K-Team Koa-PicoITX User manual

KOA
KOAKOA
KOA-
--
-PICO
PICOPICO
PICOITX
ITXITX
ITX
User manual
Version 1.0
april 2010

Koa-PicoITX User Manual rev 1.0 2
Documentation Author
Frédéric Lambercy
K-Team S.A.
Rue Galilee 9, Y-Park
1400 Yverdon-les-Bains
Switzerland
Email: [e-mail]
Url: www.k-team.com
LEGAL NOTICE:
•The contents of this manual are subject to change without notice
•All efforts have been made to ensure the accuracy of the content of this manual.
However, should any error be detected, please inform K-Team.
•The above notwithstanding, K-Team can assume no responsibility for any error in this
manual.

Koa-PicoITX User Manual rev 1.0 3
TABLE OF CONTENTS
1. INTRODUCTION..................................................................................................4
1.1 THE KOA-PICOITX ...................................................................................................4
1.2 SPECIFICATIONS ........................................................................................................4
1.3 HOW TO USE THIS HANDBOOK ...................................................................................5
1.4 SAFETY PRECAUTIONS...............................................................................................6
1.5 RECYCLING............................................................................................................... 6
2. UNPACKING AND INSPECTION .....................................................................7
2.1 PACKAGE CONTENT ..................................................................................................7
2.2 KOA-PICOITX OVERVIEW.........................................................................................8
2.3 FIRST START-UP........................................................................................................ 9
2.3.1 Hardware startup.............................................................................................9
2.3.2 Software startup .............................................................................................10
3. USAGE..................................................................................................................11
3.1 ACCESS TO THE KOALA ROBOT................................................................................11
3.2 NETWORK CONFIGURATION.....................................................................................11
3.3 FILE TRANSFER........................................................................................................12
3.4 REMOTE CONNECTION.............................................................................................12
3.5 DIGITAL INPUT/OUTPUT PORTS USAGE .....................................................................12
3.6 MOTORS USAGE ......................................................................................................13
3.7 PAN-TILT CAMERA USAGE .......................................................................................14
4. PROGRAMMING...............................................................................................15
4.1 DIRECTLY ON THE ROBOT........................................................................................15
4.1.1 Template program..........................................................................................15
4.1.2 Using examples ..............................................................................................16
4.2 ON ANOTHER COMPUTER.........................................................................................18
5. SOFTWARE REINSTALLATION ...................................................................19
5.1 UBUNTU INSTALLATION ..........................................................................................19
5.2 LIBKOREBOT INSTALLATION....................................................................................19
5.3 COMPILER INSTALLATION........................................................................................19
5.4 DRIVERS INSTALLATION..........................................................................................19
5.4.1 i2c driver........................................................................................................19
5.4.2 gpio driver......................................................................................................20
6. WARRANTY........................................................................................................22

