qfix crash-bobby User manual

www.qfix.de
Instructions
Document No. D0305005R3

Contents
1 Introduction 4
1.1 Components supplied . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Additionally required components . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Interesting extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Building the Crash Bobby 7
2.1 Step 1 - Assembling the wheels . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Step 2 - Assembling the motors . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Step 3 - Assembling the support wheel . . . . . . . . . . . . . . . . . . . 9
2.4 Step 4 - Assembling the sensors . . . . . . . . . . . . . . . . . . . . . . . 10
2.5 Step 5 - Fitting the controller board supports . . . . . . . . . . . . . . . . 11
2.6 Step 6 - Mounting the wheels . . . . . . . . . . . . . . . . . . . . . . . . 12
2.7 Step 7 - Mounting the support wheel . . . . . . . . . . . . . . . . . . . . . 13
2.8 Step 8 - Mounting the sensors . . . . . . . . . . . . . . . . . . . . . . . . 14
2.9 Step 9 - Attaching the controller board . . . . . . . . . . . . . . . . . . . . 16
2.10 Step 10 - Connecting motors and sensors . . . . . . . . . . . . . . . . . . 17
2.11 Preparing the robot for operation . . . . . . . . . . . . . . . . . . . . . . . 20
3 Software installation 21
3.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Content of the CD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3 Installation of the WinAVR software . . . . . . . . . . . . . . . . . . . . . 22
3.4 Installation of the qfix sample software . . . . . . . . . . . . . . . . . . . . 24
4 First steps 25
4.1 Putting the controller into operation . . . . . . . . . . . . . . . . . . . . . 25
2

CONTENTS 3
4.2 Editing a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.3 Compiling a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.4 Downloading the program into the controller . . . . . . . . . . . . . . . . . 28
4.5 Creating your own programs . . . . . . . . . . . . . . . . . . . . . . . . . 28
A Controller circuitry 29
B Standard Programm 30
C Command Overview 31
C.1 Class BobbyBoard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
C.2 Class LCD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
D Demo programs 34

Chapter 1
Introduction
Congratulation on your purchase of the Crash Bobby kit!
The qfix kits are specially designed so that you can gain experience in the mechatronic
fields of mechanics, electronics and software. They are equally suited for educational
purposes in schools, universities or industry, as they are for the advanced hobby modeler
who wishes to become involved in the exciting area of robotics.
In order to keep yourself informed about the latest developments or to obtain spare parts
and extension sets or to exchange items with other qfix users, be sure to regularly visit the
qfix homepage at www.qfix.de.
We wish you many hours of enjoyment with Crash Bobby!
The qfix team
4

CHAPTER 1. INTRODUCTION 5
1.1 Components supplied
Please check the contents of the pack. If, despite our comprehensive quality control
checks, you find that individual parts are missing, please contact us immediately. The
missing parts will, of course, be dispatched to you without delay.
The Crash Bobby kit contains the following individual parts:
Mechanics
1x base plate, blue
3x sensor mount
3x distance piece
2x motor mount
1x plate1 20x20x5
1x plate2 25x20x5
2x wheel bush
4x controller board support
1x steel wire (for pennant)
1x holder for steel wire
2x wheel, diameter 50mm
1x caster wheel incl. threaded pin
11x screw M6x10
3x screw M6x20
10x screw M3x6 (for controller board and sensors)
4x screw M2x6 (for motor)
2x countersunk screw M4 (for wheel)
2x setscrew (for wheel)
2x washer (for caster wheel)
Electronic components
1x controller board
2x motor
3x distance sensor
3x sensor cable
1x download cable for parallel port
Software
1x CD with qfix software
Tools
1x hexagonal wrench, size 1.5
1x hexagonal wrench, size 2.0
1x hexagonal wrench, size 2.5
1x hexagonal wrench, size 4.0
Miscellaneous
1x “pennant” sticker

CHAPTER 1. INTRODUCTION 6
1.2 Additionally required components
For Crash Bobby, a standard model-making rechargeable battery of 7.2, 9.6 or 12 volts can
be used. However, the qfix rechargeable battery pack (order No. QAAC000) is especially
suited to this use since it already contains the required adapter cable and Velcro strips for
simple mounting of the batteries.
For charging the battery, a standard battery charger can be used or, alternatively, the qfix
plug-in battery charger (order No. RBAD000) is available.
1.3 Interesting extensions
The following extensions to the Crash-Bobby kit bring even more fun into your robotics
adventure:
•Line sensor set (No. QAAAB000) for moving along a line.
•Bumper set (No. QAAB005) to react to contact with obstacles.
•LC-display board (No. QAAF001) for displaying arbitrary information.
For beginners in computer programming the graphical programming environment “Grape”
(No. QAAH000) is an interesting tool.
1.4 Reference
This manual refers to software version 1.2.

Chapter 2
Building the Crash Bobby
2.1 Step 1 - Assembling the wheels
For assembly of the wheels, the components shown in the following picture are required:
First of all, the small setscrew should be screwed into the side of the wheel bush. Next, the
wheel bushes should be pushed as far as possible into the wheels, so that the countersunk
screw M4 can be inserted from the other side. This is then tightened with the appropriate
hexagonal wrench.
The assembled wheels are shown in the next picture:
7

CHAPTER 2. BUILDING THE CRASH BOBBY 8
2.2 Step 2 - Assembling the motors
In order that the motors can subsequently be screwed on to the base plate, they must first
of all be assembled on the motor mounts. The required components are shown in the next
picture:
The motors are located in the large recess of the motor mounts and tightened using the
small screws M2x6. Take care with plastic threads – do not overtighten the screws!
Finally, the pre-assembled wheels are placed on to the motor axles and the setscrew is
tightened:

CHAPTER 2. BUILDING THE CRASH BOBBY 9
2.3 Step 3 - Assembling the support wheel
For assembly of the support wheel on the rectangular mounting plate, the components
shown in the following picture are required:
The washers are used as distance spacers and are simply placed on to the threaded pin.
Afterwards, the threaded pin is then screwed firmly into the single threaded hole located
in the rectangular plate.

CHAPTER 2. BUILDING THE CRASH BOBBY 10
2.4 Step 4 - Assembling the sensors
In order that the sensors can subsequently be screwed on to the base plate, they must
first of all be assembled on the sensor mounts. The necessary components are shown in
the following picture:
The three sensors are each screwed to the mounts using two screws. The next picture
shows the assembled sensors: