DAGU Scamper Kit User manual

Build your own omni robot
WWW.AREXX.COM.CN
Manufacturer:
DAGU Hi-Tech Electronic Co.,LTD Manual
RS038
Copyright 2014 by DAGU Hi-tech Electronic Co., Ltd.
All rights reserved. No portion of this instruction sheet or any
artwork contained herein may be reproduced in any shape or
form without the express written consent of DAGU Hi-tech
Electronic Co., Ltd.
The manufacturer and distributor cannot be held responsible
for any damages occurred by mishandling, mounting mistakes
or misuse due to non-respect of the instructions contained in
this manual.
C

Product Description
Thank you for selecting the Scamper robot kit as your next do-it-yourself project. This kit will
allow you to build an omni wheeled robot that can move in any direction. Using the demo code
and IR sensor PCB provided the robot will act as a spinning line follower.
The ComMotion controller is also an Arduino shield. Experienced users can add an Arduino
controller and use the ComMotion controller as an I²C controlled motor controller. We
recommend the SparkFun RedBoard as the larger USB socket used on many Arduino boards
can short circuit the ComMotion shield.
Product Features
1. High quality anodized aluminium chassis - light weight and strong.
2. Omni wheels with rubber rollers for better traction on smooth floors.
3. Metal geared motors with rear shaft for encoders.
4. Hall-effect encoder on each motor for precise speed control.
5. Pre-programmed ComMotion Shield with demonstration software.
Build it now! Realize your dream! Create your next masterpiece!
Opened packages cannot be returned. Please check package contents before opening.
Read instructions carefully before assembling.
Use all tools carefully.
Small parts are a choking hazard. Keep this kit away from young children and babies during
construction and operation.
Not for children under 8 years. Not to be used by children except under adult supervision.
Observe correct polarity of the battery. Reverse polarity will permanently damage the
controller.
Keep dry at all times. Remove the batteries if the robot gets wet.
Do not mix battery types. Do not mix partially charged and fully charged batteries.
Do not use carbon-zinc or alkaline batteries. Use NiMh batteries only.
Remove batteries if the kit is not to be used for a long time.
Tools
The kit is supplied with all tools required to assemble it. The supplied spanner fits the hex
spacers, 3mm nuts and the nut on the switch. A small Philips Head screw driver is also
included for use with the 2.5mm and 3mm screws.
！Warnings

1x
Chassis
6x
Omni wheel
3x
Geared motor with cable
3x
Magnetic encoder disc
3x
Hall effect sensor with cable
1x
ComMotion shield
1x
Battery holder with switch and cable
1x
IR sensor PCB
1x
Sensor PCB bracket
1x
IR sensor PCB cable
3x
3mm x 8mm screw
3x
3mm Nyloc nut
1x
Fiberglass battery strap
12x
3mm x 6mm screw
6x
2.5mm x 8mm screw
3x
Fiber washer
4x
25mm M-F hex spacer
2x
17mm F-F hex spacer
4x
12mm F-F hex spacer
12x
cable ties
1
20
23
456
78 9
10 11 12
13 14 15 16
17 18 19
Part List

Optional 3D assembly instructions
The assembly steps shown in this manual are also available as a series of 3D models drawn in
SketchUp. If you have trouble understanding any step in the assembly instructions then you
can view that step in 3D. This allows you to view the model from any angle and zoom in on any
detail. The 3D models and the installation file for the SketchUp Viewer can be downloaded
here:
To open a model, click on the file menu or the open folder icon and select a step from the
"Scamper 3D Assembly Manual" file.
https://drive.google.com/file/d/0B__O096vyVYqT3d0Y1FsVDF3a3c/edit?usp=sharing
Once the file is opened you can use the Orbit tool to rotate the model in any direction. Your
mouse scroll wheel can be used to zoom in or out.
Orbit tool
Open
File

1
2
3
Install the
power switch
Attach sensor PCB to mounting bracket.
3x8mm
screw
3mm nyloc nut
Align the tab
with the hole
3x8mm
screws
3mm nyloc
nuts
Mount sensor PCB
on the chassis.

4
5
6
3x6mm
screws
17mm F-F
hex spacers
2.5x8mm
screws
Feed motor wires
through the hole.
Install the motors.
1. Feed the sensor
through the hole
and bend leads at
90° angle.
2. Wrap cable tie around
the motor to hold sensor
and motor cables in place.
3. Gently tighten the cable tie
so that wires can still
be adjusted.

7
8
9
5mm fiber
washer
Align screws with flat
sections on the shaft.
Push encoder disc onto
rear motor shafts.
Leave about 3mm (1/8th)
space between encoder
disc and sensor.
12mm Hex Spacers
3x6mm screws

10
11
12
25mm M-F
hex spacers
Optional
controller
3x6mm
screws
3x6mm
screws
Fiberglass
battery strap
6x AA NiMh batteries
(not included)

13
14
15
M1
M2
M3
Battery
+
-
Pay attention to the wire colours!
You must connect the wires
as shown to ensure the robot
works correctly with the
demonstration software.
Pay attention to the wire colours!
You must connect the wires
as shown to ensure the robot
works correctly with the
demonstration software.
Encoder 1
Encoder 2 Encoder 3
Triangles on PCB
indicate signal
pin (white wire).
Wheel 1
Wheel 2
Wheel 3
Make sure the switch is
"OFF" during assembly
to prevent accidental
short circuit.
！Warning!
Connect the wires to the switch.
Note position
of metal tab.