Koa-PicoITX User Manual rev 1.0 4
1. INTRODUCTION
1.1 The Koa-PicoITX
Thank you for buying Koa-PicoITX extension. This computer extension for Koala will
give you the opportunity to make advanced embedded applications. Thanks to its powerful
processor, the Koa-PicoITX is perfect for image processing, mapping and odometry
calculation. The Koa-PicoITX was developed to work with a Koala, but can be used as a
standalone mini-computer in your own application.
1.2 Specifications
The Koa-PicoITX is based on an EPIA-P700-10L pico-ITX board from VIA. The
main board is connected to a special board which provide different IO, an additional serial
port, a power-button, led indication and the possibility to mount up to two KoreMotorLE
to drive four motors (for two Pan-Tilt cameras). The case is in anodized aluminum to
protect the main board and its extensions.
Model Name EPIA-P700-10L
Processor 1.0GHz VIA C7® 500MHz VIA EdenTM ULV
Chipset VIA VX700 Unified Digital Media IGP chipset
RAM 1GB
Hard drive 80GB, Maxtor MobileMax STM980215A
System Memory DDR2 533/667 SODIMM socket (effective speed to 533MHz)
VGA Integrated VIA UniChrome™ Pro II 3D/2D AGP graphics with
MPEG-2/4 and WMV9 video decoding acceleration
LAN Gigabit Ethernet port controlled by a
VIA VT6122 Gigabit LAN controller
Audio Line-out, Line-in, & Mic-in controlled by a
VIA VT1708B High Definition Audio Codec
BIOS Award BIOS
4/8Mbit flash ROM
I/O Connectors 2x DB9 serial port male connector
1x VGA connector
1x Gigabit Ethernet connector
3x USB 2.0 ports
3x Audio jacks: (Line-out, Line-in, Mic-in)
Up to 4 Motor connectors
2x Terminal Blocks (Supply, IO & I2C bus)
1x KoreBot power supply connector (+12V, +5V & GND)
Operating system Linux Ubuntu 9.10
System Monitoring &
Management Wake-On LAN, Keyboard Power-on, Timer Power-on System power management, AC power failure recovery
Watch Dog Timer
Operating Temperature 0°C ~ 50°C
Operating Humidity 0% ~ 95% (relative humidity; non-condensing)
Dimensions 145 x 125 x 91 mm
Weight 860g

Koa-PicoITX User Manual rev 1.0 5
1.3 How to use this handbook
This handbook introduces the Koa-PicoITX extension and how to use it. For a quick
start, jump to section 2.3, "First Start-up".
If this handbook does not answer one of the problems you are confronted with, please
consult the K-Team web site (www.k-team.com) and, especially the Forum and the FAQs.
•Unpacking and Inspection: Koa-PicoITX’s package description and first start-up.
•Hardware installation: explanation on how to mount the Koa-PicoITX on a
Koala and how to mount extension inside the case.
•Usage: description of the usage of the PicoITX and its devices.
•Programming: description of the programming methods of the Koa-
PicoITX.
•Software reinstallation: instruction to reinstall all the software needed to
program the Koa-PicoITX.
•Warranty: legal notice on the Koa-PicoITX Warranty.

Koa-PicoITX User Manual rev 1.0 6
1.4 Safety precautions
Here are some recommendations on how to correctly use the Koa-PicoITX extension:
•Keep the case away from wet area. Contact with water could cause malfunction
and/or breakdown.
•Store your computer in a stable position. This will avoid the risks of falls, which
could break it or cause damage to a person.
•Use only the official supply cable which is delivered with the Koa-PicoITX. Do
not try to use another charger; this can cause irreversible damage to the battery.
•Never leave the Koala and its Pico-ITX powered when it is unused. When you
have finished working with Koala, turn it off. It will save the battery life
1.5 Recycling
Think about the end of life of your robot! Parts of the robot can be recycled and it is
important to do so. It is for instance important to keep batteries out of the solid waste
stream. When you throw away a battery, it eventually ends up in a landfill or municipal
incinerator. These batteries, which contain Lithium Polymer, can contribute to the toxicity
levels of landfills or incinerator ash. By recycling the batteries through recycling
programs, you can help to create a cleaner and safer environment for generations to come.
For those reasons please take care to the recycling of your robot at the end of its life cycle,
for instance sending back the robot to the manufacturer or to your local dealer.
Thanks for your contribution to a cleaner environment!

