. X, $PMTK314,1,1,1,1,1,5,1,1,1,1,1,1,0,1,1,1,1,1,1*2C ↵ Example: Koala 2.5 User Manual Rev 1.1...
  • Page 48 !,Nb_Device, Addr1, Addr2, …, AddrN Function: Scans the external I2c bus. Example: ?↵ !,4,10,25,85,121 \r & Get Magnetometer value & ↵ ↵ ↵ ↵ Command: Answer: @,X,Y,Z Function: Read the XYZ Magnetometer value. Example: &↵ @,-721,1074,-2393\r Koala 2.5 User Manual Rev 1.1...

  • Page 49: Mechanical Drawings

    Mechanical drawings Unit is [mm] Figure 6.1 : Top view Koala 2.5 User Manual Rev 1.1...
  • Page 50 Figure 6.2 : Right view Figure 6.3 : Front view Koala 2.5 User Manual Rev 1.1...

  • Page 51: Warranty

    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...
  • Page 52 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;...
  • Page 53 K-Team S.A. Z.I. Les Plans-Praz 28 1337 Vallorbe Switzerland...

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