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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Version: 1.3.1 October 27, 2017 Page: II

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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Version: 1.3.1 October 27, 2017 Page: VI

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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Version: 1.3.1 October 27, 2017 Page: 1

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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