Koa-PicoITX User Manual rev 1.0 7
2. UNPACKING AND INSPECTION
2.1 Package Content
Figure 2.1: Content of the Koa-PicoITX extension
Your package should contain the following items:
1. Koa-PicoITX box
2. Koa-PicoITX Support CD
3. Power Supply cable
4. Serial cable (DB9->DB15)
5. 4x fixation screws

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2.2 Koa-PicoITX Overview
Figure 2.2: Koa-PicoITX overview
1Motor connector M1
2Motor connector M3
3Power supply connector, use the 3 color cable (red = 5V, yellow = 12V, black = GND)
4Motor connector M2
5Motor connector M0
6Terminal block
•1 : +5V
•2 : +3.3V
•3 : I2C clock
•4 : I2C data
•5 : GND
•6 : GPIO2
•7 : GPIO3
•8 : GPI4
•9 : GPI5
•10:GND
7Audio jacks connector (Line-IN, Line-OUT, Mic-IN)
8USB 2.0 connectors
9COM0 serial connector (/dev/ttyS0)
10 Power button
11 Power LED indicator
12 Hard Drive LED indicator
13 VGA output
14 USB serial port (/dev/ttyUSB0)
15 Gigabit Ethernet connector

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2.3 First Start-up
2.3.1 Hardware startup
If you have received the Koa-PicoITX already mounted and connected to a Koala,
you can directly jump to the section "Software startup". In other case, please be sure to
respect all of the guidelines below.
All manipulations must be executed when Koala is turn off. To avoid any
damage, please remove the battery of the Koala during all the process.
To mount the Koa-PicoITX box on a Koala, you must first unmount the black
protection plate at the rear of the Robot. Place the Koa-PicoITX box on the four fixations
points (see n°2 in page 5 of the "Koala User Manual"); the rear size of the box must be turned
at the back of the Robot.
http://ftp.k-team.com/koala/documentation/KoalaSilverUserManual.pdf
Connect the serial cable to the USB serial port (n°14 in the overview) and the RS232
serial port on the rear of the Koala (see n°4 page 4 in the "Koala User Manual"). Place the
jumper in the back “DCE” serial line position (see page 8 in the "Koala User Manual") and set
the running mode selector of the Robot to the position A (115200bps communication).
Connect a VGA monitor, an USB keyboard and an USB mouse to the Koa-PicoITX.
Connect the power supply cable to the Koala terminal blocks as describe below:
- Yellow => +VBAT (+12V)
- Red => VCC (+5V)
- Black => GND (power ground)
(See page 16 of the Koala User Manual for more details)
And finally, connect the supply cable to the Koa-PicoITX (see connector n°3 in the
overview).
Then plug the battery (or the DC/DC converter) in the Robot, turn on the Koala
Robot and push the power button of the Koa-PicoITX. The boot of the computer must appear
on the screen. Then follow the "Software startup" instructions.

Koa-PicoITX User Manual rev 1.0 10
2.3.2 Software startup
At the login, enter the default user name and password as follows:
username: picoitx
password: root <= this will also be the sudo password for the
following chapters.
You will arrive at the desktop depicted in the figure below. You have the
menu bar at the top of the desktop, with direct access to help, file manager,
terminal consol, network manager and logout buttons.
You can have more help at http://help.ubuntu.com/.
Figure 2.3: Ubuntu desktop
The system should be already fully working with the gcc compiler installed and the
libkorebot. See chapter 4, PROGRAMMING" for software development and the next chapter
for using the different features.
Terminal / console quick access
Network manager logout
File manager
help

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3. Usage
3.1 Access to the Koala robot
You can communicate to the Koala robot and control it through the serial port.
Open a terminal console and type:
sudo minicom -s
Enter root as password then go the "Serial port setup" menu and configure as described in
figure 2.4.
Figure 2.4: Minicom serial parameters
Save the settings with the command “Save setup as dfl” of the menu [configuration]. The
commands available are listed in the appendix A of the Koala user manual.
Example: the command B will read the bios and protocol versions. If you enter the
uppercase B, then press return this should return: b,1.19,1.19
See chapter 4 PROGRAMMING" for software development.
3.2 Network configuration
The system should connect autonomously at start-up to your wired network if a
Ethernet cable is connected and you have a dhcp server without identification.
If this is not the case, with the icon in the figure above you can setup your network
connection.
You can have more information about the operation system Ubuntu there:
http://help.ubuntu.com/
and about the network manager there:
https://help.ubuntu.com/9.10/internet/C/networkmanager.html
+
----------------------------------------------------------
+
| A - Serial Device : /dev/ttyUBS0 |
| B - Lockfile Location : /var/lock |
| C - Callin Program : |
| D - Callout Program : |
| E - Bps/Par/Bits : 115200 8N1 |
| F - Hardware Flow Control : No |
| G - Software Flow Control : No |
| |
| Change which setting? |
+----------------------------------------------------------+

