AREXX Engineering & JM3 Engineering Marvin User manual

JM3-MARVIN-01
Developed by JM³ Engineering
User Manual
Marvin IoT Robot
© 2015-2017 AREXX Engineering und JM³ Engineering
www.arexx.com
The latest updates are available at http://jm3-engineering.com!
AREXX Engineering & JM³ Engineering
Version: 1.3.1 October 27, 2017 Page: I

Imprint
© 2016-2017 AREXX Engineering
Nevistraat 16
8013 RS Zwolle
The Netherlands
Tel.: [phone]
Fax.: [phone]
This manual is protected by the laws of copyright. It is
forbidden to copy all or part of the contents without prior written
authorization!
Product specifications and delivery contents are subject to
changes. The manual is subject to changes without prior notice.
You can find free updates of this manual on
http://jm3-engineering.com.
“Marvin” is licenced by and iRP®is a registered trademark from “JM3 Engineering”. “AREXX” is a registered
trademark from AREXX Engineering. All other trademark are the property of their owners. We are not responsible
for the contents of external web pages that are mentioned in this manual!
Information about limited warranty and responsibility
The warranty granted by AREXX Engineering is limited to the replacement or repair of the Module and its accessories
within the legal warranty period if the default has arisen from production errors such as mechanical damage or missing
or wrong assembly of electronic components except for all components that are connected via plugs/sockets.
The warranty does not apply directly or indirectly to damages due to the use of the robot. This excludes claims that
fall under the legal prescription of product responsibility.
As soon as you make irreversible changes (for example, soldering other components, drilling holes, etc.) on the robot
or its accessories, or the robot is damaged as a result of non-observance of these instructions will void any warranty
claim!
It cannot be guaranteed that the supplied software will satisfy individual expectations or will run completely error-free
and without any interruption. Moreover the software can be freely changed and is loaded into the unit by the user.
Therefore the user carries the full risk regarding the quality and performance of the unit including all software.
AREXX Engineering guarantees the functionality of the supplied application examples provided the respect of
the conditions specified in the data sheet. If the purchased hardware or the PC software turns out to be faulty or
insufficient, the customer carries all costs for service, repair or correction. Please note the relevant license agreements
on the SD-Card respectivly the Info-Box in browser!
Important! - Before using this robot for the first time, please read the operating instructions carefully! It explains the
correct handling and informs you about possible dangers. It also contains important information that should not be
known to all users.
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Precautionary Notes
• Check the polarity of the voltage.
• Always keep the electronic equipment dry. In the case of moisture immediately remove the batteries or
the power supply to power down the device. This precaution is needed to keep it from short circuiting.
Drying is needed to avoid corrosion.
• Remove batteries before long-term storage respectively remove the power supply if the robot is not to be
used for some time.
• Before using the device always check the status of the equipment including the cabling.
• As soon as you think the device cannot be used in a secured way you must remove the power supply and
take precautions the device cannot be used unintentionally.
• Ask an expert if you feel unsafe or unsure in handling the device.
• Never operate the robot in unfavourable locations or inconvenient conditions.
• The equipment does contain highly sensitive parts. Electronic modules are quite sensitive to electrostatic
discharge (ESD). Only handle devices at the edges and avoid direct contact to the parts on the PCB.
Normal use
This product has been designed as an experimental tableau for all persons who feel interested in robotics.
The main goal for this platform is the experience to learn programming the device in C/C++-language. The
robot is not to be considered as a toy! The device is not suitable for children under 14 years of age.
The robot has been designed for indoor use. The device should not be exposed to moisture or damp. Please
be careful to avoid condensation vapor, which may generate moisture if you transport modules from a cold
environment into a warm room. Wait a while and do not activate modules until the devices have been
acclimatized to the room temperature.
Any other type of mode of operation as prescribed may cause damage and risks such as short circuit, fire and
shocks, etc. the robot is to be used in closed, dry environments. The device shall not be exposed to moisture
or water.
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Laser Security Notes Proximity Sensor
VL6180X 80/87 DocID026171 Rev 7
The VL6180X Proximitiy Sensor is equipped with a laser source and a laser control module. The output power of the
laser light source is designed and limited to always comply with the safety limits according for Class 1 Laser sources.
This also includes singular accidents according to IEC 60 825-1:2007. As long as the device is being operated within
the range and operating conditions as specified in the data sheets by ST Microelectronics the optical laser output power
will be restricted to the specified limits.
The optical laser output may never be raised and under no circumstances any optical lenses are allowed to be used for
focusing the light beam!
For security reasons we discourage to look into the laser light source.
Complies with 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No.50, dated June 24, 2007.
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Contents
1 Introduction 2
2 Manual 4
2.1 Marvinrobothardware ................................................ 4
2.2 Marvin robot equipment and accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.1 Features................................................... 5
2.2.2 Detection range of the proximity-sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2.3 Installation of additional proximity sensors (rear) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2.4 LineFollowerExtension........................................... 8
2.2.5 GripperExtension.............................................. 9
2.3 Commissioning .................................................... 10
2.3.1 Documentation and software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3.2 iRPWebIDE................................................. 11
2.3.3 iRP connection with PC/Tablet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3.4 StatusLEDs................................................. 15
2.4 Remote Control and Display Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.4.1 SystemDisplay ............................................... 17
2.4.2 Calibration of sensors and set system time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.4.3 RTC-setsystemtime............................................ 18
2.4.4 Calibration of the 3D compass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.4.5 Calibration of the 3D gyroscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4.6 Calibration of the proximity sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4.7 Calibrierung of the Temperatur Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.4.8 Calibration of the LineFollower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.5 Commandlineinterface(CLI) ............................................ 23
3 Programming with iRP 24
3.1 Basicoperation .................................................... 24
3.1.1 The language setting symbol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.2 Thelightbulbsymbol............................................ 26
3.1.3 TheWorksheetsymbol ........................................... 26
3.1.4 Remote control and display Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.5 ProgramTab................................................. 26
3.2 iRPhelp........................................................ 27
3.3 Myfirstprogram ................................................... 28
3.4 Programexecutionandstop.............................................. 28
3.5 Programloadorsaved................................................. 28
3.6 Programerrors(Debugging).............................................. 29
3.7 Program code (source code) viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.8 ConfigurationoftheRobot .............................................. 31
4 JM3 Robot-Tool 2.0 32
4.1 JM3 Robot-Tool - Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.1.1 Linux-Ubuntu16.04............................................ 32
4.1.2 MacOS-Sierra ............................................... 33
4.1.3 Windows7 ................................................. 33
4.2 Terminalwindow ................................................... 35
4.3 Bootload hex-files (C/C++ code) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
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4.3.1 iRPFirmwareupdate ............................................ 36
4.3.2 Uploadownprogramcode ......................................... 37
4.4 UpgradeBootloader.................................................. 37
5 JM3 ext4-browser 39
5.1 JM3 ext4-browser installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.1.1 Linux-Ubuntu16.04............................................ 39
5.1.2 MacOS-Sierra ............................................... 39
5.1.3 Windows7 ................................................. 39
5.2 MicroSD-Cardaccess................................................. 40
5.2.1 Linux-Ubuntu16.04............................................ 40
5.2.2 MacOS-Sierra ............................................... 40
5.2.3 Windows7 ................................................. 40
5.3 MicroSD-Cardupdate ................................................ 42
5.3.1 Linux-Ubuntu16.04:............................................ 42
5.3.2 Linux-General:............................................... 42
5.3.3 MacOS - Sierra / Windows 7: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
6 C/C++ Software Development 44
6.1 SoftwarepackageforMarvin ............................................. 44
6.1.1 ToolchainfürC/C++ ............................................ 45
6.1.2 Software-Library .............................................. 48
6.1.3 Marvinfunctionbuttons........................................... 48
6.2 Demosoftwaredescription .............................................. 48
6.3 User task for own C/C++ Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.3.1 C++code-example............................................. 49
6.3.2 user_code.hfile ............................................... 49
6.3.3 user_code.cppfile.............................................. 50
6.4 iRPextractoftheC++code.............................................. 50
6.4.1 Copy IRP_program.h into user_code.h file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
6.4.2 Copy IRP_program.cpp into user_code.cpp file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
7 Technical data 53
7.1 Dimensionsandweight ................................................ 53
7.2 Power supply and power requirement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
7.3 Supply voltages experiment board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
7.4 Furtherinformation .................................................. 53
8 Schematic details 54
8.1 ArduinoExtensionBoard ............................................... 54
8.2 JTAGHeader ..................................................... 56
8.3 PinmappingTM4C129EKCPDT........................................... 57
8.4 PCBPrint ....................................................... 59
List of Figures 60
List of Tables 60
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Marvin the IoT Robot
Figure 0.1 Marvin Robot
Marvin - iRP WebIDE - for browsers on PC, Notebook and Tablet *1) *2)
Figure 0.2 Welcome-Screen Figure 0.3 Program-Screen
Figure 0.4 Remote Control and Status Display
*1) Apple iPAD can store programs only on the robot, not on local disk. MacBook with Firefox for Mac can store data on the local disk.
