Dr Robot Jaguar User manual
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
www.DrRobot.com
Outdoor All-Terrain Autonomous Navigation Robot with
GPS-IMU
Jaguar
User Guide
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
www.DrRobot.com
Copyright Statement
This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr
Robot.
All the software, firmware, hardware and product design accompanying with Dr Robot’s product are solely owned
and copyrighted by Dr Robot. End users are authorized to use for personal research and educational use only.
Duplication, distribution, reverse-engineering, or commercial application of the Dr Robot or licensed software and
hardware without the expressed written consent of Dr Robot is explicitly forbidden.
www.DrRobot.com
Contact
General: [email protected]
25 Valleywood Drive, Unit 20
Markham, Ontario, L3R 5L9, Canada
Tel: (905) 943-9572 Fax: (905) 943-9197
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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Table of Contents
I. Specifications 4
Key Features 4
Jaguar Core Components 6
Upgrade Options 6
II. Knowing Your Robot 7
Overlook 7
Operation Scenario 8
Software Installation 8
III. Operation of Jaguar Robot 9
Using Dr Robot Jaguar Control Program 9
Recharging 13
IV. Hardware and Electronics 14
Network Settings 14
Wireless Router Setting 14
Device Default Network Settings 14
Advanced Network Settings 14
Hardware Architecture 14
Motor Driver Board 16
Motion and Sensing Controller 16
Camera 16
GPS 16
9DOF IMU (Gyro, Accelerometer & Digital Compass) 17
Laser Scanner 17
Batteries 17
Charger 17
Motor with Encoder 18
V. Further Development & Programming 19
The Jaguar Control program 19
Motion Control/Sensing System: 20
Laser Scanner 22
GPS 22
9DOF IMU (Gyro/Accelerometer/Compass) 22
Camera with Two Way Audio 22
Advanced Development 23
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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I. Specifications
Jaguar Mobile Robotic Platform is designed for indoor and outdoor operation. It comes with two articulated arms
and is fully wirelessly (802.11G) connected. It integrates outdoor GPS, 6DOF IMU and digital compass for
autonomous navigation. Jaguar platform is rugged, light weight (< 22Kg), compact, weather and water resistant.
It is designed for extreme terrains and capable of climbing up stairs. The integrated high resolution video/audio
and laser scanner provide remote operator detail information of the surrounding. Besides the ready to use control
and navigation software, a full development kit including SDK, data protocol and sample codes, is also available.
Key Features
Rugged and reliable mobile platform for indoor and outdoor applications with excellent handling and mobility
With two synchronized (or optional independently controlled) articulated arms
Indoor and outdoor operation for extreme terrains
Weather and water resistant enclosure
Climbing up 45° slope or stairs (max 200mm or 8”)
Light weight (<22Kg) and compact design with large payload capacity and robust maneuverability
Autonomous navigation with outdoor GPS + 6DOF IMU and digital compass
Managing max 200mm (8”) vertical step (obstacle)
Rugged and reliable with shock absorbing suspension
Integrated Laser scanner (Optional)
Integrated high resolution video camera with audio
All 802.11G (802.11N optional) wirelessly connected
Head mounted display and joystick control providing outdoor operation with large and clear view even under direct
sunlight
Ready to use control and navigation software
Full development kit including SDK, data protocol and sample codes, support Microsoft® Robotics Studio,
Microsoft® Visual Studio, NI LabVIEW®, MATLAB®, Java®
Terrain: Sand, rock, concrete, gravel, grass, soil and others wet and dry
Slope: max 45°
Maximum vertical step: 200mm (8”)
