JM3-AXT3
Asuro xTend
Asuro xTend Board
©2014 AREXX Engineering and JM3 Engineering
www.arexx.com
For latest updates check www.jm3-engineering.com!
AREXX Engineering & JM3 Engineering
Version: 1.43 Nov 9th, 2014 page: 1
Impressum
©2012-2014 AREXX Engineering
Nervistraat 16
8013 RS Zwolle
The Netherlands
Tel.: +31 (0) 38 454 2028
Fax.: +31 (0) 38 452 4482
This manual is protected by the laws of
Copyright. It is forbidden to copy all or part
of the contents without prior written
authorization!
Product specifications and delivery contents
are subject to changes. The manual is
subject to changes without prior notice.
You can find free updates of this manual on
http://www.arexx.com/
“Asuro” licensed by DLR and “AREXX” are registered trademarks from AREXX
Engineering.
All other trademark are the property of their owners. We are not responsible for
the contents of external web pages that are mentioned in this manual!
Information about limited warranty and responsibility
The warranty granted by AREXX Engineering is limited to the replacement or repair of the
Module and its accessories within the legal warranty period if the default has arisen from
production errors such as mechanical damage or missing or wrong assembly of electronic
components except for all components that are connected via plugs/sockets.
The warranty does not apply directly or indirectly to damages due to the use of the robot.
This excludes claims that fall under the legal prescription of product responsibility.
The warranty does not apply in case of irreversible changes (such as soldering of other
components, drilling of holes, etc.) of the module or its accessories or if the module is
damaged due to the disrespect of this manual!
It cannot be guaranteed that the supplied software will satisfy individual expectations or
will run completely error-free and without any interruption. Moreover the software can be
freely changed and is loaded into the unit by the user. Therefore the user carries the full
risk regarding the quality and performance of the unit including all software.
AREXX Engineering guarantees the functionality of the supplied application examples
provided the respect of the conditions specified in the data sheet. If the SAM-04-LAN or the
PC software turns out to be faulty or insufficient, the customer carries all costs for service,
repair or correction.
Please note the relevant license agreements on the CD-ROM!
The exclamation mark attracts the attention of the user to important
instructions that must be adhered to. If you make a mistake in this part, it
can lead eventually to the destruction of the robot or its accessories and
even endanger your health or that of your environment!
The "Information" symbol draws the attention to useful tips and tricks or
background information. It is not always essential to understand
everything but it is often very useful.
Symbols
The manual uses following symbols:
AREXX Engineering & JM3 Engineering
Version: 1.43 Nov 9th, 2014 page: 2
Safety recommendations
IMPORTANT:
Prior to using this robot arm for the first time, please read this manual thoroughly up to the
end! They explain the correct use and inform you about potential dangers! Moreover they
contain important information that might not be obvious for all users.
- Check the polarity of the batteries or power supply.
- Keep all products dry, when the product gets wet remove the power directly.
- Remove the batteries or power when you are not using the product for a longer period.
- Before taking the module into operation, always check it and its cables for damage.
- If you have reason to believe that the device can no longer be operated safely,
disconnect it immediately and make sure it is not unintentionally operated.
- Do not operate the module in rooms or under unfavourable conditions.
- This module is equipped with highly sensitive components. Electronic components are
very sensitive to static electricity discharge. Only touch the module by the edges and
avoid direct contact with the components on the circuit board.
Normal use
This module is developed to use with robots, which allows you to determine basic behaviour patterns and reactions
of the robot to external influences yourself.
The module was developed as an experimental platform for all electronic technicians with interest in robotics. In
practical tests, it visualises the influence and effects of software parameters as well as physical parameters via the
corresponding sensor technology. Any use other than that described above is not permitted.
The product is not a toy and should be kept out of reach of children under 14 years of age! It may only be used in
closed, dry indoor rooms. The product must not get damp or wet. Use other than that described above can lead to
damage to the product and may involve additional risks such as short circuits, fire, electrical shocks etc.
Content
1. Impressum ................................................................................... 2
2. Safety recommendations ............................................................... 3
3. Introduction ................................................................................... 5
4. Manual ........................................................................................... 6
5. Asuro Setup ................................................................................... 8
6. C++ Software ............................................................................... 11
7. JM3 Robot Tool ............................................................................. 14
8. Connector / Technical Data ............................................................. 15
9. Schematic ..................................................................................... 16
10. PCB Layout ................................................................................. 18
AREXX Engineering & JM3 Engineering
Version: 1.43 Nov 9th, 2014 page: 3
Asuro Robot with Sensor Module
Asuro xTend board and Compass / Gyro module & Display
AREXX Engineering & JM3 Engineering
Version: 1.43 Nov 9th, 2014 page: 4
Introduction
The new Asuro xTend board provides multiple extension possibilities. The core is the very
powerful ATXMega micro-controller with 32KB Flash & 4KB SRAM running at 16MHz Clock with
low power consumption and several interrupt inputs.
The Asuro Robot has got new features with the Asuro xTend extension as following: extended
interfaces to the Asuro Robot, the improved Asuro Ext. BUS, a separate sensor extension
header, the LC-Display (2x8 Char) inclusive illumination control, 3 buttons, 4 status LEDs,
analogue inputs for SHARP distance sensors with power saving circuit, 2nd UART, and 2 ADC or
GPIO inputs are rounding up the package.
Simple and fast upload of the program code via USB interface – the slow IR Interface is history (it
will be necessary just one more time to update the Asuro)!
Einfaches und schnelles Programmieren des xTend Bords über USB – das langsame IR
Interface ist Geschichte (es wird nur noch einmal benötigt!
To preserve already make investments in existing add-ons, e.g. the Snake Vision ARX-SNK20,
Ultra-sonic ARX-ULT-10, Bluetooth Kit ARX-BT3, Wireless Kit ARX-WRL03, the interface signal
to the Asuro are kept and expanded. Software porting is simple due to the fact that the ATXMega
belongs to the same micro controller family from ATMEL.
From the Display ARX-DSP30 Kit you can use the display itself which will be connected to the
Asuro xTend board. The display interfaces directly to the micro-controller Atxmega32C4 and the
buttons and the trimmer for the display contrast are on the xTend board.
Sensor Module Extension:
- Asuro Compass-Gyro Module
Indoor Navigation supported by the new module. The 3D Magnetometer/Accelerometer
enables you to compute the heading (3D compass software is included)
Yaw rate of the 3D Gyro tells you how fast you are turning/drifting into a direction in
deg./sec. or detect if the Robot is blocked by obstacles.
- Asuro Baro-Temp-Humidity Module
With this extension the Robot knows barometric pressure / altitude (20cm sensor
accuracy) and the relative humidity and temperature.
- Asuro Real-Time-Clock Module
With this extension the Asuro knows time and date and can be woken up on a
programmed time.
There are many, many new options you can develop for your Asuro with the XTend Board – be
creative!
AREXX Engineering & JM3 Engineering
Version: 1.43 Nov 9th, 2014 page: 5
Manual
Distance sensor option
Sharp (Left & Right)
Sensor Module header
2 Ch. Power switch
for SHARP sensor
ATXmega32C4
Display contrast
adjustment
3.3V regulator
USB Programming IF
Connector
Display IF
(EA DIPS082)
Debug IF
(PDI, optional)
3 Button & 4 LED
ADC / GPIO header
Ext. UART header
1.1. Hardware configuration and setup
The Asuro xTend Board is designed to support a master / slave configuration together with the
Asuro, but it is not limited to.
This description provides guidance for the setup and the functional behavior as mater/slave
configuration. The Asuro Robot works as a MASTER I2C device ‘pulling’ the new direction/speed
information from the Asuro xTend Board (SLAVE). It computes the drive relevant algorithms
(speed detection/regulation) and delivers the battery voltage, speed and switch information. In
addition, the power and interface signals are provided to the Asuro xTend board.
The Asuro xTend board collects the sensor signals from the various sources, e.g. Gyro,
Compass, Sharp-Sensors and so on.
HINT: It is highly recommended to use a display.
The compass must be calibrated by a build in function and procedure.
On the Asuro Extension Bus you have all signals from the Asuro, but with a second I2C Bus
working independent from the Asuro Main Board with the other extension seamless together.
The Display can show status messages or other system status information. The menu can be
controlled via the 3 buttons – 4 LEDs are additional ‘indicators’.
1.2. Board overview
AREXX Engineering & JM3 Engineering
Version: 1.43 Nov 9th, 2014 page: 6
S1 S2 S3 LED1 - LED4
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