*2) Firefox, Chromium (PC/Notebook/Samsung Galaxy Tab A) and Safari (iPad Pro/MacBook Air) are tested - Internet Explorer or Edge are not supported.
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1 Introduction
The JM3 IoT robot, called Marvin, impresses with its equipment and performance. Main components are the
TIVA™ C microcontroller with ARM Cortex-M4F and 512KByte Flash, 256KByte SRAM, 6KB EEPROM,
and the CC3100 WI-FI® Network Controller that meet the standards 802.11 b/g/n with up to 16Mbps data
rate, multi-connection, TCP and UDP. Optimal adapted PCB antenna, infrastructure & ad-hoc mode with a
range >25m under normal conditions.
In addition, the Marvin is equipped with high-tech sensor technology, a 9D gyro / compass, several proximity
sensors which operate almost independently of the reflection characteristic of the obstacle surface. These
sensors can also measure the ambient brightness. A battery buffered real-time clock and the Arduino
compatible expansion header are also included. The header can be used for own hardware developments or
other existing Arduino Shields (software must be developed by themselves).
The powerful micro-gearbox motors with high-resolution odometry guarantee a high speed of the robot with
its rubber drive. The power is supplied by 6 standard AA or NiMH batteries.
A virtual display can be found in the browser (Firefox, Google Chrome, Safari) on a PC/Notebook, Mac or
Tablet. In addition, the Marvin robot can be remote controlled.
The graphical programming interface “Marvin - iRP” allows beginners to enter the world of programming in
a simple way - especially for students and kids, because it is not required to learn a programming
language first and no software development environment must be installed.
The C/C++ option is for advanced programmers and experts. The programming under C/C++ with
FreeRTOS with a complete library of all hardware drivers (virtual display, button, UART, SPI, I2C, DMA,
ADC and timer etc.) is the base for own developments. The JM3 RobotTool for Linux, MacOS and Windows
allows to upload programs (hex-code).
Marvin provides all the possibilities to program and control a robot, either way via the graphical iRP
interface or with C++.
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Accessories (not included):
• AA batteries (Ultra Power) or rechargeable batteries NiMH e.g. Ansmann HR06 Typ 2700
• Charger MW3310HC / 1 A Charging current setting
• USB-Kabel (Micro-B / Type A)
Marvin extensions:
• Gripper Arm (Arduino compatible, iRP programable)
• Shovel and Line-Follower (Arduino compatible, iRP programable)
• Extension Board (Arduino compatible, iRP programable)
–Interface with socket prepared for barometer or GPS module
–For your own hardware extensions
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2 Manual
2.1 Marvin robot hardware
Proxi-Sensors
Micro-SD Card
USB Interface
Motor-Driver
Odometer
Arduino Ext.
Shield header
Power Supply
5.0 V und 3.3 V
TivaC 1294
WiFi Subsystem
9D Sensor
Battery-Holder
6 x AA
Proxi-Sensors
(optional)
Button Main-Switch Charge-Plug
(for rechargeable batteries)
Figure 2.1 Marvin robot hardware
Hint: The best thing to handle the Marvin robot is to grab it on the battery compartment
or on the chains. In addition, it should be avoided to touch directly to the electronics
(microcontrollers, etc.) as precaution agaist electrostatic discharge (ESD!).
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2.2 Marvin robot equipment and accessories
2.2.1 Features
The IoT robot provides many new possibilities:
• TIVA™ C - mikro controller ARM Cortex-M4F Core (Floating Point) with 512KByte Flash,
256KByte SRAM, 6KB EEPROM, CC3100 WI-FI® 802.11 b/g/n – up to 16 Mbps, optimized PCB
antenna, Infrastructur- and Ad-Hoc Mode, Flash-ROM 8Mbit
• Virtual display on PC or Tablet-PC.