Stair climbing: Max stair step height 200mm (8”)
Traverse: > 260mm (10”)
Two articulated arms (Standard: synchronized motion; Optional: independent controlled)
Speed: 0 – 5.5Km/hr
Turning radius: 0, min 850mm (33.5”) diameter of turning space
Ground clearance: 38mm (1.5”)
Operator remote control
Autonomous navigation with GPS + IMU + Compass
Indoor vision landmark GPS (Optional)
Sealed weather resistant enclosure
Temperature: -30° to +50°
Shock resistant chassis
Self-correction from flip-over with articulated arms
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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Motion and sensing controller (PWM, Position and Speed Control)
5Hz GPS, 6DOF IMU and digital compass
Laser scanner (4m or 30m) (Optional)
Temperature sensing & Voltage monitoring
Headlights
Color Camera (640x480, 15fps) with audio
WiFi802.11G (Optional WiFi 802.11N)
Ethernet
Serial (RS232)
Long range antenna (Optional)
Ethernet
General purpose communication and power port
Game Pad Controller
Head mounted display (Dual 640 x 480), equivalent to 60” display viewed in 2.7m (9 feet) (optional)
Portable computer (optional)
Weight: 500g (without computer)
Rechargeable battery: LiPo 22.2V 10AH
Nominal operation time: 2 hours (Optional 4 hours)
Track Motors (24V) (After gear down): 2 units
Max output (x2): Max 80W, 100Kg.cm/track
Rated current: 2.75A, Max current 16A
Arm Motor (24V): 1 unit
Max output: Max 80W, 450Kg.cm
Rated current: 2.75A, Max current 16A
Height: 176mm (7”)
Width: 655mm (25.8”)
Length 820mm (32.3”) (extended arms) / 640 mm (25.2”) (folded arms)
Weight: 21.5 Kg (Standard Configuration)
Carrying Payload: max 15Kg
Dragging Payload: max 50Kg
Full development kit including SDK, data protocol and sample codes, support Microsoft® Robotics Studio, Microsoft® Visual
Studio, NI LabVIEW®, MATLAB®, Java®
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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Jaguar Core Components
JAGUAR-ME Jaguar Chassis (including motors and encoders) 1
PMS5005-J Motion and Sensing Controller (Jaguar Version) 1
WFS802G WiFi 802.11b/g Wireless Module 2
DMD2500 25A (peak 40A) Dual-channel DC Motor Driver Module 2
PMCHR12 DC-DC Power Board 1
AXCAM-A 640x480 Networked Color Camera (max. 30fps) with Two-Way Audio 1
OGPS501 Outdoor GPS Receiver with 5Hz Update Rate and WAAS 1
IMU9000 9 DOF IMU (Gyro/Accelerometer/Compass) 1
WRT802G 802.11b/g wireless AP/router 1
MCR3210 RS232 Interface Module 1
BPN-LP-10 22.2 V 10 AH Li-Polymer Battery Pack 1
LPBC5000 5A Li-Polymer Battery Charger 1
GPC0010 Game Pad Controller 1
Upgrade Options
Laser Scanner (Range 4m) LAS04M
Laser Scanner (Range 30m) LAS30M
22.2V 20 AH Li-Polymer Battery Pack BPN-LP-10
Head Mounted Display (800x600) HMD8H6H
Host Controller PC HCPC1008
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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II. Knowing Your Robot
Overlook
The figure below illustrates the key components that you will identify on the Jaguar robot.
Jaguar Platform
GPS+6DOF IMU+Digital Compass
Camera
Laser Scanner
Recharging
Socket
Power Switch Headlights
Arm-Track
Drive-Track
WiFi Antenna
Handle Bar
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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Operation Scenario
Diagram below shows the typical operation scenario. The Jaguar is a wireless networked outdoor mobile robot. It
comes with a wireless 802.11 AP/router. The remote host controller PC running the “Jaguar Control” program
connects to the Jaguar robot via:
Network cable – Connect the robot on-board AP/router. (DO NOT connect to the WAN port), or
Wireless – To connect the host controller PC to the on-robot wireless AP/router, configure the host PC’s
wireless settings using the default wireless configuration settings found in the Network Connection
session of this manual.
Human operator carrying the host controller PC could use the head-mounted display (accessory option) and the
included game-pad controller in outdoor environment to monitor and control the operator under any outdoor
lighting environment, even under direct sunshine. The included Jaguar control program will therefore be
projected on the head-mounted display, where you could see all the sensor information from the robot, and the
video streamed from the camera on robot (Please refer to “Jaguar control program” session for detail).
Typical Operation Scenario
Note: The host controller PC running the “Jaguar Control” program could be mounted on the robot instead off the
robot if your application requires so.
Software Installation
Jaguar Control programs, application development library and supporting documents could be found from the
Jaguar software CD.
On the host controller computer, you should install the following programs from the installation CD:
“Jaguar Control” program - installed by the Setup.exe from CD
Google Earth program - could be downloaded from http://earth.google.com/download-
earth.html. Please follow its installation instruction.
Portable PC (Host controller PC)
(Optional)
Head-mounted display
(Optional)
Gamepad
Controller
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III. Operation of Jaguar Robot
End user could develop his own Jaguar control program using the supplied development API and tools. Here, we
are going to discuss how to control the robot using the included “Jaguar Control Program” (You need to install
Google Earth program first).
Using Dr Robot Jaguar Control Program
This program will demonstrate how to control to navigate the Jaguar, move the arm-tracks and how to interpret,
process, display and log multi-sensor information.
This program provided with source code (c#)
updates motor encoder reading, motor temperature, board voltage and battery voltage measuring
at 10Hz;
reads and displays IMU and Laser Range sensor data;
displays GPS reading on the Google Earth;
displays and controls Axis camera.
Once you start the program, you will see the “Login Window”
It will read all the configuration information from outdoorrobotconfig.xml in
c:\DrRobotAppFile\.
When “Connect Robot” is clicked, it will start the WiRobotGateway program (also in
c:\DrRobotAppFile\) and try connecting to the Robot.
Google Earth is then loaded and it may take a while.
Google Earth supports offline use (without Internet),
but you have to obtain the map online ahead of use.
When Internet is not presented, this loading process
will take a longer time for trying to connect with
Google Earth website. You will not get the correct
Latitude and Longitude position by mouse clicking on
map before the map loading is finished. When loaded,
click “OK” button.
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“FlyToSetPoint” button will bring you to the location (latitude/longitude) specified in outdoorrobotconfig.xml.
This is the location you would like the map to center and show around. You should modify this location according
to your location. This could be done by inputting the value in this xml file or navigating on Google Earth map to
your interested point, then clicking “SaveSetPoint” button. The location value of the map center will then be
saved to the outdoorrobotconfig.xml when program is closing.
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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You could use the vertical track bar to zoom in or out.
When the GPS-IMU module is presented, this program will connect and display the GPS information on Google
Earth and IMU raw data on the 6 chart boxes.
When camera is presented, the video and Av control buttons will be show in the video window.
You could use the included Game pad controller to navigate the robot. When used outdoor, especially under direct
sun lights, head-mounted display (optional accessory) will provide clear and large display for excellent outdoor
experience.
Gamepad Control
Note: when using Gamepad control, you need to make sure the program window is in “focus”.
Initializing or resetting arm-track position:
After power up, or when the actual arm position is different from the diagram below, you
should reset the arm-track position as following:
drive the arm forward and being flat on the ground, we call this initial or “0”
position (extend forward)
Headlight On/OFF
Set arm’s initial position
Move arm to initial “0o”
(flat) position
Move arms to “30o”
(
Tilt-u
p)
p
osition
Flip Jaguar forward
Flip Jaguar backward
Left wheel
track control
Minimize camera
display to original
size
Camera display to full size
Right wheel
track control
Front Arm UP from flat
p
osition
Rear Arm Down
toward flat position
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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then, click the “Set arm’s initial position” button to save this value and reset arm position display.
Clicking button, you will display laser scanner data in polar view as shown below.
Battery information and motor information will be displayed in window below:
If the robot uses the included Li-Po battery, you need to stop the robot
when voltage is below marked voltage (22.2V) to protect battery. Motor
temperatures are also displayed in the display. PWM boxes show the
PWM values received in motor driver board from motion control board.
The two horizontal track bars show the gamepad left and right stick
control value.
You could record raw GPS-IMU/Encoder sensor data by clicking button. The raw file will be saved
under current execution folder with file name GPSIMURec*.txt.
All traces are displayed on Google Earth by KML data. Since the current version of Google Earth does not provide
programming method to clear these KML data, there is risk of memory leak. You could manually clear these KML
data by: right-clicking on “Temporary Places”, then choosing “Delete Contents”. (That is why we did not hide
Google Earth program)
On normal program exit, Google Earth will be closed. However, you should double check it using “Windows Task
Manager”, or you may not be able to display Google Earth when you start Jaguar control program again.
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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Recharging
Jaguar robot uses high performance LiPo batteries. Extreme caution is needed when dealing with this type of
battery, explosion and damage could occur. Please read the Charge Station manual first and follow all the safety
rules before proceeding further.
1) Power on the Charge Station. Make sure "LiPo Charge" is displayed on the LCD screen. If not, use "Type/Stop"
button to change it to "LiPo Battery".
2) Use "INC" button to choose how to charge battery. You can choose "LiPo Charge", "LiPo Balance" or "LiPo
Fast Chg". We recommend using "LiPo Balance" charge to extend battery life and reduce risk.
3) You can use "Enter/Start" + "INC" + "DEC" buttons to change the charge current, DO NOT exceed the 5A
charging current and do not modify the battery voltage. It should be "22.2V (6S)" for Jaguar robot.
4) Connect the charging cable to Jaguar charging socket; make sure it is fastened well.
5) Turn the Power switch (CCW) to charge position.
6) Keep pressing "Enter/Start" button for few seconds, the charge station will check the battery and display what
the reading is. It should be same as your settings above.
7) If everything is right, you can press "Enter/Start" button again to start charging.
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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IV. Hardware and Electronics
Network Settings
Wireless Router Setting
The included pre-configured wireless 802.11 B/G router has the following pre-set settings:
SSID DriJaguar Router LAN 192.168.0.245
WEP 128bits Login ID admin
KEY 112233445566778899AABBCCDD Password drrobot
Key Type Open Key
Device Default Network Settings
Note: The WiFi modules are configured for serial-to-Ethernet mode in Jaguar platform.
WiFi Module 1 192.168.0.60
Port 1 Port Number 10001, UDP 115200. 8, N, 1, no flow control
Port 2 Port Number 10002, TCP 115200. 8, N, 1, no flow control
WiFi Module 2 192.168.0.61
Port 1 Port Number 10001, TCP 115200. 8, N, 1, no flow control
Port 2 Port Number 10002, TCP 115200. 8, N, 1, no flow control
Camera 192.168.0.65 Port 8081
User ID root
Password drrobot
Advanced Network Settings
It’s possible to use different network settings (e.g. IP) for the server PC, but the “Virtual Server” settings on the
router must also be changed accordingly in order for the Internet remote monitoring feature to work properly.
You could also change the router settings such as IP and SSID etc,. If you need to do so, you are required to
change the network settings on the WiFi modules on the robot by following the guidelines as illustrated on the
WiFi Module manual.
Hardware Architecture
The diagram below illustrates the inter-connection between the core electronic circuits and modules (some are
optional accessories).
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Left Arm
Motor
Right Arm
Motor
Motor Driver
Board
#
1
Encoder-A
Encoder-B
PWM-A
PWM-B
Left Driving
Motor
Right Driving
Motor
Motor Driver
Board
#
2
Encoder-C
Encoder-D
PWM-C
PWM-D
Communication
Voltage
Meter
Power
5V
Temperature
Head Light
Control
Motion Sensing Controller (Jaguar Ver.)
