Terasic DE10-Nano Getting Started Manual
Self-balancing robot
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Also See for DE10-Nano:
- User manual (119 pages) ,
- Getting started manual (35 pages) ,
- Quick start manual (4 pages)
Table of Contents
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Chapter 1 Introduction ...................................................................................................... 2
Chapter 2 Package Contents .............................................................................................. 3
Chapter 3 Components and Functions ............................................................................... 4
Chapter 4 Switches and LEDs Status Elements .................................................................. 6
4.1
MSEL[4:0] Setting ...............................................................................................................6
4.2
SW0 and SW1 on DE10-Nano Board ..............................................................................7
4.3
Motor Driver Board LEDs ..................................................................................................8
4.4
LEDs on DE10-Nano Board ..............................................................................................8
Chapter 5 Basic Operations ............................................................................................. 10
5.1
Connect Power Port ........................................................................................................... 10
5.2
Power on the Robot ........................................................................................................... 11
5.3
Keep a Balanced State ...................................................................................................... 11
5.4
Attitude Control ................................................................................................................. 12
Chapter 6 Advanced Features Demonstration .................................................................. 13
6.1
Object Following and Obstacle Avoidance .................................................................. 13
6.2
Smartphone APP Control ................................................................................................. 14
6.3
IR Remote Control ............................................................................................................ 22
Chapter 7 Charging the battery ....................................................................................... 23
Self-Balancing Robot_Getting_Started_Guide
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Table of Contents
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Summary of Contents for Terasic DE10-Nano
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Page 1: Table Of Contents
Chapter 3 Components and Functions ................4 Chapter 4 Switches and LEDs Status Elements ..............6 MSEL[4:0] Setting .......................6 SW0 and SW1 on DE10-Nano Board ................7 Motor Driver Board LEDs ....................8 LEDs on DE10-Nano Board ....................8 Chapter 5 Basic Operations ..................... 10 Connect Power Port ...................... -
Page 2: Chapter 1 Introduction
Self-Balancing Robot_Getting_Started_Guide 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 3: Chapter 2 Package Contents
Self-Balancing Robot kit. Figure 2-1 Self-Balancing Robot package Self-Balancing Robot kit package contents: ① Self-Balancing Robot ② Lithium Battery ③ Lithium Battery Charger④ IR Remote Control ⑤ Mini USB Cable ⑥ Micro USB Cable ⑦ Quick Start Guide Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn... -
Page 4: Chapter 3 Components And Functions
⑷ Wheels：implements the Self-Balancing robot’s movement Figure 3-2 Self-Balancing robot components ⑸ Ethernet port：implements connecting to the ethernet when users develop their own designs on the DE10-Nano ⑹ OTG port：implements Host or Device mode when users develop their own design on the DE10-Nano Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn... - Page 5 DE10-Nano Figure 3-3 Self-Balancing robot components ⑻ DE10-Nano Development Board power supply jack：5V power supply port ⑼ HDMI TX port：users can connect the Displayer to HDMI interface when they make image processing designs ⑽...
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Page 6: Chapter 4 Switches And Leds Status Elements
Figure 4-1, the FPGA is configured from EPCS128. With the ARM version design (Micro SD card provided), users need to set MSEL[4:0] on the DE10-Nano board to “01010”, as shown in Figure 4-2, FPGA is configured from the HPS software. -
Page 7: Sw0 And Sw1 On De10-Nano Board
Figure 4-2 Set MSEL[4:0] to 01010 4.2 SW0 and SW1 on DE10-Nano Board Figure 4-3 shows the SW0 and SW1 on the DE10-Nano board, Table 4-1 describes the corresponding modes and functions when SW0 and SW1 are set to different positions. -
Page 8: Motor Driver Board Leds
Indicates the motor driver board provides 5V power LED2 to the DE10-Nano board 4.4 LEDs on DE10-Nano Board Figure 4-5 shows the 3.3V power LED, CONF_D LED and other LEDS on the DE10-Nano board, Table 4-3 describes the LEDs functions. Self-Balancing Robot_Getting_Started_Guide... - Page 9 Figure 4-5 Indicator LEDs on DE10-Nano board Table 4-3 Indicator LEDs on the DE10-Nano board LED name LED status Description 3.3V power Power the DE10-Nano board with 3.3V from the GPIO Light On interface CONF_D Light On DE10-Nano board Configuration done...