Koa-PicoITX User Manual rev 1.0 12
Network access:
From the main menu at the top, choose "Places" then "Network" to see your network,
or "Connect to Server" to connect to a server.
3.3 File transfer
You can also use a terminal to connect or transfer files with the program scp:
scp FILE USER@ REMOTE_IP:/PATH
where
FILE : is the file to transfer
USER: is the username at the remote computer
REMOTE_IP : is the remote computer ip address
PATH: is the path to the file destination on the remote computer
3.4 Remote connection
You can connect to the robot by different ways:
-for transferring files with the scp command seen above.
-using the RemoteDesktop feature (configure the
System/Preferences/Remote Desktop menu).
-with the ssh protocol command: ssh –X picoitx@ROBOT_IP
from where you can launch:
§
§§
§the file manager: nautilus &
§
§§
§any other graphical or console program
3.5 Digital input/output ports usage
In the directory ~/software/libkorebot_VERSION/src/tests , the gpio_test program is
already compiled.
-Run it with the command: ./gpio_test
=> You will have a prompt >

Koa-PicoITX User Manual rev 1.0 13
-The GPIO 2 and 3 can be used in input or output. The GPIO 4 and 5 are only
outputs.
-With the command help you have the help.
-You configure the direction of the port with the command configio :
configio IO_PORT_NUMBER DIRECTION
where
IO_PORT_NUMBER: port number 2..5
DIRECTION : 0 = input, 1 = output
-Set the IO to 1 with: setio IO_PORT_NUMBER
-Set the IO to 0 with: cleario IO_PORT_NUMBER
-Read the IO with: readio IO_PORT_NUMBER
-Exit the program with quit
See chapter 4 PROGRAMMING" for software development.
3.6 Motors usage
You can use the motors connectors (M0, M1, chapter 2.2: "Koa-PicoITX Overview") to
connect one or two motors (up to 4). See the KoreMotorLE user manual for more details
about the connections and motors:
http://ftp.k-team.com/korebot/documentation/KoreMotorLE.UserManual.pdf
In the directory ~/software/libkorebot_VERSION/src/tests , the kmotLE_test program
is already compiled. Run it with the command:
./kmotLE_test MOTOR_NAME
where MOTOR_NAME = KoreMotorLE:PriMotor1 : motor M0
KoreMotorLE:PriMotor2 : motor M1
=> You will have a prompt >
With the command help you have the help.
The command init set the default parameters. It is necessary to run in before any other
commands because it sets and resets different default settings.
You will have to set the controller (PID) with the command setpid:
-Set it with the command: setpid REGULATION_TYPE P I D
where REGULATION_TYPE = pos position control

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speed speed control
torque torque control
P : proportional parameter
I : integral parameter
D : derivative parameter
-You can set the speed, the position or the torque with the commands:
setspeed SPEED
setpos POS
settorque TORQUE
-And stop it with stop
-Exit the program with quit
See the source code file ~/software/libkorebot_VERSION/src/tests/kmotLE_test.c or
the KoreMotorLE user manual for details:
http://ftp.k-team.com/korebot/documentation/KoreMotorLE.UserManual.pdf
See chapter 4 PROGRAMMING" for software development.
3.7 Pan-tilt camera usage
You can connect up to two Pan-tilt cameras using the motors connectors (chapter 2.2:
"Koa-PicoITX Overview": M0 and M1 for the first one, M2 and M3 and another
KoreMotorLE needed). See the Pan-Tilt user manual for more details about the connections:
http://ftp.k-team.com/koala/pan-tilt/PanTiltCameraManual.pdf
In the directory ~/software/libkorebot_VERSION/src/tests , the kmotLE_pantilt
program is already compiled. This program makes the pan-tilt camera moving. Run it with the
command:
./kmotLE_pantilt MOT0 MOT1 [NB_CYCLES]
where
MOT0: PAN motor number (usually 1)
MOT1: TILT motor number (usually 2)
[NB_CYCLES]: optional: number of cycles
See chapter 4 PROGRAMMING" for software development.