WiFi Module 1
Port 10001 Port 10002
Power 3.3V WiFi Module 2
Port 10001 Port 10002
Power 3.3V
Laser Scanner
6DOF IMU
GPS Module
Camera (AV)
Wireless AP/Router
LAN
Power 5V
Power 5V
Power 5V
Power 5V
Power 5V
Antenna
Head Lights
DC-DC Power Board
5V
5V
5V
3.3V
Control
Port
Power
IN
Charging
Plug
ON
LiPo 22.2V
10AH
Host Control
PC
Head Mount
Display
Gamepad
Controller
Antenna
Main Switch
OFF
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Motor Driver Board
Two motor driver boards are used, one for the left and right track/wheel motors while the other one is for the
arm-tack motors.
Input power H-Bridge 2 channels
Max current up to 25A continuous power per channel, peak up to 50A per channel for a few seconds
Input voltage 6~24V, 30V absolute max
Motion and Sensing Controller
This is a special version of PMS5005 board.
Input power 5V
6 PWM output Channel 0,1 for left and right arm-track
Channel 3,4 for left and right track/wheel
Motor control mode PWM control; Velocity control; Position control
Sensor sampling 4 Channel encoder: Channel 0,1 for left and right arm-track
Channel3,4forleftandrighttrack/wheel
Board voltage measuring
Battery voltage measuring
4 motor temperature measuring
Other extended A/D channels (please contact Dr Robot).
Camera
Input power 5V
Lens 4.4 mm: 47° view*, F2.0, fixed iris, fixed focus
Light sensitivity 1-10000 lux, F2.0
0 lux with headlights LED on
Resolutions 640x480 to 160x120
Frame rate H.264: 30 fps in all resolutions
Motion JPEG: 30 fps in all resolutions
PEG-4 Part 2: 30 fps in all resolutions
Video compression
H.264 (MPEG-4 Part 10/AVC), Motion JPEG
MPEG-4 Part 2 (ISO/IEC 14496-2)
Audio streaming Two-way
Other features PIR motion sensor with configurable sensitivity. Max range: 6 m
GPS
Input power 5V
Update rate 5 Hz
Sensitivity - 185dBW minimum
Accuracy Standard GPS service: Position: <= 15m 95% typical
Velocity: 0.1knot RMS steady state
WAAS service: Position: <= 3m 95% typical
Output Interface NMEA 0183, default GPRMC/GPGGA/GPGSA/GPVTG
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Binary Output
9DOF IMU (Gyro, Accelerometer & Digital Compass)
Input power 5V
Gyro Sensors LY530ALH - 300º/s single-axis gyro
LPR530ALH - 300º/s dual-axis gyro
Accelerometers 3 Axis
ADXL345
13bit resolution
Max +/-16G
Magnetic Compass 3 Axis HMC5843 magnetometer
Output Frequency 50Hz
Output all sensor raw data and processed data by on-board MCU through serial port
Laser Scanner
Two laser scanner options are available, one with measurement range of 0.02-4m, and other one is 0.1-30m.
Input power 5V
Detectable range 0.02-4m
Accuracy 0.02 to 1m: +/- 10mm
1 to 4m: 1%
Measurement Resolution 1mm
Angular Resolution approx 0.36 degrees (360 degree/1024 partition)
Scanning angle 240 degrees
Input power 12 V
Detectable range 0.1-30m
Accuracy 0.1 to 10m: +/- 30mm
Measurement Resolution 1mm
Angular Resolution approx 0.25 degrees (360 degree/1440 steps)
Scanning angle 270 degrees
Batteries
Battery type Li-Po
Voltage 22.2V (6 cells, 3.7V/cell)
Capacity 10Ah
Discharge rate Max 50A continuous, Max 100A peak
Max charge rate 10A
Cycle life 500-1000 times
Charger
Charger type Balance Charger
Maximum charge current 5A
Maximum discharge current 5A
Power Input 100-240V
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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Motor with Encoder
Jaguar (with arms)
Track-arm motors DC motors with steel gearbox
Rated voltage 24V
Rated current < 2.1A
Rated speed 63 RPM
Rated torque 20 Kg.cm x 2
Encoder resolution 1083 counts per revolution
Track-wheel motors (2 units) DC motors with steel gearbox
Rated voltage 24V
Rated current 2.1A
Rated speed 122 RPM
Rated torque 16 Kg.cm
Encoder resolution * 722 counts per (motor shaft) revolution *
*After pulley-belt speed reduction (34:20), the controller read-in encoder resolution is: 722 x 34/20 = 1227.4
count per (wheel) revolution.