• 3x Proximity / Ambient Light Sensor (Time of Flight) in front at the center
–right and left.
–optional (retrofitted): 3 x rear (right, center, left)
• 9D - Gyro and compass sensor
• RTC with backup battery (recharging during operation)
• 1 x RGB status LED
• Status LEDs for Wi-Fi®
• 2 x LEDs USB (Rx, Tx)
• 2 x headlights (white) and 2x backlights (red)
• USB programming / Wi-Fi configuration (Micro USB connector)
• Micro SD-Card reader
• SMD button
• Arduino expansion plug - separate UART, SPI, I2C; 6 ADC, up to 8 GPIOs
• Interrupt capable, up to 4 PWM channels for servos
• 6 Cell power supply for AA batteries or rechargeable batteries for long operating times
• Slide switch and AUX battery input
• Switching regulator for high efficiency of the power supply
• Powerful micro-transmission motors with high-resolution odometry for high speed
• Rubber chain drive
• Application examples for Marvin iRP and remote control via Firefox or Google Chrome browser
(PC, Notebook or tablet)
• Robot programming tool (supports all AREXX robots) and USB drivers for Linux, MacOS and
Windows
• C++ Software Development Pack (GCC ARM Compiler, C++ Software Library, Application
Examples)
• Micro SD card (robot documentation, iRP software and firmware: RobotTool, sample programs)
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2.2.2 Detection range of the proximity-sensors
The sensors have a detection range (FoV) of 25° and a range of approx. 30 cm. Distances below 10 cm are
displayed as zero. This ensures that the robot can avoid the obstacles without having to go backwards.
The two external sensors are twisted at +15° or -15° to the robot zero axis to achieve a wider angle of
detection. The representation of the resulting detection range shows a slight overlap of the individual sensors.
This ensures that all obstacles in the travel path are recognized.
The picture also applies to the optional rear sensors.
FoV Proximity sensors (Representation of all three sensors):
Figure 2.2 Field of View of the proximity sensors
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2.2.3 Installation of additional proximity sensors (rear)
The sensors have a pitch of 1.27mm - half as much as usual. Therefore you should have a soldering iron with
a fine tip and a power of approx. 50 W power.
Pay attention to the vertical position of the sensors and do not make them stand out. It is recommended to
first solder only one pin, then align the sensor and then solder all other pins.
Hint: After installing the new sensors you have to configure the Robot accordingly.
The details about the configuration you can find under section 3.8!
Figure 2.3 Marvin with rear proximity sensors
Hint: It is best to exercise soldering on a PCB before - be economical with the solder. Too
much solder can cause shorts between the PINs!
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2.2.4 LineFollower Extension
The LineFollower extension consists out of two main parts which will be plugged into the Arduino port and
the shovel with sensor itself, which will be screwed using the mounting holes in the front of the PCB.
You only need a small Philips screw-driver.
The LineFollower sensor signals can be used together the special iRP-Bloc for the sensor.
Figure 2.4 Marvin with LineFollower
Hint: After mounting the extension you have to configure the Robot accordingly.
The details about the configuration you can find under section 3.8!
For safetey reasons, you should not look directly into the IR-LED of the sensor during
operation!
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2.2.5 Gripper Extension
The assembled Gripper Extension can be simply plugged into the Arduino port.
The Gripper can be accessed by an special iRP-Bloc. Possible are:
• “open”
• “close”
• “up”
• “down”
Figure 2.5 Marvin with Gripper Extension
Hint: After mounting the extension you have to configure the Robot accordingly.
The details about the configuration you can find under section 3.8!
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2.3 Commissioning
2.3.1 Documentation and software
The complete documentation and the Marvin-iRP Web IDE software can be found on the enclosed Micro SD
card. It can be downloaded via the Marvin web interface and is then in the corresponding folder for
downloads of the computer.
The SD card uses the ext4 file system known from Linux and can not be read by Windows PCs or MacBooks
without special support programs. Any updates are distributed via disk images that are written to the Micro
SD card with a helper program. For this purpose a suitable micro SD card adapter is included on USB.
Hint: In the delivery condition, the robot is set to the WiFi AdHoc mode so that it can
communicate directly with a PC with a Wifi interface (Notebook, T-Tablet, etc.).
