K-Team Koala 2.5 User manual

KOALA 2.5
User manual
Revision 1.2

Revisions history
Rev. Date (EUR) Description
1.0 21.02.2014 Initial creation
1.1 15.04.2014 Add Magnetometer description
1.2 25.04.2016 Correction of GPS data acq isition
Documentation Authors
J lien Tharin, Frédéric Lambercy and Timothée Carron
K-Team S.A.
Z.I. Les Plans-Praz 28
CH-1337 Vallorbe
Switzerland
E-mail [email protected]
URL www.k-team.com
Trademark Acknowledgements
IBM PC : International B siness Machines Corp.
Macintosh : Apple Corp.
SUN Sparc-Station : SUN Microsystems Corp.
LabVIEW : National Instr ments Corp.
Matlab : MathWorks Corp.
Khepera : K-Team and LAMI
Legal otice
•The content of this man al is s bject to change witho t notice
•All efforts have been made to ens re the acc racy of the content of
this man al. However, sho ld any error be detected, please inform
K-Team.
•The above notwithstanding, K-Team can ass me no responsibility
for any error in this man al.

TABLE OF CO TE TS
1 I TRODUCTIO .......................................................................................................... 1
1.1 H OW TO USE THIS HA DBOOK ...................................................................................... 1
1.2 S AFETY PRECAUTIO S ................................................................................................ 2
1.3 R ECYCLI G ............................................................................................................. 2
2 U PACKI G A D I SPECTIO .................................................................................... 3
2.1 P ACKAGE C O TE T ................................................................................................... 3
3 THE ROBOT A D ITS ACCESSORIES ............................................................................ 4
3.1 G LOBAL V IEW ......................................................................................................... 4
3.2 F IRST START - UP ....................................................................................................... 7
3.2.1 Console access ................................................................................................ 7
3.2.2 Direct Connection ............................................................................................ 8
3.3 K OALA 2.5 R OBOT ................................................................................................. 10
3.3.1 Wheels and gear box ....................................................................................... 10
3.3.2 On/Off switch ................................................................................................. 10
3.3.3 Power ED ..................................................................................................... 10
3.3.4 Charge ED .................................................................................................... 10
3.3.5 Power supply jack ........................................................................................... 11
3.3.6 Reset button .................................................................................................. 11
3.3.7 Ultrasonic sensors........................................................................................... 11
3.3.8 Contacts for docking station ............................................................................. 11
3.3.9 Pico-ITX ........................................................................................................ 11
3.3.10 Microcontroller ............................................................................................... 12
3.3.11 GPS module ................................................................................................... 12
3.3.12 Accelerometer & Gyroscope sensor ................................................................... 12
4 I DEPTH LOOK ......................................................................................................... 13
4.1 U LTRASO IC SE SORS ............................................................................................. 13
4.2 B ATTERY .............................................................................................................. 15
4.2.1 NiMH battery .................................................................................................. 15
4.2.2 i-Pol battery ................................................................................................. 16
4.2.3 i-Pol External charger .................................................................................... 16
4.3 D OCKI G STATIO CO ECTIO PADS ......................................................................... 17
4.4 T ERMI AL BLOCKS (GPIO & SUPPLY ) ......................................................................... 18
4.5 A CCELEROMETER .................................................................................................... 19
4.6 G YROSCOPE .......................................................................................................... 20
4.7 GPS MODULE ........................................................................................................ 22
4.8 P ICO -ITX ............................................................................................................ 23
4.9 M OTORS ............................................................................................................... 25
4.9.1 Speed control (“D” command) .......................................................................... 27
4.9.2 Speed profile control (“K” command) ................................................................ 28
4.9.3 Position control (“F” command) ........................................................................ 29
4.9.4 Open loop (“ ” command) ............................................................................... 30
5 PROGRAMMI G ......................................................................................................... 31
5.1 I TRODUCTIO ...................................................................................................... 31
5.2 C O FIGURATIO .................................................................................................... 31
5.3 P ROGRAMMI G ...................................................................................................... 32
5.4 P ROGRAMMI G WITH E CLIPSE GUI ............................................................................ 33
5.5 D EBUGGI G .......................................................................................................... 34
5.5.1 Direct debugging ............................................................................................ 34
5.5.2 Remote debugging .......................................................................................... 35
5.6 M ICROCO TROLLER UPDATE ...................................................................................... 35
5.7 S ERIAL PORT ......................................................................................................... 35
5.8 T RA SFERRI G FILES .............................................................................................. 36
6 SERIAL COMMU ICATIO PROTOCOL ....................................................................... 37
7 MECHA ICAL DRAWI GS .......................................................................................... 46
8 WARRA TY ............................................................................................................... 48

Koala 2.5 User Manual Rev 1.1 1
1I TRODUCTIO
Thank yo for b ying a Koala 2.5 robot! The Koala 2.5 is a high end
robot that will initiate yo r experience to the extraordinary world of
mobile robotics. Thanks to its wealth of sensors, motors and its
software openness, yo will be able to create complex behavior,
making yo an expert of this promising technology.
1.1 How to use this handbook
This handbook introd ces the Koala 2.5 robot and its vario s operating
modes.
If this handbook does not answer one of the problems yo are
confronted with, please cons lt the K-Team web site (www.k-
team.com) and especially the For m and the FAQs.
Three kinds of symbols are sed in this doc ment; in order to keep yo
and yo r robot safe, please respect them:
Ignoring the mentioned warning could lead to malfunction
or reduced performance.
Ignoring the mentioned warning could lead to perpetual
damage and would void the warranty.
Danger: risk of electric shock

Koala 2.5 User Manual Rev 1.1 2
1.2 Safety precautions
Here are some recommendations on how to correctly se the robot:
•
Keep the robot away from wet area
. Contact with
water could cause malfunction and/or breakdown.
•Store your robot in a stable position. This will avoid
the risk of falls, which could break it or cause damage
to a person.
•Use only the official charger or the cable which is
delivered with the robot. Do not try to use another
charger; this can cause irreversible damage to the
battery and or the electronics.
•Do not attach any connector while the robot is
powered. To avoid any damage, make all connections
when the robot power is off.
•Never leave the robot powered when it is unused
.
When you have finished working with the robot, turn it
off. It will save the battery life.
• Do not manually force any mechanical movement.
Avoid to force, by any mechanical way, the movement
of the wheels or any other part.
•
Never open the case
.
Only qualified technicians are
allowed to do so.
1.3 Recycling
Think abo t the end of life of yo r robot! Parts of the robot can be
recycled and it is important to do so. It is for instance mandatory to
keep batteries o t of the solid waste stream. When yo throw away a
battery, it event ally ends p in a landfill or m nicipal incinerator. This
battery, which contains Lithi m Polymer, can contrib te to the toxicity
levels of landfills or incinerator ash. By recycling the batteries thro gh
recycling programs, yo can help to create a cleaner and safer
environment for generations to come. For those reasons, please take
care to the recycling of yo r robot at the end of its life cycle, for
instance sending back the robot to the man fact rer or to yo r local
dealer.
Thank you for your contribution to a cleaner environment!
Made in
Switzerland

Koala 2.5 User Manual Rev 1.1 3
2U PACKI G A D I SPECTIO
2.1 Package Content
•Koala robot
•Battery
•Battery charger
•Power s pply adapter

Koala 2.5 User Manual Rev 1.1 4
3THE ROBOT A D ITS ACCESSORIES
3.1 Global View
Figure 3.1 : Top view
1Wheels
2Ultrasonic sensor (9x)
3Mo nting plate
4Pico-ITX Front Panel
5IO and power s pply terminal blocks
6Battery

Koala 2.5 User Manual Rev 1.1 5
Figure 3.2 : Rear view
7Reset b tton
8Charge LED
9Power LED
10 On/Off switch
11 Battery
12 External power s pply connector

Koala 2.5 User Manual Rev 1.1 6
Figure 3.3 : Bottom view
13 Gear Box
14 Docking station connection

Koala 2.5 User Manual Rev 1.1 7
3.2 First start-up
It is required, before to use the robot for the first time,
to let the battery charge completely. In order to do that,
remove the battery from the Koala and connect the
battery to the dedicated charger. Please consider a time
of 5 hours for the initial charge.
Yo can test the Koala either with a serial cable to have console
access or directly to the Koala itself via USB.
3.2.1 Console access
Connect a crossed (N ll-Modem) serial cable on the top of the Koala
to a comp ter with these settings: 115200 ba d, 8N1). Open yo r
serial software on yo r comp ter and se settings above.
For Windows, yo can se Teraterm (http://ttssh2.so rceforge.jp).
On Lin x, minicom:
Open a terminal console and type (example below based on Lin x):
minicom -s
Go the "Serial port set p" men and config re as described in
fig re 3.4 .
+----------------------------------------------------------+
| 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? |
+----------------------------------------------------------+
Figure 3.4: Minicom serial parameters
Save the settings with the command “Save setup as dfl” of the
men [config ration].
Switch on the robot power and wait for the login (yo may need to
p sh the ENTER key): KOA2 login