Terasic Self-Balancing Robot User manual

The Self-Balancing Robot is powered by three lithium
batteries, when the power is less than 10V, the LED4 on
the DE10-Nano board will light up, that indicates the
batteries need to be recharged.
Please use the lithium battery charger (that is shipped with
the robot) to charge the battery. During the charging, the
LED on the lithium battery charger will light red; once it is
fully be charged, the LED will light green. If lithium battery
starts charging when it is completely unable to supply the robot, it is expected to
take up to 2 hours to fully be charged.
Attention!! Please DON’T use a non-lithium battery charger to
charge the battery.
Contents
Self-Balancing Robot_Getting_Started_Guide 2
Chapter 1 Introduction 2
Chapter 2 Package Contents 2
Chapter 3 Components and Functions 3
Chapter 4 Switches and LEDs Status Elements 6
Chapter 5 Basic Operations 10
Chapter 6 Advanced features demonstration 12
Chapter 7 Charge the battery 22
Chapter 8 Debug 24
Users can download the latest system CD from:
http://bal.terasic.com/cd
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Self-Balancing Robot_Getting_Started_Guide.pdf.
For more detailed
information about making
the Self-Balancing Robot
working, please refer to
CPT-3335-00
For more information, please visit: http://bal.terasic.com
Quick Start Guide
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2A Self-Balancing Robot
Lithium Battery
Lithium Battery Charger
IR Remote Control
Mini USB Cable
Micro USB Cable
Quick Start Guide
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[email protected]
www.terasic.com
Formore information, please visit: self-balancing-robot.terasic.com
Quick Start Guide
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Formoreinformation,pleasevisit:self-balancing.terasic.com
QuickStartGuide
A Self-Balancing Robot
Lithium Battery
Lithium Battery Charger
IR Remote Control
Mini USB Cable
Micro USB Cable
Quick Start Guide
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[email protected]
www.terasic.com

Ultrasonic Module
DE10-Nano Kit
Battery Moter Driver Board
(BAL Board)
LED7
Power
switch (SW1)
Baterry
Power input
Jack (J5)
Set the power switch (SW1) of
the motor driver board to OFF
position.
Install the Lithium batteries into
the battery package.
Insert the output plug of battery
power into the J5 interface of
the motor driver board.
Place the Self-Balancing Robot on the plane,
keep the robot on a horizontal state, then set
the power switch (SW1) to ON position.
When the LED7 on the DE10-Nano board
lights up, release the e Self-Balancing Robot,
the robot will keep balance automatically.
Use the IR remote control to control the
Self-Balancing Robot.
The Terasic’s Self-Balancing
Robot is a DE10-Nano
based platform, it
integrates BAL board
(motor driver board),
ultrasonic module,
and it is designed and
manufactured independently by
Terasic. The Self-Balancing Robot comes
with multiple advanced features such as object
following, obstacle avoidance, and it can also be
controlled by Android APP and IR remote control.
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The Self-Balancing Robot system CD also includes a Blue-
tooth remote control demo code.
Users can remote control the Self-Balancing Robot by any
Android mobile via Bluetooth.
Users can download and install the Android application by
scanning the QR code with any Android mobile, then can remote control the
robot via the Bluetooth device.
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When set the SW0 to Down position and set the SW1 to Up position, if the
ultrasonic sensor detects the obstacle is in front of the robot and the distance is
within 10cm, the robot will stop automatically.
When set the SW0 to UP position and set the SW1 to Down position, if the
ultrasonic sensor detects the obstacle is in front of the robot and the distance is
within 10cm, the robot will automatically move backward to avoiding the
obstacle; when an object is in front of the ultrasonic module and move slowly and
the distance is in 10cm~20cm, the robot will follow the object to move forward.
<10CM
Forward
Turn left
Turn right
Stop
Backward
10CM~20CM
Obstacle Avoidance Object Following
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