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4. PROGRAMMING
Knowledge needed:
-C programming
-command line compilation (Makefile)
You have two choices for programming:
-directly on the robot and PicoITX (fastest, nothing more to be installed)
-on another computer (better for remote or if the robot is not available)
4.1 Directly on the robot
4.1.1 Template program
The compiler gcc should be already installed:
launching gcc in a terminal should return "gcc: no input files".
The libkorebot, which is a K-Team library providing facilities for using different
robots and modules, should already be installed in ~/software/libkorebot_VERSION,
where VERSION is the actual version. The documentation for the library is available
here: http://ftp.k-team.com/korebot/libkorebot-doc/files.html
There is a template program, with which you can start your own program, located in:
~/software/libkorebot_VERSION/template
With the following commands, you can compile then run it:
make clean
make
./template
For specific documentation and examples on the programming of the Koala, read the
next sub-chapter "Using examples", specially the koala_test.c example.
Remarks:
If you modify the program source code name (currently prog-template.c), you
will have to modify its occurrences in the Makefile file, which is the script file
launched when the above make is executed.

Koa-PicoITX User Manual rev 1.0 16
4.1.2 Using examples
You can find many examples using the libkorebot in the directory of the library:
~/software/libkorebot_VERSION/src/tests
All the examples below are already compiled. You can modify them or take some part to
add to your main program. For recompiling them, in the directory
~/software/libkorebot_VERSION,execute:
make clean
make all
You can execute them with the command:
./PROGRAM_NAME
Here after is the list of examples of source code recommended for starting programming with
the Koa-PicoITX and its extensions:
•
••
•Make the Koala move: koala_test.c
Here after are desribed the steps to program the robot. The source code is listed in
figure 4.1 below.
-Firstly, a device pointer of type knet_dev_t must be declared.
-The library debug level is set kb_set_debug_level and the library
initialised kb_init.
-Then the device is open with knet_open .
-From now, any command can be sent to the Koala. By example
koa_setSpeed for setting the speed of the robot, which will make it move
directly. Some main functions are listed below:
§setting speed:
int koa_setSpeed ( knet_dev_t * dev, short int left, short int
right )
§setting motors position:
int koa_setPosition( knet_dev_t * dev, long left_pos, long
right_pos)
§reading motors position:
int koa_readPosition( knet_dev_t * dev, int * position)
§reading proximity sensors:
int koa_readProximity ( knet_dev_t * dev, int * sens_table )
§reading battery level:
int koa_readBattery(knet_dev_t * dev)
§and many others. For a detailed description check in the file
~/software/libkorebot_VERSION/src/koala.c.
-at the end the kb_config_exit function is called.

