RoboMaster Standard A 2020 User manual

RoboMaster
2020 Standard A Unassembled kit
User Manual
V2.0 2020.2

Using this Manual
Legend
Prohibition
Important notes
Hints and tips
Definition and reference
The RoboMaster 2020 Standard A Unassembled kit does not include sensors such as the RoboMaster UWB
Positioning System Module and LiDAR as well as relevant computing devices such as Manifold 2. Teams needing
such devices are required to configure them on their own.
Disclaimer and Warnings
Thank you for using RoboMaster 2020 Standard A Unassembled kit. Please read this disclaimer carefullybefore using
this product. By using this product, you acknowledge that you have read and agreed to all content herein. Please install
anduse this product in strict accordance with the User Manual, product instructions, and relevant laws, regulations, rules
and policies. Users are responsible for their behavior and any resulting consequences when using this product. DJI™ will
not bear any legal responsibilities for any losses caused by improper use, installation or modification.
DJI and Robomaster are the trademarks of Shenzhen DJISciences and Technologies Ltd., and its affiliated companies.
The product names, brands, etc., appearing in this document are the trademarks of the companies to which they
belong. The copyright of this product and manual belongs to DJI. No part of this product or manual may be
reproduced in any form without the consent of DJI.
The disclaimers are subject to the final interpretation of DJI.
Important notes for product usage
The high-speed moving chassis, high-speed rotating friction wheel and the projectiles launched by them may cause a
certain amount of personal injury and property damage. Please exercise caution during use.
The "notes" mentioned in this manual are important and should be strictly followed.
1. The robot is not waterproof. It must not come into contact with anyliquid.
2. After it is powered on, the robot performs an internal self-check, and can only be operated after the self-check is
completed.
3. To move theAI robot at high speed, operate it in a spacious, unmanned area. The robot must not collide with hard
objects, such as walls, at full speed.
4. Projectiles must not be launched at people.After the projectile speed is adjusted, the optimal testing environment is to
launch it at a box with shock-absorbing materials such as cloth bags.
5. After projectiles have been launched and if the robot will not be used for a long time and personnel are present in
front of the muzzle, the friction wheel motor should be turned off to prevent any accidents.
6. Any shooting battle must be carried out in a sealed area with a two-meter high fence in the presence of a skilled operator.
7. After each use, projectiles must be emptied from the magazine to prevent any personal injury caused by improper
operation.
8. The battery must be removed during long periods of non-use and stored in accordance with the storage methods
described in the “M600-Series Intelligent Flight Battery User Safety Guidelines v1.0”
9. The standard intelligent battery must be used (battery model no.: TB47S).
10. When disassembling, the screws should be tightened using appropriate force. The blue gel used on the screws is a
disposable thread-locking fluid, which must be used in appropriate amounts for fastening the screws during
disassemblage.
Declaration

11. During transportation, the gimbal must be fixed for two degrees of freedom and the chassis with four drive wheels. The
battery must also be removed and the magazine emptied.
If you experience any problems during use that cannot be solved, please contact RoboMaster for assistance

Contents
Using this Manual.................................................................2
Disclaimer and Warnings........................................................... 2
Important notes for product usage.................................................2
Introduction......................................................................5
Frequency Pairing Between the Remote Control and the Receiver ................... 5
Powering On and Operating the Robot...............................................6
Installation and Removal of the Battery ............................................................ 6
Powering On/Off.............................................................................. 6
InitialAssembly and Operation of the Robot ........................................................ 6
Error Alert................................................................................... 8
Control Mode.....................................................................11
Remote Control.............................................................................. 11
PC control .................................................................................. 13
Calibration Operation............................................................15
Gyroscope Calibration ........................................................................ 15
Gimbal Calibration ........................................................................... 17
Chassis Calibration ........................................................................... 19
Appendix ........................................................................22
Specifications ............................................................................... 22

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Introduction
RoboMaster 2020 Standard A Unassembled kit (hereinafter referred to as "the robot") consists of a chassis, a two-axis
gimbal, a launching mechanism and a smart battery system. The robot chassis uses Mecanum wheels for omnidirectional
movement. In addition, the two-axis gimbal can complete two-DOF rotation to enhance the flexibility and resistance of the
robot, while the launching mechanism can fire RoboMaster 17mm projectiles.
Frequency Pairing Between the Remote Control and the Receiver
The receiver is installed on the side of the launching mechanism of the robot. For frequency pairing between the remote control
and the receiver, please complete the following steps:
1. Find the frequency pairing hole in the corresponding position on the side of the gimbal’s launching mechanism, with the
receiver’s frequency pairing key located in the frequency pairing hole.
2. Power on the robot and check that the receiver is on. If no controller nearby has been powered on, the LED indicator
on the receiver is solid red.
3. Power on the remote controller to be linked and bring it close to the receiver until the receiver LED indicator flashes
green.
4. Press and hold the linking button on the receiver for two seconds. The receiver LED indicator flashes red during
pairing.
5. Release the linking button to finish linking. The receiver LED indicator should be solid green upon completion.
When linking the controller with the receiver, keep them as close as possible and ensure that no other nearby
remote controllers are on.
For the communications protocol between the DT7 Remote Controller and the DR16 Receiver, please see the
“RoboMaster Robot Remote Controller (Receiver) User Manual” in the reference document pack.

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Powering On and Operating the Robot
Installation and Removal of the Battery
The battery rack is located in the middle of the robot chassis and behind the gimbal. Before use, please insert the battery
vertically into the battery rack.
Powering On/Off
After the smart battery is installed into the battery rack, turn it on by short pressing once and long pressing for 3 seconds. Switch
on the robot by pressing the power button located between the battery rack and the rear armor, which is fixed on the battery rack.
Initial Assembly and Operation of the Robot
After the robot is assembled, conduct wiring according to the hardware block diagram, and check whether the cables are
properly connected. The wiring diagram is shown below. OLED screen, servo and laser module are in the scope of supply by the
users themselves.

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Make sure that you check the wire sequence at the 3PIN serial port of the power management module of the referee
system. Please refer to the detailed description on UART interface in the “Instructions to Users of RoboMaster Development
Board Type C”. In addition, check whether you have updated the referee system to the latest version, otherwise the muzzle heat
control and chassis power control will not function properly. For more details on the update, please refer to “RoboMaster 2020
Referee User Manual v1.2”. Once the version is confirmed, calibrate gyroscope, gimbal and chassis respectively as follows.
1. Calibrate the gyroscope. If you download the program for the first time, there won’t be any zero drift data for gyroscope
calibration saved in the system, so the development board will start to calibrate the gyroscope. Make sure that the robot
remains stationary and there is no vibration interference source around.
2. Calibrate the gimbal. If you download the program for the first time, there won’t be any median value for the gimbal saved
in the system. Turn on the remote control with the two rods kept in the lower position. Make sure that the motor is
connected properly. The calibration process is: lift the pitch and lower the pitch, followed by rotating the yaw
counterclockwise, and finally rotate the yaw clockwise.
3. Calibrate the chassis. Use the remote control to manually turn it on. Please refer to the chassis calibration in the “Calibration
Operation” for more details.
ErrorAlert
The error alert function is intended to inform the users of the current online status of the device by three ways including
buzzer alert, USB serial port alert and OLED display alert.
1. Buzzer alert

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Abuzzer is used to alert the users to different errors through how many times that it rings, as shown in the following table
Number of alerts
Error type
1
Remote control receiver
2
Chassis motor 1
3
Chassis motor 2
4
Chassis motor 3
5
Chassis motor 4
6
Yaw motor
7
Pitch motor
8
Trigger motor
9
On-board gyroscope
10
On-board accelerometer
11
On-board magnetometer
2. USB serial port alert
3. The USB serial port is connected to the development board through USB, so the serial port tool can be launched on the
PC to receive error alerts, as shown in the following table.
Voltage percentage
Battery percentage
DBUS
Remote control receiver