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V. Further Development & Programming
The Jaguar Control program
The Jaguar Control program is written with C# program with Visual Studio 2008 express under .Net 3.5
framework. You could download the development tools (Visual Studio 2008 express under .Net 3.5 framework)
free from Microsoft. Please refer to the “Dr Robot Application Development Notes on C# Programming for Robot
Control” for further information.
The control program uses the supporting components and libraries that should have been installed when you
install the control program from the installation CD:
1. DRROBOTSentinelCONTROL.OCX: Please refer to “WiRobot SDK API Reference Manual.pdf” for
detail.
2. WiRobotGateway.exe
3. AXIS Media Control Library Set These are the camera control component for the AXIS Mini Camera
(P/N: AXCAM) used for Jaguar robot. Please refer to “AXIS Media Control SDK Help” for detail.
Copyright © 2010, Dr Robot Inc. All Rights Reserved.
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Motion Control/Sensing System:
Jaguar comes with a special version of PMS5005 as its motion control and sensing board. It follows the Dr Robot
WiRobotSDK protocol and user could control and access Jaguar by Dr Robot ActiveX control
(DrRobotSentinelActivexControl.ocx) and WiRobot gateway program.
Based on the protocol, you can develop your own program on any system. You could request protocol sample
code from Dr Robot using C++/Java. You should contact Dr Robot with any questions regarding SDK API and
protocol.
The communication port is connected at WiFi module-I port 1.
Gateway program will connect to this board at 192.168.0.60, port 10001.
Here is C# sample code to control Jaguar System with ActiveX control,
myJaguar is DrRobotSentinelActiveXControl.
Arm Motor control: By default the system provides synchronized control, so the left/right arm motors only use
channel 0 PWM signal, but you can get each encoder reading for left arm and right arm.
private void myJaguar_MotorSensorEvent(object sender, EventArgs e)
{
//here reads back PWM value for all motors
leftArmMotor.pwmOutput = myJaguar.GetMotorPWMValue1();
rightArmMotor.pwmOutput = myJaguar.GetMotorPWMValue1();
//right motor still uses PWM channel 0
leftWheelMotor.pwmOutput = myJaguar.GetMotorPWMValue4();
rightWheelMotor.pwmOutput = myJaguar.GetMotorPWMValue5();
leftArmMotor.encoderDir = myJaguar.GetEncoderDir1();
leftArmMotor.encoderPos = myJaguar.GetEncoderPulse1();
leftArmMotor.encodeSpeed = myJaguar.GetEncoderSpeed1();
rightArmMotor.encoderDir = myJaguar.GetEncoderDir2();
rightArmMotor.encoderPos = myJaguar.GetEncoderPulse2();
rightArmMotor.encodeSpeed = myJaguar.GetEncoderSpeed2();
}
You can read board voltage(5V) and battery voltage in standard sensor Event.
private void myJaguar_StandardSensorEvent(object sender, EventArgs e)
{
boardVol = ((double) myJaguar.GetSensorBatteryAD1() / 4095 * 9);
motVol = ((double) myJaguar.GetSensorBatteryAD2() / 4095 *
33.749);
}
You can read motor temperature sensor in custom sensor event, function Trans2Temperature() is based on the
sensor specification to translate AD value to temperature celcius degree.
Also you can read left/right wheel motor encoder in this event.
private void myJaguar_CustomSensorEvent(object sender, EventArgs e)
{
//here can read back left wheel motor and right wheel motor
encoder information
leftWheelMotor.encoderPos = myJaguar.GetEncoderPulse4();
leftWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed4();
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