Arexx RP6v2-BASE Manuals

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AREXX RP6v2-BASE Manual

AREXX RP6v2-BASE Manual (138 pages)

Robot System

Brand: AREXX | Category: Robotics | Size: 4 MB

Table of Contents

Table of Contents
4
1 Introduction

6
2 The RP6 in Detail

16
- Control System
  17
  - Bootloader
    19
- Power Supply
  19
- Sensors
  20
  - Battery Voltage Sensor
    20
  - Light Sensors (Ldrs)
    20
  - Anti Collision System (ACS)
    21
  - Bumpers
    22
  - Motor Current Sensors
    22
  - Encoders
    23
- Drive System
  24
- Expansion System
  25
  - The I²C Bus
    26
  - Expansion Connectors
    27
3 Hardware and Software Setup

29
- Safety Instructions
  29
  - Electrostatic Discharges and Shorts
    29
  - Environment of the Robot
    30
  - Supply Voltage
    30
- Software Setup
  31
  - The RP6 CD-ROM
    31
  - Winavr - for Windows
    32
  - AVR-GCC, Avr-Libc and Avr-Binutils - for Linux
    32
    
    Automatic Install Script
    34
    
    Manual Install Procedure
    35
    
    Setting the Path
    36
  - Java 6
    37
    
    Windows
    37
    
    Linux
    37
  - Robotloader
    38
  - RP6 Library, RP6 CONTROL Library and Example Programs
    38
- Connecting the USB Interface - Windows
  39
  - Check if the Device Is Properly Connected
    39
  - Driver Uninstall
    40
- Connecting the USB Interface - Linux
  40
- Finalizing Software Installation
  40
- Inserting Batteries
  41
- Charging the Batteries
  43
- The First Test
  43
  - Connecting the USB Interface and Start Robotloader
    44
4 Programming the RP6

53
- Configuring the Source Code Editor
  53
- Program Upload to the RP6
  60
- Why C? and What's "GCC
  61
- C - Crash Course for Beginners
  62
  - Literature
    62
  - First Program
    63
  - C Basics
    65
  - Variables
    66
  - Conditional Statements
    68
  - Switch-Case
    70
  - Loops
    71
  - Functions
    72
  - Arrays, Strings, Pointers
    75
  - Program Flow and Interrupts
    76
  - The C-Preprocessor
    77
- Makefiles
  78
- The RP6 Function Library (Rp6Library)
  79
  - Initializing the Microcontroller
    79
  - UART Functions (Serial Interface)
    80
    
    Transmitting Data
    80
    
    Receiving Data
    82
  - Delay and Timer Functions
    83
  - Status Leds and Bumpers
    86
  - Read ADC Values (Battery, Motorcurrent and Light Sensors)
    91
  - ACS - Anti Collision System
    93
  - IRCOMM and RC5 Functions
    95
  - Power Saving Functions
    97
  - Drive System Functions
    97
  - Task_Rp6System()
    103
  - I²C Bus Functions
    104
    
    I²C Slave
    104
    
    I²C Master
    107
- Example Programs
  111
5 Experiment Board

123
6 Closing Words

124
Appendix

125
- A - Troubleshooting
  125
- B - Encoder Calibration
  133
- C - Connector Pinouts
  135
- D - Recycling and Safety Instructions
  138

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