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Chassis motor 1
Chassis motor 1
Chassis motor 2
Chassis motor 2
Chassis motor 3
Chassis motor 3
Chassis motor 4
Chassis motor 4
Yaw motor
Yaw motor
Pitch motor
Pitch motor
Trigger motor
Trigger motor
Gyro sensor
On-board gyroscope
Accel sensor
On-board accelerometer
Mag sensor
On-board magnetometer
Referee usart
Serial port of the referee system
4. OLED display
OLED display is achieved via the external OLED module as shown in the figure. The meaning of each icon is shown in the
table below.
means that the device is offline, while means online.
Icon
Stands for
Box+35 at top left
35% battery percentage
M1
Chassis motor 1
M2
Chassis motor 2
M3
Chassis motor 3
M4
Chassis motor 4
M5
Yaw motor
M6
Pitch motor
M7
Trigger motor
DBUS
Remote control receiver
GYR
On-board gyroscope
ACC
On-board accelerometer
MAG
On-board magnetometer

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REF
Serial port of the referee system
Control Mode
The robot is based on a Mecanum wheel chassis to achieve omnidirectional movement. Given that the chassis is linked with the
gimbal, steering the gimbal steers the chassis. The robot supports two user operating modes:
1. Remote control only: this mode is simple and convenient, ready to use upon power-on, and suitable for demonstration and
debugging.
2. Remote control + PC: this mode controls the robot by sending data to the chassis from the PC.
Select the mode based on the requirements of the actual scenario by toggling the S1 switch on the remote control. You can use
the remote control in either mode.
Remote Control
To control the robot with the remote control, switch it on and turn the three-position switch S1 on the upper-right side to -1 (top)
or -2 (middle). Methods for implementing different functions are as follows:
Remote control
Fighting vehicle
Instruction
Push the rod up to tilt up (+) the gimbal.
Push the rod down to tilt down (-) the
gimbal;
Rotation range of the gimbal: - 25°~25°
By pushing the rod to the left, the gimbal
rotates counterclockwise, and the chassis
rotates along the same direction;
By pushing the rod to the right, the gimbal
rotates clockwise, and the chassis rotates
along the same direction;
When the rod stays in the middle, the robot
remains stationary.

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Push the rod up and the robot moves
forward;
Push the rod down and the robot moves
backwards;
When the rod stays in the middle, the robot
remains stationary.
Push the rod to the left and the robot moves
leftwards in parallel;
Push the rod to the right and the robot
moves rightwards in parallel;
When the rod stays in the middle, the robot
remains stationary.
Switch S1 is the mode control switch.
When S1 is set at -1 and -2, it is possible to
control the chassis movement by PC and
the remote control. When S1 is set at -3, the
chassis is at zero control speed and the
gimbal is in stop mode. When the remote
control is offline, both chassis and gimbal
are in stop mode.
When you turn S2 from -2 to -1, the friction
wheel of the launching mechanism is
enabled. In this condition, turning S2 from -
2 to -3 and then quickly back to -2 instructs
the robot to fire a projectile. When S2
remains at -3, the robot continuously fires
projectiles.
Set S1 at -2 and use a PC to operate the
robot.
P-1 P-2 P-3
P-1 P-2 P-3

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S1 is the mode control switch. When S1 is set at -1, the Euler angle control mode of the gyroscope will be enabled, so the
gimbal will be controlled based on the Euler angle. Upon achieving closed loop of the angle, the chassis rotates alongside the
gimbal to complete the centering operation. When S1 is set at -2, the gimbal encoder control mode will be enabled, so the
gimbal will be controlled based on the angle fed back from the motor. The gimbal and chassis both responds to the operation of
the left rod.
PC control
In addition to remote control, keyboard control is also available as follows.
Remote control
Fighting vehicle
Instruction
Move the mouse vertically along
the Y axis
Push the rod up to tilt up (+) the gimbal,
and push the rod down to tilt down (-) the
gimbal;
Rotation range of the gimbal: - 25°~25°
Move the mouse radially along
the X axis
By pushing the rod to the left, the gimbal
rotates counterclockwise, and the chassis
rotates along the same direction;
By pushing the rod to the right, the gimbal
rotates clockwise, and the chassis rotates
along the same direction;
Key W or S
Press W and the robot will move forward;
Press S and the robot will move backward;
When S1 is set at -2, the robot can be
controlled by PC.