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Page 10: Chapter 5 Basic Operations
Remove the red protective cap from the output plug of the battery power, as shown Figure 5-1. Figure 5-1 Remove the protective cap Insert the output plug of battery power into the input port of the motor driver board, as shown in Figure 5-2. Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn... -
Page 11: Power On The Robot
ON position, as shown in Figure 5-3. Figure 5-3 Set SW1 to ON position 5.3 Keep a Balanced State When the LED7 on the DE10-Nano board is lit, please release the robot, it will keep balance automatically, as shown in Figure 5-4. Self-Balancing Robot_Getting_Started_Guide... -
Page 12: Attitude Control
If an irregular object is placed on the robot, the robot body willmaintain balance. Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn... -
Page 13: Chapter 6 Advanced Features Demonstration
Chapter 6 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 14: Smartphone App Control
APP. 6.2.1 Download APP Users can download and install the Smartphone APP (only support Android OS phone) by scanning the QR code below. After the installation is completed, the APP icon is shown as Figure 6-3, Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn... - Page 15 Figure 6-3 APP icon 6.2.2 Connect APP and Robot Power on the robot, set SW0~3 of the DE10-Nano to Down position, as shown in Figure 6-4. Figure 6-4 Set SW0~3 to Down position Turn on phone Bluetooth switch, scan for available devices, normally the robot Bluetooth device name begins with “30”, as shown in...
- Page 16 Figure 6-5 Scan for robot Bluetooth device Click the “30:...”available device to pair the robot, after they are paired successfully, the phone will show the actual name of the Bluetooth device, such as “Terasic Bal-Car 011”, as shown in Figure 6-6.
- Page 17 Figure 6-6 Bluetooth device paired Run the robot APP, click the search icon on the upper right corner of the APP GUI, as shown in Figure 6-7. Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn...
- Page 18 Figure 6-7 Click the search icon on the APP GUI When the actual robot device name appears, select it as the device to connect, as shown in Figure 6-8. Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn...
- Page 19 Figure 6-8 Connect to robot Bluetooth device After connecting to the robot successfully, it will display connection status "connected to Terasic Bal-Car ..." at the top left corner of the APP, as shown in Figure 6-9. Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn...
- Page 20 Figure 6-9 connected to the robot successfully 6.2.3 Control the Robot Now users can click the yellow direction keys, STOP key and DEMO key to control the robot, Figure 6-10 shows the direction keys functions. Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn...
- Page 21 DEMO mode, the robot will exit the 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_Getting_Started_Guide www.terasic.com.cn...
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Page 22: Ir Remote Control
Table 6-1 shows the functions of each keynu mber on the controls. Figure 6-11 Robot remote control Table 6-1 Remote control function keys Key numbers Function Forward Stop Backward Turn left Turn right Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn... -
Page 23: Chapter 7 Charging The Battery
When the power is less than 10V, the LED4 on DE10-Nano board will light up, indicating that the battery needs to be charged in time; and the APP will also show the battery power level. If the lithium battery starts charging after it is completely drained and is completely unable to supply power to the robot, it will take up to 2 hours the battery to be fully charged. - Page 24 As shown in Figure 7-3, plug the charger into the AC220V power outlets, after the power is fully charged, the LED on the charger will light up green, then upplug the charger. Figure 7-3 Charge the battery Self-Balancing Robot_Getting_Started_Guide www.terasic.com.cn...