There are a variety of micro SD cards that have different characteristics and
are available in Marvin may not work properly. SD-XC cards as well as SanDisk
Ultra cards are generally not supported!
Marvin software updates consist of the disk image with the iRP software.
It also contains the appropriate firmware (hex-file).
The versions of iRP software version and firmware version are always the same!
Hint: The iRP programming interface uses the HTTP protocol in standard mode without
further security measures. This can be used as an attack vector for “Remote Code
Execution” attacks on the Marvin itself and the entire network!
Therefore your Marvin should never be accessible from the outside via the Internet or
in public accessible networks.
Safe operation is possible in “HTTPS mode” with own user name, password and
certificates. The necessary firmware must be compiled from the Marvin C++ source
code.
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2.3.2 iRP WebIDE
The web interface software and the Marvin documentation are already on the enclosed Micro SD card. If the
micro SD card is not already inserted in the robot, please do so carefully now.
Figure 2.6 Marvin with inserted SD Karte
Hint: The Micro SD card usually does not have to be removed from the robot. It is protected
so that it is protected from damage. However, you should not touch the robot so the
Micro SD card is damaged!
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2.3.3 iRP connection with PC/Tablet
There are generally two different operating modes like the Marvin robot can be connected to the
PC/Notebook via WiFi:
• WiFi - Infrastructure mode: Connect Marvin to a network (WiFi router or access point)
• WiFi - AdHoc Mode: here you can connect the Marvin directly to the notebook or tablet PC.
–SSID: Marvin
–IP: 192.168.1.1
–Password: IoT-Robot
Hint: The password is case-sensitive!
Only in the AdHoc Mode is the SSID of the Marvin robot visible, since in infratructure
mode the Marvin connects to your router which has its own SSID.
Please delete the browser cache if the iRP screen is not loaded correctly!
2.3.3.1 WiFi - AdHoc mode
This mode is set when the robot is delivered. It provides the fastest way to program or control the robot.
To connect the robot to the PC/Notebook, perform the following steps:
1. Switch on PC/Notebook with WiFi interface
2. Turn on the robot - the green WiFi status LED is lit.
3. Search for wireless networks on the PC/Notebook in the WiFi menu - here you should find the SSID
“Marvin”.
4. Pair the robot with the PC by entering the password and activate the connection.
5. Open the browser and enter the IP 192.168.1.1. You should see Figure 2.7 in the browser.
That’s it - you can now familiarize yourself with the menu and load and run a first small program!
6. Load the sample program “running lights” from the SD-Card - refer to section 3.3.
7. You should now see the status LED glowing in different colors changing every 1sec.
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2.3.3.2 WiFi - Infrastruktur mode
This mode must first be configured on the robot with the JM3 Robot Tool and logged on to the WiFi router.
The Marvin supports DHCP and an IP address is automatically assigned.
Hint: If necessary, change the firewall settings so that the Marvin robot can connect to the
network!
Please delete the browser cache if the iRP screen is not loaded properly!
Here is the process for conversion to infrastructure mode:
1. Install the JM3 Robot Tool (installation - see chapter 4)
2. Connect the robot to the computer (Micro USB cable)
3. Open the Robot Tool, turn on the robot, and connect.
4. Proceed as follows:
a) Connect robot via USB
b) Change to terminal window (tab)
c) Send the following commands to the robot:
• wlan DEFAULT - “Enter”
• Turn the robot OFF and ON when it is displayed in the window
• wlan STA addprofile “SSID of your router” “password of your router” - “Enter”
Hint: Please note that the terminal history should be switched off
when the “addprofile” command is sent.
Otherwise, your password will be stored in plain text on the
PC!!!
For more information on the commands and how to enter
spaces, see section 2.5
• wlan STA MODE - “Enter”
• Turn the robot OFF and ON when it is displayed in the window
d) Check the assigned IP address (DHCP router) for the Marvin robot
• wlan getIP - “Enter”
The current IP address is now displayed in the terminal window.
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5. Then open the browser and enter the IP address, for example: 192.168.1.120
You should see Figure 2.7 in the browser.
That’s it - you can now familiarize yourself with the menu and load and run a first small program!
6. Load the sample program “running lights”
7. You should now see the status LED light up in different colors changing every 1 sec.
Figure 2.7 Marvin WebIDE Welcomescreen
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