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Key A or D
Press A and the robot will move leftward in
parallel;
Press D and the robot will move rightward
in parallel;
Switch S1 is the mode control switch.
When S1 is set at -1 and -2, it is possible to
control the chassis movement by PC and
the remote control. When S1 is set at -3, the
chassis is at zero control speed and the
gimbal is in stop mode. When the remote
control is offline, both chassis and gimbal
are in stop mode.
Key Q or E
Press Q to enable the friction wheel;
Press E to disable the friction wheel;
Please set S1 at -2.
Key Z, X, C or V
Add servo PWM, where,
Z controls the first PWM under the touch
control;
X controls the second PWM under the
touch control;
C controls the third PWM under the touch
control; and
V controls the fourth PWM under the touch
control.
The output range of PWM is [500, 2500]
P-1 P-2 P-3

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Shift + Key Z, X, C or V
Reduce servo PWM, where,
Z controls the first PWM under the touch
control;
X controls the second PWM under the
touch control;
C controls the third PWM under the touch
control; and
V controls the fourth PWM under the touch
control.
The output range of PWM is [500, 2500]
Calibration Operation
Gyroscope Calibration
A BMI088 gyroscope is mounted in the main control board of the robot. When the mode switch is set at -2, it is
controlled by calculating its Euler angle. There can be some drift at the yaw angle. In order to reduce the drift, it is
necessary to collect the angular velocity while the robot remains stationary to properly complete the calibration. The
calibration process is as follows:
1. Set both switch S2 and S1 at -3.

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2. Push the left rod to the right and the right to the left.After 2 seconds, the on-board buzzer will make intermittent (1s
interval) alerts. Make sure that you perform the third step within 20 seconds, otherwise you’ll have to repeat the previous
two steps.
3. Push the left rod to the left and the right to the right.After 2 seconds, the gyroscope calibration will be activated
together with continuous low-frequency buzzer alert. Only after the gyroscope temperature rises to the set level (the
set level is the real-time temperature collected by the master control MCU plus 10℃, and is stored in flash as the
constant temperature for later control), can the gyroscope data be collected for about 20s. During the data collection,
the robot should remain stationary, otherwise you’ll have to re-collect the data. The whole process of temperature rise
and gyroscope data collection will last for about 1 minute. The time of temperature rise may vary depending on the
environment. Please be patient if it takes longer than expected.

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Gimbal Calibration
Calibrating the gimbal: The feedback from the gimbal motor mounted on the robot is an absolute value. Therefore, if
the motor is removed and then reinstalled, there may be inconsistency with the median value of the gimbal saved in the
system, so calibration is required in accordance with the process as follows:
1. Set both switch S2 and S1 at -3.

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2. Push the left rod to the right and the right to the left.After 2 seconds, the on-board buzzer will make intermittent (1s
interval) alerts. Make sure that you perform the third step within 20 seconds, otherwise you’ll have to repeat the previous
two steps.
3. Push the left rod to the upper left and the right to the upper right.After 2 seconds, the gimbal calibration will be
activated together with continuous high-frequency buzzer alert. The gimbal will begin to move downwards, upwards,
leftwards and rightwards respectively. During calibration, do not interfere with the movement of the gimbal.

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Chassis Calibration
To calibrate the chassis of the robot, you have to reset the chassis motor ID. To enable the chassis motor to enter the
fast ID setting mode, see below to operate before manually rotating the wheels respectively to complete the calibration.
The calibration process is as follows:
1. Set both switch S2 and S1 at -3.
2. Push the left rod to the right and the right to the left.After 2 seconds, the on-board buzzer will make intermittent (1s
interval) alerts. Make sure that you perform the third step within 20 seconds, otherwise you’ll have to repeat the previous
two steps.

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3. Push the left rod to the upper right and the right to the upper left. After 2 seconds, the chassis calibration will be
activated and there will be a solid orange light in the ESC. Rotate the right front, left front, left rear as well as the right
rear wheels respectively to complete the calibration.