Koa-PicoITX User Manual rev 1.0 17
Figure 4.1: koala_test.c source code
For this file, you must change the serial port in the libkorebot configuration
files. Edit it with the following command on the Koa-PicoITX:
sudo gedit /etc/libkorebot/Koala.knc
Change the line
device Robot rs232 /dev/tts/2
to
device Robot rs232 /dev/ttyUSB0
Then execute the program with: sudo ./koala_test
•
••
•digital inputs outputs: gpio_test.c
•
••
•additional motors: kmotLE_test.c
•
••
•pan-tilt camera: kmotLE_pantilt.c
// koala_test.c
#include <korebot/korebot.h>
int main( int argc , char * argv[] )
{
knet_dev_t *koala;
int rc;
unsigned char buf[16];
unsigned char a,b,c,d;
kb_set_debug_level( 2 );
if((rc = kb_init( argc , argv )) < 0 )
return 1;
koala = knet_open( "Koala:Robot", KNET_BUS_ANY, 0 , NULL );
if(!koala)
printf("Open failed\r\n");
koa_getOSVersion(koala,&a,&b,&c,&d);
printf("OS revision %d.%d protocol %d.%d\r\n",a,b,c,d);
koa_setSpeed(koala,10,10);
sleep(1);
koa_setSpeed(koala,-10,-10);
sleep(1);
koa_setSpeed(koala,0,0);
kb_config_exit();
return 0;
}

Koa-PicoITX User Manual rev 1.0 18
4.2 On another computer
You must have an ix86 compatible computer with the operating system Linux. We do
not provide any cross-compiler.
You can install the Ubuntu operating system (http://www.ubuntu.com/) in a dual boot
configuration, or install the VirtualBox virtual machine from Sun Microsystems with the
Ubuntu OS installed into it: http://www.virtualbox.org/ .
Then you install the compiler and the libkorebot as described in the annexes. You don't
need to install the gpio and i2c drivers as they are working only on the PicoITX.
Finally you can compile your program as explained in chapter above 4.1 above"Directly
on the robot" then transfer it to your robot (see chapter 3.3 "File transfer").

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5. SOFTWARE REINSTALLATION
Usually the Koa-PicoITX comes already installed. But you may need the instructions
below if you would like to reinstall the software.
5.1 Ubuntu installation
From an Ubuntu installation cd, do the standard installation.
5.2 Libkorebot installation
-Unpack the library file libkorebot_ABC_picoitx_XYZ.tar.bz in ~/software
cd ~/software
tar -xjf libkorebot_ABC_picoitx_XYZ.tar.bz2
−Copy the library into the system:
sudo cp libkorebot-1.14-kb1/build-x86/lib/libkorebot*.so /usr/lib/
−Copy the config files into the system:
sudo cp -R libkorebot-1.14-kb1/config/ /etc/libkorebot
5.3 Compiler installation
-Execute just this command in a terminal:
sudo apt-get install build-essential
−Install linux headers:
sudo apt-get install linux-headers-$(uname -r)
sudo apt-get install module-assistant
sudo module-assistant prepare
5.4 Drivers installation
5.4.1 i2c driver
The i2c driver is usually already included in the Linux OS.
−for an autonomous start-up, add it in the file /etc/modules the ligne i2c_dev

Koa-PicoITX User Manual rev 1.0 20
with command: sudo sh -c 'echo i2c_dev >>/etc/modules'
−add the /dev/i2c device to the dialout group to be used by any user:
create the file i2c_chown in /etc/init.d/
content of i2c_chown:
#! /bin/sh
# add i2c dev into dialout group
chown :dialout /dev/i2c-0
-change the file to execution mode:
sudo chmod +x /etc/init.d/i2c_chown
-create the link to the start-up level 2:
sudo ln -s /etc/init.d/i2c_chown /etc/rc2.d/S99i2c_chown
-load the module: sudo modprobe i2c_dev
-launch the script: sudo /etc/init.d/./i2c_chown
5.4.2 gpio driver
-for an autonomous start-up, add it in the file /etc/modules
with command: sudo sh -c 'echo via_gpio >>/etc/modules'
-create the file via_gpio giving node initialization and device group
modification in /etc/init.d/ :
content of file via_gpio :
#! /bin/sh
#create node
mknod /dev/via_gpio c 241 0 -m660
# add via_gpio into dialout group
chown :dialout /dev/via_gpio
-change the file to execution mode:
sudo chmod +x /etc/init.d/via_gpio
-launch the script: sudo /etc/init.d/./via_gpio