Con en s
1. Introduction ................................................................................. 6
1.1. Technical support .................................................................... 7
1.2. Scope of delivery – RP6 ........................................................... 7
1.3. Scope of delivery - RP6v2 ........................................................ 8
1. . The RP6v2 and Expansion possibilities ....................................... 8
1.5. Features and technical Data .................................................... 11
1.6. What can the RP6 do? ............................................................ 1
1.7. Application proposals and ideas ............................................... 15
2. The RP6 in detail ......................................................................... 16
2.1. Control System ..................................................................... 17
2.1.1. Bootloader.......................................................................19
2.2. Power Supply ........................................................................ 19
2.3. Sensors ............................................................................... 20
2.3.1. Battery Voltage Sensor......................................................20
2.3.2. Light Sensors (LDRs).........................................................20
2.3.3. Anti Collision System (ACS)................................................21
2.3. . Bumpers..........................................................................22
2.3.5. Motor Current Sensors.......................................................22
2.3.6. Encoders.........................................................................23
2. . Drive System ........................................................................ 2
2.5. Expansion System ................................................................. 25
2.5.1. The I²C Bus.....................................................................26
2.5.2. Expansion Connectors.......................................................27
3. Hardware and Software Setup ....................................................... 29
3.1. Safety Instructions ................................................................ 29
3.1.1. Electrostatic Discharges and Shorts.....................................29
3.1.2. Environment of the Robot..................................................30
3.1.3. Supply Voltage.................................................................30
3.2. Software Setup ..................................................................... 31
3.2.1. The RP6 CD-ROM..............................................................31
3.2.2. WinAVR - for Windows.......................................................32
3.2.3. AVR-GCC, avr-libc and avr-binutils - for Linux ......................32
3.2.3.1. Automatic install script ...............................................3
3.2.3.2. Manual install procedure .............................................35
3.2.3.3. Setting the path ........................................................36
3.2. . Java 6 ............................................................................37
3.2. .1. Windows ..................................................................37
3.2. .2. Linux .......................................................................37
3.2.5. RobotLoader.....................................................................38
3.2.6. RP6 Library, RP6 CONTROL Library and Example programs.....38
3.3. Connecting the USB Interface – Windows ................................. 39
3.3.1. Check if the device is properly connected.............................39
3.3.2. Driver uninstall................................................................. 0
3. . Connecting the USB Interface – Linux ...................................... 0
3.5. Finalizing Software installation ................................................ 0
3.6. Inserting Batteries ................................................................. 1
3.7. Charging the Batteries ........................................................... 3
3.8. The first test ......................................................................... 3
3.8.1. Connecting the USB Interface and start RobotLoader.............
. Programming the RP6 .................................................................. 53
.1. Configuring the source code Editor .......................................... 53
.1.1. Creating menu entries.......................................................53