16
Use sensor cable to connect
the sensor PCB to A7 on the
ComMotion controller.
Pay attention to the wire colours!
You must connect the wires
as shown to ensure the robot
works correctly with the
demonstration software.
Connector A7
on ComMotion
controller.
Testing with the demonstration software
The ComMotion shield comes pre-programmed with demonstration software for the Scamper
robot. Once the robot is fully assembled check that the encoder disc are a few millimeters
away from the sensor and do not touch anything as they spin.
Check all the wiring carefully before turning it on. Pay careful attention to the colour of the
wires and especially the battery wires. If the power LEDs on the PCB do not light up then
quickly turn the robot off and check all power wiring again.
When you turn the robot on it should start playing music using the motors for speakers. The
robot will then spin as it looks for a line to follow. If the robot had been placed over a line it
should start following the line. Pressing the reset button or cycling the power will toggle the
demonstation mode on or off. If the robot just beeps a few times then press reset again.
If the robot cannot detect the line then try adjusting the small potentiometer on the sensor PCB
fully clockwise. Do not use in bright sunlight, this will blind the IR sensor. Black electrical tape
is ideal for making lines for the robot to follow.

Optional Controller
The Scamper robot kit uses the ComMotion PCB as a "stand alone" controller running
demonstration software however the ComMotion PCB can also be used as an I²C motor
control shield. The advantage of I²C control is that almost all of your IO pins (except A4 and A5)
are free for use with other shields, sensors or circuits.
Unfortunately most Arduino boards use a large metal USB connector that will short out many
shields including the ComMotion shield. We recommend using the or
any other compatible controller that uses a mini or micro USB connector to avoid this problem.
Troubleshooting
No Power:
Turn off the robot and check that the black wire from the battery holder is connected to the
negative battery terminal of the controller PCB. Check that the red wire from the battery holder
goes to one of the outer pins on the switch. Check that the red wire from the center pin of the
switch goes to the positive battery terminal of the controller PCB.
Turn on the switch, if the power LEDs do not light up then check all batteries have their positive
terminal pressed against the metal connector in the battery holder. Some battery brands can
be a tight fit in the battery holder. This prevents the springs from pushing the battery against
the opposite contact.
Check your batteries are fully charged and inserted the correct way around.
Motors constantly speed up and slow down again:
This indicates no signal from the encoder. Please check the encoder wiring carefully as shown
in step 15. Make sure the sensor is about 3mm (1/8th of an inch) away from the surface of the
magnetic encoder disc. Make sure the encoders are plugged into the correct header on the
controller.
Motors spin in the wrong direction:
When the robot powers up it should spin in a clockwise direction, if one or more motors are
spinning in the wrong direction then check that the motor is connected to the correct terminal
and that the wire colours match those in step 14.
Robot does not follow the line:
The IR sensor will not work in bright sunlight. If you are indoors then try closing the curtains.
Best conditions are a black line about 15-20mm wide on a light coloured floor. Check that the
sensor cable is plugged in correctly as shown in step 16.
Adjust the small potentiometer on the sensor PCB so that it is fully clockwise. If the robot still
does not work then adjust the potentiometer anti-clock wise in small increments and try again.
SparkFun RedBoard

Kit Specifications
Chassis:2mm thick anodized aluminium
Rollers:Natural rubber
Battery:6xAA
Motor voltage – nominal:6V
Motor voltage – maximum:8.4V
Motor current – no load:150mA
Motor current – stall:2.75A @ 6V
Gearbox ratio:78.125:1
Encoder disc:8 pole neodymium magnet
Encoder sensor:Open drain hall-effect sensor (3V – 22V)
Encoder resolution:625 state changes per wheel revolution
ComMotion Specifications
Processors:2x ATmega328P (16MHz)
Supply voltage:6V – 16V
Logic voltage:5V
Wireless support:Xbee / WiFly socket with voltage translation
Xbee / WiFly power:3.3V @ 300mA
Battery monitor range:0V – 17V
Battery monitor resolution:≈0.02V
Analog Inputs:5x 10bit (A3,A6 MCU1 – A3,A6,A7 MCU2)
Motor drivers:4x FET “H”bridge
Motor current continuous:2.5A (each motor)
Motor current stall:4A (each motor)
Current monitor range:0A – 5A (each motor)
Current monitor resolution:≈5mA (each motor)
I²C bus voltage: 5V or 3.3V (determined by IO_REF pin)
I²C bus speed:100 kbit/s
I²C addresses:16 selectable pairs (software configurable)
Serial ports:2x 5V TTL logic (FTDI headers)